A dynamic adaptive depth camera
occlusion detection method,
system and device, and a storage medium, the method comprising: step T1: constructing a three-
frame time sequence analysis window, continuously obtaining
infrared speckle image sequences at different moments and corresponding dense
depth map sequences, and establishing a pixel-level space-
time alignment mapping relationship; t2, calculating a
motion vector between adjacent frames, and executing the step T3 when the average
motion intensity exceeds a dynamic threshold value; wherein the dynamic threshold is determined by the dense
depth map; t3, positioning a speckle feature point in the
infrared speckle image, generating an analysis window by taking the speckle feature point as a center, calculating a gradient change rate, and when the gradient change rate is smaller than a gradient threshold value, marking the region as a primary candidate region; and T4, carrying out space-time consistency comparison on the primary candidate region and two adjacent frames, and reserving a shielding region of which the
variation value is smaller than a variation threshold value in three continuous frames. The method is high in precision, good in real-time performance and high in stability.