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: 2021-06-18
GUANGDONG OPPO MOBILE TELECOMM CORP LTD
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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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[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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The present invention provides a depth map processing method and device, wherein the method includes: acquiring consecutive n depth image frames including target depth image frames; determining the target depth image frame and each other depth image frame in the n depth image frames respectively Corresponding time similarity weight; determine the content similarity between the trusted pixels and the corresponding pixels in each of the other depth image frames in the n depth image frames; The content similarity weight of the corresponding pixel; the depth value of the trusted pixel is filtered according to all the temporal similarity weights and all the content similarity weights. As a result, depth smoothing is performed according to the reliability of the pixels in the depth map, and the time and content similarity between consecutive frames are considered, which effectively makes the depth value of the gently changing region smoother in the time dimension, and the depth is fast. The changing area maintains the original high dynamics again.
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...
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IPC IPC(8): G06T7/55
CPCG06T7/55G06T2207/10016G06T2207/10028G06T2207/20182G06T5/70G06T7/50
Inventor 康健
Owner GUANGDONG OPPO MOBILE TELECOMM CORP LTD