Method for filling cavity in Kinect depth image in real time

A depth image and hole technology, which is applied in image enhancement, image analysis, image data processing, etc., can solve the problems of restricting Kinect application, unable to achieve real-time hole filling of Kinect depth image, and low accuracy.

Active Publication Date: 2015-01-21
SHANGHAI UNIV +1
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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...

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  • Method for filling cavity in Kinect depth image in real time
  • Method for filling cavity in Kinect depth image in real time
  • Method for filling cavity in Kinect depth image in real time

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Embodiment Construction

[0061] A method for filling holes in a Kinect depth image in real time according to the present invention, such as figure 1 The specific implementation steps are as follows:

[0062] Step 1: Use the Kinect camera to obtain the color image of the shooting scene and the corresponding depth image, use the running-time Gaussian average method to extract the color image background, obtain the background image, and then use the background difference method to segment the Kinect color image to obtain the foreground image, To determine the position of the foreground image and the position of the background image, the specific steps are as follows:

[0063] 1.1 Use the Kinect camera to obtain the color image of the shooting scene and the corresponding depth image;

[0064] 1.2 The background image of the Kinect color image is extracted by the running-time Gaussian average method, and the background image is obtained, and its expression is:

[0065] (1)

[006...

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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...

Claims

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Application Information

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IPC IPC(8): G06T7/00G06T11/40
CPCG06T7/11G06T7/50G06T7/90G06T2207/10028
Inventor 安平王健鑫尤志翔张兆扬尚峰范金慧施剑平
Owner SHANGHAI UNIV
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