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

A technology of depth data and depth, applied in the field of filtering method of depth data, electronic equipment and readable storage medium, and devices, can solve the problems of insufficient smoothness of time consistency filtering, large time domain jitter of depth data, etc.

Active Publication Date: 2019-11-01
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, 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

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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, a depth data filtering device, electronic equipment and a readable storage medium. The method comprises the steps: obtaining the depth differenceof each pixel point between two continuous frames of depth maps; marking an area formed by each pixel point of which the depth difference value is smaller than a preset absolute depth error as a first environment change area; marking an area formed by each pixel point of which the depth difference value is greater than or equal to a preset absolute depth error as a second environment change area;and respectively carrying out different filtering processing on the first environment change area and the second environment change area. Therefore, the depth map is divided into the two environmentchange areas. Different strategies are selected according to the areas for smoothing. The depth value of the area with gentle depth change in the time dimension is smoother, and the area with rapid depth change maintains the original high dynamic property.

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

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T5/00G06K9/62
CPCG06T2207/10028G06F18/22G06T5/70G06T2207/10016G06T2207/20182G06T7/55G01S17/894G06V10/761G06V10/30G06V10/72G06V10/225G06V10/34G01B11/22G01S7/4865
Inventor 康健
Owner GUANGDONG OPPO MOBILE TELECOMM CORP LTD