Depth information determination method, depth information determination device and electronic equipment

A technology of depth information and determination method, which is applied in the field of image processing, can solve the problems of inability to meet practical requirements and low density of depth information, and achieve the effect of improving density and precision and good data support

Pending Publication Date: 2020-09-22
BEIJING HORIZON ROBOTICS TECH RES & DEV CO LTD
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

However, in the existing schemes for determining depth information based on lidar technology, the density of the obtained depth information is low, which cannot meet the practical requirements

Method used

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  • Depth information determination method, depth information determination device and electronic equipment
  • Depth information determination method, depth information determination device and electronic equipment
  • Depth information determination method, depth information determination device and electronic equipment

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Embodiment Construction

[0022] Hereinafter, exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited by the exemplary embodiments described here.

[0023] Application overview

[0024] In the field of computer vision technology, the importance of depth information is self-evident. Especially in the field of autonomous driving, depth information is one of the indispensable information.

[0025] Currently, lidar is commonly used to determine scene depth information. However, when using lidar to determine depth information, the dense depth information of objects and pixels in the scene cannot be determined, and the depth information determined by lidar with a lower beam is sparser, which cannot meet pra...

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Abstract

The invention discloses a depth information determination method, a depth information determination device and electronic equipment. The depth information determination method comprises the followingsteps: determining a depth information image based on a two-dimensional image; determining depth gradient information based on the depth information image; determining point cloud data corresponding to the two-dimensional image, the point cloud data including a first depth information set, and the point cloud data being in time synchronization with the two-dimensional image; a second set of depthinformation is generated based on the first set of depth information, the depth gradient information, and the depth information image. According to the method of the invention, the defect that the density of the first depth information set in the point cloud data is relatively low is overcome by means of the two-dimensional image, and the high-precision depth information contained in the point cloud data is fully utilized, so that the density and precision of the determined depth information are finally improved.

Description

technical field [0001] The present disclosure relates to the technical field of image processing, and in particular to a method for determining depth information, a device for determining depth information, and electronic equipment. Background technique [0002] As the important information supporting computer vision technology, depth information is of great significance to 3D reconstruction. Especially in the field of autonomous driving, depth information is one of the indispensable information. However, in the existing solutions for determining depth information based on lidar technology, the density of the obtained depth information is low, which cannot meet the practical requirements. Contents of the invention [0003] In order to solve the above-mentioned technical problems, the present application is proposed. Embodiments of the present application provide a method for determining depth information, an apparatus for determining depth information, and electronic equ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/55
CPCG06T7/55G06T2207/10028
Inventor 彭强丁匡正
Owner BEIJING HORIZON ROBOTICS TECH RES & DEV CO LTD
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