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A method of denoising based on pulsed tof depth image

A deep image, pulse-type technology, applied in the field of computer vision, can solve problems such as high-frequency random noise

Active Publication Date: 2021-06-25
BEIJING UNIV OF TECH
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Problems solved by technology

[0005] In view of this, in order to solve the problem of high-frequency random noise and flying pixels in the pulse-type ToF depth image, the present invention proposes a method based on pulse-type ToF depth image denoising, directly starting from the imaging model of the pulse-type ToF depth camera , design a regularizer for the original measurement data of the pulsed ToF sensor, use a variation-based semi-blind deconvolution algorithm to denoise the depth, effectively denoise the pulsed ToF depth image and maintain the edge details of the depth image

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[0011] The present invention will be described in detail below in conjunction with specific embodiments shown in the accompanying drawings.

[0012] figure 1 It is an overall flow chart of a method for denoising based on pulse-type ToF depth images proposed by the present invention, such as figure 1 shown, including:

[0013] Step 1. Imaging model calculation of pulsed ToF camera

[0014] This step calculates the imaging based on the ranging principle of the pulse-type ToF camera; the calculation formula of the depth value acquired by the depth camera is z=c*Δt / 2, where c is the speed of light, and Δt is the time difference from when the laser sends a signal to when the detector receives the signal. However, the depth camera cannot directly obtain Δt, but has the photon accumulation ΔA obtained by three exposures. The three exposures are S0, S1, and BG respectively. The first exposure S0 is the case of full charge accumulation, that is, the time is the sensor pulse width Tp...

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Abstract

The invention discloses a method for denoising based on a pulse-type ToF depth image. Starting directly from the imaging model of a pulse-type ToF depth camera, a regularizer for the original measurement data of a pulse-type ToF sensor is designed, and a variation-based semi-blind reflection method is adopted. The convolution algorithm denoises the depth, effectively denoises the pulse-type ToF depth image and maintains the edge details of the depth image.

Description

technical field [0001] The invention belongs to the field of computer vision, and in particular relates to a method for denoising a pulse-type ToF depth image. Background technique [0002] 3D imaging technology has broad application prospects and commercial value in the fields of mobile robots, telemedicine and 3D TV. Accurate acquisition of depth information is a key technology necessary for 3D research and 3D practical applications. Therefore, fast and high-quality depth sensors are very popular, and among various depth acquisition technologies (binocular, structured light, lidar, etc.) time-of-flight (ToF) cameras have become an efficient, low-cost Low cost, versatile depth imaging solution. ToF cameras can be divided into continuous wave type and pulse type according to different types of lasers. The continuous ToF camera appeared earlier, and there are many studies on it. Its imaging principle is to use the continuous wave phase difference to indirectly calculate th...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T5/00
CPCG06T5/002
Inventor 稂时楠张文博李博文包振山
Owner BEIJING UNIV OF TECH
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