Depth map filtering method and device, electronic equipment and storage medium

Abstract

The invention discloses a depth map filtering method and device, electronic equipment and a storage medium, and the method comprises the steps: calculating the three-dimensional coordinates of each point of a depth map collected by a depth camera according to the internal reference of the depth camera; calculating a normal vector diagram according to the three-dimensional coordinates; generating a mask image with the same size as the depth image; according to the normal vector diagram and the mask diagram, calculating a normal vector approximate mean value diagram , wherein the normal vector approximate mean value diagram is composed of approximate mean value normal vectors of all pixels in the depth map; calculating projection of each point in the neighborhood of each pixel in the depth map in the approximate mean value normal vector direction to obtain the projection scalar of each pixel; according to the projection scalar, calculating a depth adjustment value of each pixel by using a rule of L1Smooth; and accumulating the depth adjustment value to a pixel corresponding to the depth map. By using the rule of L1Smooth, the tolerance of the algorithm to abnormal points is increased, so that the algorithm has good reserved edge sharpness.

Description

technical field [0001] The present application relates to the technical field of image processing, and in particular to a depth image filtering method and device, electronic equipment, and a storage medium. Background technique [0002] In the process of obstacle detection and point cloud matching algorithm, obtaining a smooth depth map through filtering can greatly reduce the difficulty of subsequent processing algorithms and make it easier to complete. [0003] In the process of realizing the present invention, the inventor finds that there are at least the following problems in the prior art: [0004] Filtering such as mean filtering and Gaussian filtering will blur the boundaries of the depth map, and some small details will be lost, which will affect the subsequent algorithm processing. Such as BM3D, Robust PCA and other filters can get good smoothing results, but their processing speed is too slow to be applied to real-time scenes. [0005] Therefore, a smoothing fil...

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Problems solved by technology

[0006] The purpose of the embodiments of the present application is to provide a depth map filtering method and device, electronic equipment, and storage media, which can effectively solve the problem that the depth map and point cloud are not smooth enough and also need to take into account the real-time problem

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