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

Abstract

The present invention discloses a high-resolution depth map acquisition method based on active and passive fusion. Firstly, a TOF low-resolution depth map is subjected to sparse up-sampling and parallax map calculation, the low-resolution depth map generated by a TOF camera is mapped to the world coordinate system of a 3D scene, and a three-dimensional point is projected to a left color camera or a right color camera to form a TOF parallax lattice; the three-dimensional matching and TOF depth fusion are carried out, and the parallax map of a weak texture region, the parallax map of a texture region, and the parallax map of other regions are calculated. Compared with the prior art, the algorithm has a certain robustness, the advantages of a TOF depth camera and the matching algorithm of the color three-dimensional camera are integrated to make up the disadvantages of each algorithm, the good effects of real world scene and a standard data set can be displayed, the algorithm has good performance, and the algorithm has good application prospects in the fields of computer vision and robot application.

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...

AI Technical Summary

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

Images