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A correction method of edge reflection pixels based on tof depth camera

A depth camera and reflective pixel technology, applied in image enhancement, image analysis, image data processing, etc., to achieve stable and efficient methods, excellent repair effects, and solve denoising problems

Active Publication Date: 2020-08-18
HANGZHOU GUANGPO INTELLIGENT TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

It is not a real gradient target depth map, but due to the noise points of the depth map introduced during shooting, there is currently no way to deal with such edge pixels

Method used

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  • A correction method of edge reflection pixels based on tof depth camera
  • A correction method of edge reflection pixels based on tof depth camera
  • A correction method of edge reflection pixels based on tof depth camera

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Embodiment Construction

[0027] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0028] refer to Figure 1-7 As shown, an edge reflection pixel correction method based on TOF depth camera, such as figure 1 shown, including the following steps:

[0029] Obtain the depth map information, use the depth camera to obtain the depth map information and infrared grayscale image information, the depth map information is used to obtain the geometric features required by the algorithm, and the infrared grayscale image information is used to obtain the texture features required by the algorithm; figure 2 As shown, it is a schematic diagram of plane depth based on TOF depth camera, and the edge pixels are shown in circles. In general, absolute vertical shooting cannot be guaranteed, but the longitudinal section processing is performed on the captured image to obtain the longitudinal section depth map of the center line of s...

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Abstract

The invention provides an edge reflection pixel correction method based on a TOF (Time of Flight) depth camera. The method comprises the following steps that: establishing a sight line depth image, resolving a pixel normal vector in the depth image, establishing an edge confidence coefficient image, carrying out edge pixel judgment and edge pixel interpolation. Through the setting of an angle threshold value, the edge pixel is judged, the edge pixel point is repaired through an interpolation way, and finally, the cavity of the edge pixel point is repaired to realize the correction of the edge reflection pixel of the depth image. By use of the method, a denoising problem of the edge pixel of the depth image is quickly solved, the method is stable and efficient, and a depth image repairing effect is extremely good.

Description

technical field [0001] The present invention relates to edge pixel correction, in particular to an edge reflection pixel correction method based on a TOF depth camera. Background technique [0002] TOF is the abbreviation of Time of Flight (Time of Flight) technology, that is, the sensor emits modulated near-infrared light and reflects it when it encounters an object. Depth information, combined with traditional camera shooting, can present the three-dimensional outline of the object in the form of a chromaticity diagram in which different colors represent different distances. The TOF depth camera is a depth vision imaging device using TOF technology. The TOF depth camera obtains the infrared image through the image sensor and performs depth calculation to obtain a depth map containing the distance value of each pixel in the scene. In the process of capturing the depth map of an object with a TOF depth camera, a dense depth map is usually obtained, but it is precisely becau...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T5/00
CPCG06T5/005G06T2207/10028G06T2207/20192
Inventor 吴旷钱锋姚金良张秀达陈嵩
Owner HANGZHOU GUANGPO INTELLIGENT TECH CO LTD
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