Depth image obtaining method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a depth image obtaining method and device, electronic equipment and a storage medium, and relates to the technical field of image processing, and the method comprises the steps: obtaining a plurality of groups of gray-scale images, collected by image collection equipment under different camera gains, of a to-be-measured object; for each group of grey-scalemaps, obtaining the reliability of pixel points of each image position corresponding to the group of grey-scale maps; for each image position, determining a target fusion rule corresponding to the pixel point of the image position in a preset corresponding relationship between reliability and fusion rules based on the reliability of the pixel point of the image position corresponding to the plurality of groups of grey-scale maps; obtaining disparity maps corresponding to each group of grey-scale maps; and obtaining a depth image of the to-be-measured object based on all the obtained disparitymaps and the target fusion rule corresponding to the pixel point of each image position. The efficiency of obtaining a depth image with a high dynamic range can be improved.

Description

technical field [0001] The present application relates to the technical field of image processing, in particular to a depth image acquisition method, device, electronic equipment and storage medium. Background technique [0002] In the application scenario of 3D detection, in order to obtain the depth information of the object to be measured, it is usually necessary to use an image acquisition device to obtain a depth image of the object to be measured, and in order to improve the quality of the depth image, it is usually necessary to obtain a depth image with a high dynamic range. [0003] The invention patent application "High Dynamic Range Depth Generation for 3D Imaging System" with the application publication number CN108702437 records that when obtaining a high dynamic range depth image, it is usually necessary to use an image acquisition device to acquire multiple frames according to different exposure times image, and restore the depth information of each frame image...

AI Technical Summary

Problems solved by technology

[0004] Although it is possible to obtain depth images with a high dynamic range by using the existing technology, when multiple frames of images are collected according to different exposure time lengths, the frame rate of the collected images will be reduced due to the change of the exposure time of the image acquisition equipment, thereby reducing the high Acquisition efficiency of depth images with dynamic range

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