Self-attention multi-scale pyramid binocular stereo matching method and electronic equipment

The invention discloses a self-attention multi-scale pyramid binocular stereo matching method and electronic equipment, and belongs to the technical field of stereo vision. The method comprises the following steps: acquiring standard left and right images of the binocular stereo camera; performing multi-scale feature extraction to obtain multi-scale convolution features of the left image and the right image; performing channel feature weighting and spatial feature weighting, and then performing fusion to obtain multi-scale fusion features of the left image and the right image; constructing a 4D cost body; performing multi-scale pyramid aggregation to form a multi-scale 3D polymer; and on the basis of the aggregated 3D polymer, after Soft Max operation, parallax regression is carried out, and a left image parallax map is output. According to the method, an attention mechanism is applied to stereo matching to play a role in feature screening, a multi-scale pyramid aggregation module is designed to effectively a