Scene flow estimation method based on 3D local rigidity and depth map guided anisotropic smoothing
An anisotropic, scene flow technique, applied in the field of scene flow estimation
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[0070] The present invention will be described in more detail below in conjunction with the accompanying drawings.
[0071] The 3D locally rigid surface assumption and depth map-driven anisotropic full variational regularization jointly constrain scene flow. The 3D local rigid surface assumption can make the calculation of the scene flow more accurate; the anisotropic full variational regularization driven by the depth map can obtain a dense scene flow with clear motion edges, and the combination of the two can obtain dense, accurate, and clear motion edges. scene flow.
[0072] S1. Obtain the scene texture image and depth image, and align the texture image and depth image. In order to ensure the accuracy of the scene flow calculation and the reliability of the anisotropic smoothing of the scene flow guided by the depth map, the method of using the texture image to repair , perform trilateral filtering repair on the depth map.
[0073] S2. Use the variational method to solve...
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