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A Plane Supervised Image Color Depth Information Collaborative Inpainting System

A color depth and collaborative restoration technology, applied in the image field, can solve problems such as not considering the constraint relationship

Active Publication Date: 2021-01-08
SUN YAT SEN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] At present, most of the existing image repairs or depth map repairs are done independently, rather than repairing the two at the same time, without considering the constraint relationship between the two

Method used

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  • A Plane Supervised Image Color Depth Information Collaborative Inpainting System
  • A Plane Supervised Image Color Depth Information Collaborative Inpainting System
  • A Plane Supervised Image Color Depth Information Collaborative Inpainting System

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Embodiment

[0025] Such as figure 1 It is a flow chart of the image color depth information restoration system supervised by plane, including four parts: color image restoration module, image segmentation module, depth map restoration module, and color image restoration module under the guidance of depth map.

[0026] Among them, the damaged area is the same position in the color image and the depth map. Color information and depth information are consistent in the damaged area, and the two are mutually constrained.

[0027] Wherein, in the image restoration module, a preliminary restoration and perfect color image is obtained by using a sample-based image restoration algorithm. Damaged areas are repaired in blocks, called blocks to be repaired. In the process of image repair, it is necessary to determine the priority among the damaged blocks in the area to be repaired and find the best matching block to repair the damaged block. The priority determines the filling order of blocks to b...

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Abstract

The invention relates to the technical field of images, in particular to a plane-supervision image color and depth information synergistic repair method. In a particular implementing process, the method mainly includes the steps that a colorful image is repaired through a sample-based image repair algorithm, and clues are provided for depth repair at the same time; then, the colorful image which is preliminarily repaired and improved is partitioned by the adoption of a super-pixel partition method; meanwhile, a tapered-plane smoothing method is adopted in a depth image repair process, and plane equations obtained by the usage of a plane fitting method are used for estimating parallax values; partitioned blocks using block planes or hinge planes as partition borders, and outside spots obtained in the plane fitting process are calculated again in the next iteration process; a depth image which is completely repaired gives feedback to colorful-image iterated repair; finally, the steps areiterated continually to be optimized to obtain an optimal repair result of the colorful image and an optimal repair result of the depth image, so that the purpose of synergistic repair on image colorand depth information is achieved.

Description

technical field [0001] The present invention relates to the technical field of images, and more specifically, relates to a plane supervised image color depth information collaborative restoration system. Background technique [0002] In the field of autonomous navigation and intelligent driving, in order to successfully perceive and navigate in the three-dimensional world, mobile robots or vehicles need to calculate their own position and the information of the surrounding three-dimensional environment. Vision-based real-time localization and mapping can estimate the position of the mobile robot and simultaneously gradually build a 3D map of the surrounding environment. When a mobile robot moves in an unknown environment, whether it can obtain the three-dimensional information of the surrounding environment in time is a key prerequisite for avoiding obstacles and planning paths. [0003] However, in real life, when unwanted objects such as moving objects appear, the effect ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T5/00G06T7/11G06T7/136
Inventor 陈龙范蕾张朝强黎丹
Owner SUN YAT SEN UNIV
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