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Depth image acquisition method and device, depth system, terminal and storage medium

A depth image and acquisition method technology, applied in the field of image processing, can solve the problems of insufficient reliability of dense depth images, failure to make good use of sparse depth images, etc., and achieve the effect of improving reliability

Pending Publication Date: 2022-06-17
SHENZHEN ORBBEC CO LTD
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Problems solved by technology

[0003] How to effectively fuse RGB images and sparse depth images is still an open problem
However, the existing depth completion technology often does not make good use of sparse depth images, and the resulting dense depth images are not reliable enough.

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  • Depth image acquisition method and device, depth system, terminal and storage medium
  • Depth image acquisition method and device, depth system, terminal and storage medium
  • Depth image acquisition method and device, depth system, terminal and storage medium

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Embodiment Construction

[0031] In order to make the objectives, technical solutions and advantages of the present application more clear, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work belong to the protection of the present application.

[0032] The existing depth completion technology generally guides the scene information of the scene through the RGB color image, and realizes the densification of the sparse depth image. Some methods are to directly splicing RGB and sparse depth map, and then input the spliced ​​image into the neural network for depth completion; other methods are to input the sparse depth map to the neural netw...

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Abstract

The invention is suitable for the technical field of image processing, and provides a depth image acquisition method and device, a depth system, a terminal and a storage medium. The depth image acquisition method specifically comprises the following steps: acquiring a color image and a sparse depth image of a target scene, extracting color features and initial features of the color image, and acquiring an initial dense depth image and initial hidden features according to the color features, the initial features and the sparse depth image; and performing at least one iterative optimization operation to confirm a target hidden feature according to the to-be-confirmed hidden feature obtained by each iterative optimization operation, and performing depth estimation by using the target hidden feature to obtain a target dense depth image of the target scene. According to the embodiment of the invention, the reliability of the obtained dense depth image can be improved.

Description

technical field [0001] The present application belongs to the technical field of image processing, and in particular, relates to a depth image acquisition method, device, depth system, terminal and storage medium. Background technique [0002] In recent years, with the development of computer vision technology in the fields of autonomous driving, robotics, AR applications, etc., depth estimation has become a hot research application field. Commonly used depth perception methods, such as structured light, TOF, binocular, lidar, etc., after years of development, have become increasingly mature in technology and have been widely used in many fields. However, these methods are limited by cost and technology, and can only obtain reliable sparse depth point clouds, or low-resolution depth maps. Therefore, in recent years, deep completion techniques based on neural networks have received extensive attention. [0003] How to effectively fuse RGB maps and sparse depth maps is still...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/50
CPCG06T7/50G06T2207/10024G06T2207/10028
Inventor 杨晓立余宇山赵鑫
Owner SHENZHEN ORBBEC CO LTD