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Depth data filtering method and device, electronic equipment and readable storage medium

A technology of depth data and depth map, applied in the field of communication, can solve the problems of large time domain jitter of depth data and insufficient smoothness of time consistent filtering.

Active Publication Date: 2019-10-29
GUANGDONG OPPO MOBILE TELECOMM CORP LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] For this reason, the depth data filtering method, device, electronic equipment, and readable storage medium of the present application can solve the technical problems in the prior art that lead to insufficient smoothness of time-consistency filtering and cause large jitter of depth data in the time domain

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  • Depth data filtering method and device, electronic equipment and readable storage medium
  • Depth data filtering method and device, electronic equipment and readable storage medium
  • Depth data filtering method and device, electronic equipment and readable storage medium

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Embodiment Construction

[0032] Embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary, and are intended to explain the present application, and should not be construed as limiting the present application.

[0033] Specifically, the ToF sensor determines the distance between the sensor and the object by calculating the time-of-flight of the pulse signal, such as Among them, d is the depth, c is the speed of light, and t is the flight time; divided by 2 is because the pulse signal flies twice between the sensor and the object. Based on the description of the above background technology, it can be understood that the time for ToF depth data is consistent Sexual filtering is very important. The way to obtain the image depth of eac...

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Abstract

The invention discloses a depth data filtering method and device, electronic equipment and a readable storage medium, and the method comprises the steps: marking a first environment change region anda second environment change region, and determining a first similarity weight corresponding to each pixel point in the first environment change region; determining a second similarity weight corresponding to each pixel point in the second environment change area; and performing filtering processing on the first environment change region according to the first similarity weight, and performing filtering processing on the second environment change region according to the second similarity weight. Therefore, the problem that the time consistency filtering smoothness is insufficient in the prior art is solved. In order to solve the technical problem of large jitter of depth data in a time domain, a depth map is divided into two environment change areas, different strategies are selected according to the areas for smoothing processing, the depth value of a depth gentle change area in the time dimension is smoother effectively, and the original high dynamic property of a depth rapid change area is kept.

Description

technical field [0001] The present invention relates to the field of communication technology, in particular to a filtering method, device, electronic equipment and readable storage medium for depth data. Background technique [0002] Usually, the ToF (Time of Flight) sensor determines the distance between the sensor and the object by calculating the flight time of the pulse signal. Due to various uncertainties in the measurement process, various errors are brought, and these errors have many Large randomness causes the depth measurement error of ToF within the measurement range to be about 1%. [0003] In an actual system, the above measurement error can be accepted, but it is hoped that the sensor can achieve time consistency within a limited time. In related technologies, the time consistency filter filters all pixels in the full frame, resulting in time consistency Insufficient smoothness of filtering results in large jitter of depth data in the time domain. Contents ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T5/20G06T5/00G06K9/62
CPCG06T5/20G06T2207/10028G06T2207/20024G06F18/22G06T5/70
Inventor 康健
Owner GUANGDONG OPPO MOBILE TELECOMM CORP LTD