High-resolution depth map acquisition method based on active and passive fusion

A high-resolution, acquisition method technology, applied in the field of computer graphics processing, can solve the problems of unobtainable effect, limited depth measurement range, low brightness sensitivity, etc.

Inactive Publication Date: 2016-08-17
TIANJIN UNIV
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Problems solved by technology

However, the resolution of existing depth cameras is much lower than that of high-definition (HD) color cameras, and their brightness sensitivity is low, and the depth measurement range is limited.
And the depth camera is susceptible to noise, and the depth information obtained in some scenes with severe scattering has a large error, such as a non-Lambertian surface (non-Lambertian surface)
Therefore, only relying on the depth camera to obtain the scene depth reconstruction cannot get the ideal effect

Method used

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  • High-resolution depth map acquisition method based on active and passive fusion
  • High-resolution depth map acquisition method based on active and passive fusion
  • High-resolution depth map acquisition method based on active and passive fusion

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Embodiment Construction

[0061] The technical solution of the present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0062] Sparsely upsample the TOF low-resolution depth map first, without introducing human error; then, using the complementary characteristics between the stereo matching method and the TOF depth acquisition method, in the weak texture area and repeated texture area, the TOF camera is used. Depth acquisition results, while depth acquisition results using stereo matching algorithms in complex texture areas.

[0063] Specific steps are as follows:

[0064] Step 1. System correction and sampling of TOF depth map, including sparse upsampling of TOF depth map and calculation of disparity map:

[0065] Since the resolution of the depth map acquired by the TOF camera is low (144×176), the TOF depth map is first sparsely up-sampled before the fusion of the TOF depth map and the depth map obtained by stereo matching...

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Abstract

The invention discloses a method for obtaining a high-resolution depth map based on active-passive fusion. Firstly, sparse upsampling and disparity map calculation are performed on the TOF low-resolution depth map, and the low-resolution depth map generated by the TOF camera is mapped to 3D The world coordinate system of the scene, and then project the 3D points to the coordinate system of the left color camera or the right color camera to form a TOF parallax lattice; perform stereo matching and TOF depth fusion, and calculate the disparity map of the weak texture area and the disparity map of the texture area Poor view from other areas. Compared with the prior art, the algorithm of the present invention has certain robustness; the advantages of the matching algorithm of the comprehensive TOF depth camera and the color stereo camera make up for the deficiencies of the respective algorithms; it can show good effects on real world scenes and standard data sets , this algorithm has better performance; this algorithm will have a very good application prospect in the field of computer vision and robot applications.

Description

technical field [0001] The invention belongs to the technical field of computer graphics processing, and relates to a method for acquiring a high-resolution depth map. Background technique [0002] From the appearance of the first real three-dimensional film "Four-Eyed Chicken" in 2005 to the release of the world-famous three-dimensional film "Avatar" in 2010, the upsurge of three-dimensional films was ignited. With the maturity of stereoscopic technology and the continuous advancement of commercialization, stereoscopic imaging and display technology has been widely used in many fields such as industry, medical treatment, construction, military affairs, entertainment, etc., such as the design of automobiles and ships, virtual reality technology, medical endoscope, etc. Image display, medical operation simulation, urban planning, architectural design display, 3D film and TV, 3D game, etc. At the same time, in order to occupy the market, many electronics and television compan...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
Inventor 李素梅刘娇丽范如侯春萍
Owner TIANJIN UNIV
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