Method for filling cavity in Kinect depth image in real time

Abstract

Disclosed in the invention is a method for filling a cavity in a Kinect depth image in real time. The method comprises the following steps: step 1, obtaining a color image of a shooting scene and a corresponding depth image by using a Kinect camera and determining a foreground image position and a background image position by using an operating-period Gauss average method and a background differencing method; step 2, constructing a deepest image by using a Kinect depth image and filling a cavity in the deepest image; step 3, replacing the pixel of the deepest image with a background pixel of the depth image, thereby realizing cavity filling of the depth image background; and step 4, with the foreground image position obtained by the step 1, marking the cavity existed in the foreground position of the Kinect depth image and filling the marked cavity in real time. According to the invention, the object edge in the depth video with the filled cavity becomes stable; and the no flicker phenomenon occurs in the depth video. Meanwhile, the cavity filling speed in the depth image and the image stability can be improved effectively.

Description

technical field [0001] The invention belongs to the technical field of depth image processing, and more particularly, relates to a method for filling holes in a Kinect depth image in real time. Background technique [0002] Kinect is a Microsoft product exhibited by Microsoft in June 2010 (see K. Khoshelham, Sander Oude Elberink. Accuracy and Resolution of Kinect Depth Data for Indoor Mapping Applications. Sensors 2012, 2012(12), pp. 1437-1454) Kinect 3D stereo camera, which can simultaneously obtain the color image of the shooting scene and the corresponding depth image. Because the Kinect camera can easily and inexpensively obtain the depth image of the scene in real time, the Kinect camera has been widely used in 3D scene reconstruction, object segmentation and other fields. application. [0003] The capture frequency of Kinect's depth images is 30fps, and there is a large temporal correlation between frames in actual depth videos, which is of great significance for imag...

AI Technical Summary

Problems solved by technology

This method uses spatial information to fill the holes in the Kinect depth image, and the accuracy of the hole filling is lower than that of the first type of using time domain information to fill the holes in the Kinect depth image, and the time complexity of this method If it is too high, it takes a lot of time to fill, and it is impossible to fill the Kinect depth image in real time, which restricts the application of Kinect

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