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

Abstract

The present application provides an image data processing method, a control system, and a storage medium of a mobile device. The image data processing method includes: acquiring the first depth map taken by the depth detection device and its first light intensity data and second depth map and its second light intensity data; according to the positional relationship between the first position and the second position, determine the corresponding relationship between the pixel position of the first depth map and the pixel position of the second depth map; according to The first light intensity data and / or the second light intensity data, light intensity conditions, respectively extract the first depth data in the first depth map and the second depth data in the second depth map; according to the corresponding relationship, Combining the first depth data and the second depth data to obtain a new depth map. This application can synthesize the images taken by the mobile device with different exposures during the movement, so as to obtain high-quality images without overexposure and underexposure and with a long-distance field of view.

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