Unlock instant, AI-driven research and patent intelligence for your innovation.

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

A technology of depth data and depth map, which is applied in the field of communication, can solve problems such as insufficient smoothness of time-consistency filtering, large jitter in the time domain of depth data, etc., and achieve the effect of solving insufficient smoothness and smoothing depth values

Active Publication Date: 2021-05-25
GUANGDONG OPPO MOBILE TELECOMM CORP LTD
View PDF4 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Depth data filtering method, device, electronic equipment and readable storage medium
  • Depth data filtering method, device, electronic equipment and readable storage medium
  • Depth data filtering method, device, electronic equipment and readable storage medium

Examples

Experimental program
Comparison scheme
Effect test

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...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a filtering method, device, electronic device and readable storage medium for depth data, wherein the method includes: marking a first environment change area and a second environment change area, and determining the difference between each pixel in the first environment change area Corresponding first similarity weight; determining the second similarity weight corresponding to each pixel in the second environment change area; filtering the first environment change area according to the first similarity weight, and according to the second similarity weight Filter processing is performed on the second environment change region. Therefore, the technical problem of insufficient smoothness of temporal consistency filtering and large jitter of depth data in the time domain in the prior art is solved. By dividing the depth map into two environmental change regions, and selecting different strategies for each region The smoothing process effectively makes the depth value smoother in the time dimension in the area with gentle depth change, while the original high dynamicity is maintained in the area with rapid depth change.

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 ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G06T5/20G06T5/00G06K9/62
CPCG06T5/20G06T2207/10028G06T2207/20024G06F18/22G06T5/70
Inventor 康健
Owner GUANGDONG OPPO MOBILE TELECOMM CORP LTD