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A depth image and color image registration method and device

A technology of depth image and color image, applied in the field of image processing, which can solve the problems of large error, poor alignment effect, inaccuracy, etc.

Active Publication Date: 2019-04-09
SHENZHEN ORBBEC CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In the prior art, in order to align the depth image with the color image, the following two methods are generally adopted. One is to use hardware parameter calibration to align the coordinates of the two. However, this manual calibration method has a large error , the error is generally between 2-3 pixels; one is to convert the depth value in the depth image into a point cloud, and then the point cloud is transformed (rotation + translation) and projected to the color image, so as to find the color image in the depth image corresponding points, however, this algorithm is often inaccurate, resulting in poor alignment
[0004] In summary, an accurate method for registering depth images with color images is still lacking

Method used

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Embodiment Construction

[0017] The present invention will be described in detail below through specific embodiments in conjunction with the accompanying drawings, so as to better understand the present invention, but the following embodiments do not limit the scope of the present invention. In addition, it should be noted that the diagrams provided in the following embodiments are only schematically illustrating the basic concept of the present invention, and only the components related to the present invention are shown in the drawings rather than the number of components, Shape and size drawing, the shape, quantity and proportion of each component can be changed arbitrarily during actual implementation, and the layout of the components may also be more complicated.

[0018] figure 1 It is a block diagram of a registration device 10 for a depth image and a color image in an embodiment of the present invention. like figure 1 As shown, the apparatus 10 includes a collection device 100 and a processo...

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Abstract

The invention provides a depth image and color image registration method and device. The method comprises the following steps: collecting a depth image and a color image in the same scene; Carrying out edge extraction on the color image to obtain a color edge of the color image; And processing the depth image according to the constraint of the color edge to obtain a final depth image. Through themethod and the device, accurate alignment of the depth image and the color image can be realized.

Description

technical field [0001] The invention relates to the field of image processing, in particular to a registration method and device for a depth image and a color image. Background technique [0002] Due to the difference in camera parameters and positions, there is a deviation between the RGB image acquired by the existing RGB-D (depth + color) camera and the Depth image, and the pixel coordinates, that is, relative to the same spatial point, on the depth image and the color image The corresponding pixel positions are not the same. [0003] In the prior art, in order to align the depth image with the color image, the following two methods are generally adopted. One is to use hardware parameter calibration to align the coordinates of the two. However, this manual calibration method has a large error , the error is generally between 2-3 pixels; one is to convert the depth value in the depth image into a point cloud, and then the point cloud is transformed (rotation + translation...

Claims

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Application Information

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IPC IPC(8): G06T7/13G06T7/33G06T5/00
CPCG06T7/13G06T7/33G06T2207/10028G06T2207/10024G06T2207/20032G06T5/70
Inventor 谭方
Owner SHENZHEN ORBBEC CO LTD