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

Abstract

The present invention discloses a depth data filtering method, device, electronic equipment and readable storage medium, wherein the method includes: marking a first environment change area and a second environment change area, and determining each pixel point in the first environment change area Corresponding first time weight and first similarity weight; determine second time weight and second similarity weight corresponding to each pixel point in the second environment change area; Filtering is performed on an environment change area, and filtering is performed on a second environment change area according to the second time weight and the second similarity weight. Therefore, by dividing the depth map into two environmental change areas, and selecting different strategies for smoothing in each area, the depth value of the gently changing area is effectively smoother in the time dimension, while the depth rapidly changing area remains unchanged. The original high dynamics.

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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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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