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

A depth data and depth technology, which is applied in the field of devices, depth data filtering methods, electronic equipment and readable storage media, can solve the problems of insufficient smoothness of time-consistency filtering and large jitter in the time domain of depth data, etc., and achieve high dynamics The effect of sex, depth value smoothing

Active Publication Date: 2022-03-22
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, device, electronic equipment and readable storage medium, wherein the method includes: obtaining the depth difference value of each pixel point between two consecutive frames of depth maps; The area formed by each pixel of the absolute depth error is marked as the first environment change area; the area formed by each pixel with a depth difference greater than or equal to the preset absolute depth error is marked as the second environment change area; The first environment change area and the second environment change area perform different filtering processes. 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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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T5/00G06V10/74G06K9/62
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