Image data processing method of mobile equipment, control system and storage medium

Abstract

The application provides an image data processing method of mobile equipment, a control system and a storage medium. The image data processing method comprises the following steps: acquiring a first depth map shot by a depth detection device and first light intensity data thereof as well as a second depth map shot by a depth detection device and second light intensity data thereof; determining a corresponding relationship between the pixel position of the first depth map and the pixel position of the second depth map according to the position relationship between the first position and the second position; respectively extracting first depth data in the first depth map and second depth data in the second depth map according to the first light intensity data and / or the second light intensity data and the light intensity condition; and according to the corresponding relationship, synthesizing the first depth data and the second depth data to obtain a new depth map. According to the appliction, the images shot by the mobile device with different exposure quantities in the moving process can be synthesized, so that a high-quality image with no overexposure and no underexposure and a long-distance visual field range is obtained.

Description

technical field [0001] The present application relates to the technical field of data processing systems and methods, and in particular to an image data processing method, control system, and storage medium of a mobile device. Background technique [0002] A mobile device is a device that can perform certain tasks while on the move. Examples include mobile phones, mobile robots, robotic arms with cameras, etc. Taking the mobile device described as a mobile robot as an example, the mobile robot can be used indoors or outdoors, and can be used in industry, commerce or home, and can be used to replace security patrols, greeters or orderers, or replace people to clean the ground. Accompanying the family, assisting the office, etc. [0003] Since the camera device of a mobile device can only use one exposure level when capturing each image, if you want to obtain images of scenes at long distances during the movement of a mobile device such as a mobile robot, you need to obtain ...

AI Technical Summary

Problems solved by technology

[0003] Since the camera device of a mobile device can only use one exposure level when capturing each image, if you want to obtain images of scenes at long distances during the movement of a mobile device such as a mobile robot, you need to obtain images with a high exposure level. , however, images of scenes at close distances may appear overexposed

If you want to obtain a clear image of the scene at a short distance, in order not to appear overexposure, you need to obtain it with a low exposure. However, images in the long-distance field of view may be underexposed

Images