Depth map processing method and device

A processing method and technology of depth map, 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: 2019-11-01
GUANGDONG OPPO MOBILE TELECOMM CORP LTD
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  • Description
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  • 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

[0024] 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.

[0025] 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.

[0026] 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 invention provides a depth map processing method and a depth map processing device. The method comprises the steps: determining a measurement error according to a motion parameter during the collection of a first depth image frame; determining a depth difference value between adjacent image frames; determining credible pixels and non-credible pixels in the first depth image frame according tothe depth difference value and the measurement error, and determining a first smoothing factor corresponding to the credible pixels and a second smoothing factor corresponding to the non-credible pixels; and filtering the depth value corresponding to the credible pixel according to the first smoothing factor, and filtering the depth value corresponding to the non-credible pixel according to the second smoothing factor. Therefore, the measurement error corresponding to the depth value is adaptively determined based on the time dimension. The credible pixel and the non-credible pixel in the depth map are determined based on the measurement error, so that different error smoothing processing can be performed on different pixels. The time consistency of the depth value error after image framefiltering is ensured.

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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IPC IPC(8): G06T7/254G06T7/20G06T7/50G06T5/00
CPCG06T7/50G06T7/254G06T7/20G06T5/70
Inventor 康健
Owner GUANGDONG OPPO MOBILE TELECOMM CORP LTD
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