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A method and device for repairing noise in disparity map

A technology of disparity map and noise, applied in the field of computer vision, can solve the problem of low accuracy of disparity value and achieve the effect of improving accuracy

Active Publication Date: 2020-08-14
HISENSE
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Problems solved by technology

This method of using the disparity value of a single pixel to repair the disparity value of the noise is too simple, and the accuracy of the disparity value after repair is not high

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  • A method and device for repairing noise in disparity map
  • A method and device for repairing noise in disparity map
  • A method and device for repairing noise in disparity map

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[0022] Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with aspects of the invention as recited in the appended claims.

[0023] The terminology used in the present invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used herein and in the appended claims, the singular forms "a", "the", and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the term "and / or" as use...

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Abstract

The present invention provides a method and device for repairing noise in a disparity map. The method comprises: employing two depth cameras to shoot the depth map of the same scene, and calculating the disparity map of the scene based on the depth map; if a first pixel point in the disparity map is a noise point, searching second pixel points which has a gray value, wherein the difference of the gray value and the gray value of the first pixel point is smaller than a preset gray value threshold in a detection window corresponding to the first pixel point in the depth map; and redetermining the disparity value of the first pixel point in the disparity map according to the searched disparity values of a plurality of second pixel points to improve the accuracy of the disparity values after repairing.

Description

technical field [0001] The invention relates to the technical field of computer vision, in particular to a method and device for repairing noise in a disparity map. Background technique [0002] Binocular stereo vision technology is a technology to estimate the disparity of the depth map of the same scene captured by binocular cameras and determine the depth of the three-dimensional space scene. In the disparity map obtained by the disparity estimation algorithm (for example, the semi-global matching algorithm), there are often a large number of noise points, which greatly interfere with subsequent operations and analysis processing. [0003] In order to remove these noise points, the disparity value at the noise point in the disparity map is generally replaced by the disparity value of the pixel whose gray value is closest to the gray value of the noise point in the neighborhood of the noise point. This method of using the disparity value of a single pixel to repair the di...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/55
CPCG06T7/55G06T2207/10028
Inventor 王智慧田国会
Owner HISENSE
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