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Depth image generation method, device and computer-readable storage medium

A technique of depth image, computer program, applied in the field of imagery, capable of solving problems such as gaps

Active Publication Date: 2022-04-08
达闼机器人(广州)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the inventors of the present invention have found that the distribution of the hollow area is different in different scenarios, so that there is a large gap between the artificially manufactured virtual depth image with the hollow area and the actual depth image collected by the real depth sensor

Method used

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  • Depth image generation method, device and computer-readable storage medium
  • Depth image generation method, device and computer-readable storage medium
  • Depth image generation method, device and computer-readable storage medium

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Embodiment Construction

[0024] In order to make the object, technical solution and advantages of the present invention clearer, various embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. However, those of ordinary skill in the art can understand that, in each implementation manner of the present invention, many technical details are provided for readers to better understand the present application. However, even without these technical details and various changes and modifications based on the following implementation modes, the technical solution claimed in this application can also be realized.

[0025] The first embodiment of the present invention relates to a depth image generation method. The specific process is as Figure 4 shown, including the following steps:

[0026] Step S101: Acquire actual depth images captured by multiple depth sensors to form an actual depth image set.

[0027] Specifically, in this step, the actual d...

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Abstract

The invention relates to the field of image technology, and discloses a depth image generation method, device and computer-readable storage medium. Wherein, the method for generating a depth image includes: acquiring actual depth images captured by a plurality of depth sensors to form an actual depth image set, the actual depth images having hollow areas that do not contain depth data; constructing a depth image generation model, and converting the actual depth The image set is input to the depth image generation model, and the depth image generation model is trained to learn the distribution of hollow areas in the actual depth image set; the depth image output by the trained depth image generation model is obtained as the target depth image. The depth image generation method, device and computer-readable storage medium provided by the embodiments of the present invention have the advantage of making the generated virtual depth image closer to the actual depth image collected by the real depth sensor.

Description

technical field [0001] The present invention relates to the field of image technology, in particular to a method and device for generating a depth image, and a computer-readable storage medium. Background technique [0002] Depth sensors have been widely used, for example, in autonomous driving, augmented reality, and scene reconstruction. Although depth sensors are becoming more and more advanced, commercial-grade depth sensors are affected by the material of the object (such as completely black, transparent glass), environmental factors (light or sunlight shining on the surface of the object) and the acquisition accuracy of the depth sensor itself when collecting data. Influenced by this, the collected depth map has a hollow area, that is, there is no depth data in the hollow area. Such as figure 1 , figure 2 , image 3 shown; among them, figure 1 for the actual image, figure 2 is the actual depth image corresponding to the actual image, image 3 The depth image c...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/55
CPCG06T7/55G06T2207/10028G06T2207/20081G06T2207/20084
Inventor 王洛威王恺廉士国
Owner 达闼机器人(广州)有限公司