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Filling method and system for missing pixels of depth image

A technology of depth image and filling method, which is applied in the field of depth image, and can solve the problems that the pixel depth value cannot be calculated, the laser cannot scan, and the depth image lacks pixels, etc.

Active Publication Date: 2020-08-28
BEIJING LUSTER LIGHTTECH
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  • Claims
  • Application Information

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Problems solved by technology

At present, due to the limited viewing angle of the laser light source or the camera, the laser cannot scan some areas of the object, or the camera cannot observe part of the light stripe information of the laser, so the depth values ​​of some pixels in the image cannot be calculated, which eventually leads to the existence of Missing pixels affect the processing of subsequent algorithms

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  • Filling method and system for missing pixels of depth image
  • Filling method and system for missing pixels of depth image
  • Filling method and system for missing pixels of depth image

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Embodiment Construction

[0054] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention.

[0055] In some processes described in the specification and claims of the present invention and the above-mentioned drawings, a plurality of operations appearing in a specific order are contained, but it should be clearly understood that these operations may not be performed in the order in which they appear herein Execution or parallel execution, the serial numbers of the operations, such as 101, 102, etc., are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. Additionally, these processes can include more or fewer operations, and these operations can be performed sequentially or in parallel. It should be n...

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Abstract

The invention discloses a filling method for missing pixels of a depth image, and the method comprises the following steps: determining missing pixels needing to be filled according to the data validity of a current depth image; setting filling parameters according to a predetermined strategy; constructing a structure tensor according to a predetermined strategy; and carrying out iterative solution through a corresponding formula, and carrying out missing pixel filling. Besides, when the missing pixels of the depth image are filled, the effective pixel area with large noise of the depth imagecan be designated as the area to be filled so that the smooth denoising effect of the effective pixel area of the depth image can be realized while filling of the missing pixels can be realized. The technical scheme provided by the invention has the beneficial effects that 1, the missing pixels are filled by utilizing the filling algorithm, so that an expected filling effect can be achieved; 2, byconstructing different structure tensors D, good edge information can be maintained on the basis of smoothness of filling pixels and surrounding areas.

Description

technical field [0001] The present application relates to the field of depth image technology, in particular to a method and system for filling missing pixels of a depth image. Background technique [0002] In the field of visual images, depth images can reflect the depth information of the captured objects. By processing the acquired depth image, the height measurement, volume measurement and related detection operations of the object can be realized. At present, due to the limited viewing angle of the laser light source or the camera, the laser cannot scan some areas of the object, or the camera cannot observe part of the light stripe information of the laser, so the depth values ​​of some pixels in the image cannot be calculated, which eventually leads to the existence of Missing pixels will affect the processing of subsequent algorithms. Contents of the invention [0003] The technical problem to be solved in this application is to provide a filling method for missin...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T5/20G06T7/50
CPCG06T5/20G06T7/50
Inventor 钟旭阳姚毅
Owner BEIJING LUSTER LIGHTTECH