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

A technology of depth map and depth adjustment, which is applied in the field of image processing, can solve the problems of depth map and point cloud not being smooth and real-time, and achieve the effect of retaining edge sharpness, improving efficiency, and increasing tolerance

Active Publication Date: 2022-02-18
HANGZHOU LANXIN TECH CO LTD
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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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  • Depth map filtering method and device, electronic equipment and storage medium
  • Depth map filtering method and device, electronic equipment and storage medium
  • Depth map filtering method and device, electronic equipment and storage medium

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[0054] Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present application as recited in the appended claims.

[0055] The terminology used in this application is for the purpose of describing particular embodiments only, and is not intended to limit the application. As used in this application and the appended claims, the singular forms "a", "the", and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the term...

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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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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T5/00G06T7/593
CPCG06T5/002G06T7/593
Inventor 郑灵杰国学理杨洋朱月徐永奎
Owner HANGZHOU LANXIN TECH CO LTD
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