Method and device for acquiring Kinect depth image

A technology of depth image and acquisition method, applied in the field of computer vision, can solve the problems of infrared reception influence, inconsistency between depth map and color map edge, optical noise, etc., to achieve the effect of removing noise and discontinuity

Active Publication Date: 2013-12-18
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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Problems solved by technology

[0004] Although Kinect can continuously collect depth images at a certain frame rate, there are still many problems in this depth image, such as inconsistency between the depth image and the color image, optical noise, flickering, etc.
In addition, there are obvious holes in the depth map, that is, the lack o

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  • Method and device for acquiring Kinect depth image
  • Method and device for acquiring Kinect depth image
  • Method and device for acquiring Kinect depth image

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Embodiment Construction

[0016] Specific embodiments of the present invention will be described in further detail below in conjunction with the accompanying drawings.

[0017] Such as figure 1 Shown, the Kinect depth image acquisition method and device of an embodiment of the present invention, comprise the steps:

[0018] 1. Perform median filtering on the multi-frame depth map of the Kinect continuous sampling static scene

[0019] The present invention aims to use Kinect to obtain stable, high-quality depth images of still scenes. However, even in a still scene, the depth map continuously sampled by Kinect is often unstable, with obvious flickering in some areas. Therefore, it is necessary to first obtain the depth data of a relatively stable still scene through median filtering. For each pixel, the depth value after median filtering is:

[0020] D 1 ( x , y ) = ...

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Abstract

The invention discloses a method and device for acquiring a Kinect depth image. The method comprises the steps of sampling static scenes continuously by means of the Kinect to obtain a plurality of frames of depth images and colored images; carrying out median filtering and noise reduction on the depth images; carrying out edge detection on the first frame of colored image and the depth images treated with median filtering by means of the Canny operator; carrying out primary segmentation on the depth images by means of a user index value of Kinect depth data to obtain a mark sheet, wherein pixels with the same mark value belong to one region in the mark sheet; carrying out primary repairing on the depth images by means of a region growing method with edge limitation considered and updating the mark sheet according to edge information of the depth images and the colored images and a depth image segmentation result; carrying out image enhancement on the depth images by means of trilateral filtering according to the updated mark sheet. According to the method and device for acquiring the Kinect depth image, edge inconformity of the depth images and the colored images is effectively overcome, cavities in an original Kinect depth image are repaired, noise is eliminated at the same time, and the depth image which is good in quality can be obtained finally.

Description

【Technical field】 [0001] The invention belongs to the field of computer vision, and in particular relates to a Kinect depth image acquisition method and device. 【technical background】 [0002] Kinect is the latest somatosensory interactive device launched by Microsoft. Initially, Kinect was only used as an external device for the Xbox360 game console. It uses functions such as real-time motion capture, image recognition, microphone input, voice recognition, and community interaction, so that users can get rid of the shackles of traditional gamepads and control games through body movements. At the beginning of 2012, Microsoft officially released Kinect for Windows, and at the same time released the Kinect for Windows SDK software development kit, which means that Kinect is extended to the Windows platform, and developers can use the data, interfaces and functions provided by Kinect to conduct research, Demonstrate, teach, and develop applications. [0003] Kinect has 3 lens...

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Application Information

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IPC IPC(8): G06T5/00G06T7/00
Inventor 王好谦田雨时张永兵王兴政戴琼海
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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