Abnormal pixel filtering method and device

Abstract

The invention provides an abnormal pixel filtering method and device. The filtering method comprises the steps: acquiring a first depth image through a first camera, and acquiring a second depth image through a second camera; processing the first depth image to obtain a first point cloud image, and processing the second depth image to obtain a second point cloud image; indexing pixels in the first point cloud picture to obtain an indexing result; calculating a matching degree index of the pixels according to the index result; and setting a filtering threshold value, and filtering the pixel when the matching degree index of the pixel is judged to be greater than or equal to the filtering threshold value. The method has the advantages of few calculation steps, low calculation complexity and simple calculation principle, and can greatly improve the efficiency of judging abnormal pixels, thereby further improving the speed of filtering pixel noise. The device comprises a first camera, a second camera, an image processing unit, an index unit, a calculation unit, a judgment unit and a filtering execution unit, and the efficiency of filtering abnormal pixels is improved.

Description

technical field [0001] The invention relates to the technical field of image processing, in particular to a method and device for filtering out abnormal pixels. Background technique [0002] In the depth map measured by the ToF camera (Time of Fight Camera), there are often a large number of erroneous depth measurement values ​​at the edge of the object. After generating the 3D point cloud, it visually appears as an invalid point flying in the air, which is called flying point noise. Flying point noise makes ToF cameras unable to effectively obtain 3D information on the edge of objects. If flying point noise cannot be resolved, it will affect the wide promotion and application of ToF cameras. [0003] For the current 3D cameras, noise phenomena such as flying spots can only be solved by pure algorithm, which requires a large amount of calculation, and the efficiency of removing flying spot noise is not high. [0004] The invention patent with the publication number CN 10424...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a method and equipment for filtering abnormal pixels to solve the problems of slow efficiency, many calculation steps and complicated calculations for calculating and filtering pixel noise with pure algorithms

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