Range gating three-dimensional imaging adaptive bilateral parameter restoration method

Abstract

The invention provides a range gating three-dimensional imaging adaptive bilateral parameter restoration method. The method comprises following steps of step 1: firstly, according to two-dimensional space slice images adjacent to distance gating, using frames A, B to represent the two-dimensional space slice images, setting 3D threshold values, and using the three-dimensional inversion algorithm to acquire a to-be-repaired original depth image; step 2: then, using the adaptive bilateral parameter algorithm to partially fill missing data of the original depth image and the A frame image so as to obtain partially filled depth images; step 3: using the adaptive bilateral parameter algorithm to completely fill missing data of the original depth image and the B frame image so as to obtain completely filled depth images; and step 4: finally, using adaptive bilateral parameter algorithm to carry out smooth filtering on the completely filled depth image and the (A+B) / 2 image so as to obtain the complete and smooth restored depth image. According to the invention, objectives of effectively filling cavities of depth images acquired through the range gating three-dimensional imaging technology and removing noise can be achieved.

Description

technical field [0001] The invention belongs to the technical field of image processing, and in particular relates to the restoration technology of range-gated three-dimensional imaging depth images. Background technique [0002] Range-gated imaging is an active imaging technology that uses a pulsed laser as an illumination source and a gated imaging device as a detector. By controlling the delay between the laser pulse and the gated pulse, spatial slice imaging can be achieved, background filtering, and suppression Atmospheric and other backscatter noise to achieve target detection. [0003] In fact, each gated image contains not only brightness information, but also distance information. There is information association in distance between multiple images with the same gate width and different time delays. Using this information association, the three-dimensional information of the target can be inverted by algorithm. At present, laser-gated 3D imaging algorithms mainly...

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Problems solved by technology

[0006] At present, the algorithms for repairing depth images are mainly aimed at depth images obtained by binocular stereo vision, structured light methods, and time-of-flight algorithms.

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