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Abstract

The present disclosure provides a visual navigation method and a visual navigation device. The method may include steps of: obtaining a plurality of ambient sub-images for a collected ambient image based on the collected ambient image; performing a region-matching process on each of the ambient sub-images to determine a disparity between at least two of the ambient sub-images; and determining coordinates of an object in the ambient image based on the determined disparity, and performing a navigation based on the determined coordinates. In the present disclosure, the ambient image is collected by a single camera, the plurality of ambient sub-images is obtained by the micro-lens array based on the collected ambient image, and then stereo matching and three-dimensional (3D) reconstruction are implemented based on the ambient sub-images to perform the visual navigation. In addition, since the ambient image is collected by the single camera, the amount of the data being gathered is smaller, the processing speed is easy to be controlled, and thus it is good in real-time processing. Furthermore, depth information of an object may be determined in a more accurate manner based on information on a vertical disparity and information on a horizontal disparity of the object that may be obtained simultaneously, so that an accuracy of the navigation is effectively improved.

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First Claim