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Depth map processing method and device

A processing method and depth map technology, applied in the field of image processing, can solve problems such as ToF depth measurement error, and achieve the effect of smooth depth value and high dynamics

Active Publication Date: 2021-04-16
GUANGDONG OPPO MOBILE TELECOMM CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Among them, due to the existence of various uncertainties in the measurement process, various errors have been corrected in the offline calibration stage, but due to the great randomness of these errors, this has resulted in In-range ToF depth measurement error of about 1%

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  • Depth map processing method and device
  • Depth map processing method and device

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Embodiment Construction

[0023] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate 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 invention and should not be construed as limiting the present invention.

[0024] The method and device for processing a depth map according to the embodiments of the present invention will be described below with reference to the accompanying drawings. Wherein, the depth value in the depth map in the embodiment of the present invention is obtained based on the TOF sensor.

[0025] In order to enable those skilled in the art to more clearly understand the timing of the depth map processing method of the present invention, the following combination figure 1 Describe the entire process of TOF depth map p...

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Abstract

The present invention proposes a depth image processing method and device, wherein the method includes: acquiring a first depth image frame and a second depth image frame adjacent to the first depth image frame, and determining the first content value of each first pixel And the second content value of the corresponding second pixel, obtain the content difference between the first content value and the second content value, determine the credible pixel in the first depth image frame according to the content difference, and determine the smoothness corresponding to the credible pixel factor, and perform filtering processing on the depth value of the trusted pixel according to the smoothing factor and the depth value of the pixel corresponding to the trusted pixel in the second depth image frame. Therefore, based on the change of the depth value, the depth value in the slowly changing depth area is filtered based on time consistency, which effectively makes the depth value in the depth smooth area smoother in the time dimension, while the depth rapidly changing area maintains the original high dynamics.

Description

technical field [0001] The present invention relates to the technical field of image processing, in particular to a depth map processing method and device. Background technique [0002] Generally, when measuring the depth of an object based on a Time of Flight (ToF) sensor, the ToF sensor determines the distance between the sensor and the object by calculating the flight time of the pulse signal, and then determines the depth value of the object based on the distance. Among them, due to the existence of various uncertainties in the measurement process, various errors have been corrected in the offline calibration stage, but due to the great randomness of these errors, this has caused the In-range ToF has a depth measurement error of about 1%. When calculating the depth value of an object, we smooth the depth value based on the fixed depth measurement error. [0003] However, if the error of the depth value is fixed within a certain period of time, that is, it has time cons...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/514G06T5/00
CPCG06T5/002G06T7/514
Inventor 康健
Owner GUANGDONG OPPO MOBILE TELECOMM CORP LTD