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Robust plane detection method and system based on depth information

A technology of depth information and detection method, which is applied in the field of image processing and computer vision, can solve the problems of poor accuracy and robustness, and achieve the effect of improving accuracy and robustness

Active Publication Date: 2018-01-19
SHENZHEN UNIV
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Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide a robust plane detection method and system based on depth information, aiming to solve the problem of poor accuracy and robustness of existing plane detection algorithms in complex scenes

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  • Robust plane detection method and system based on depth information
  • Robust plane detection method and system based on depth information

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Embodiment Construction

[0023] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0024] figure 1 A robust depth information-based plane detection method provided by an embodiment of the present invention is shown, including:

[0025] S101. Receive a depth map, and extract several valid seed blocks in the depth map;

[0026] S102. Perform region growing according to the effective seed block to obtain a generation plane of the effective seed block;

[0027] S103. Perform overgrowth correction or undergrowth correction on the generation plane of the effective seed block to obtain an effective growth plane of the effective seed block;

[0028] S104. Output a depth map detection ...

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Abstract

The present invention is applicable to image processing and provides a robust plane detection method based on depth information. The method comprises steps of: receiving a depth map, and extracting aplurality of valid seed blocks in the depth map; according to the valid seed blocks, performing area growth, and obtaining generation planes of the valid seed blocks; performing outgrowth correction or undergrowth correction on the generation planes of the valid seed blocks, and obtaining valid growth planes of the valid seed blocks; and outputting a depth map detection plane comprising the validgrowth planes of the valid seed blocks. The embodiment of the invention improves the accuracy and the robustness of the plane detection method by correcting overgrowth or undergrowth of the growth plane obtained by area growth of the valid seed blocks.

Description

technical field [0001] The invention belongs to the fields of image processing and computer vision, and in particular relates to a robust depth information-based plane detection method and system. Background technique [0002] Since the plane carries the direction and size information of the object in the 3D scene, it can be used for 3D reconstruction using plane detection technology. 3D reconstruction can be simply summarized as the process of plane detection of indoor and outdoor scenes and establishment of segmented plane models. In addition to this, plane detection techniques are also widely used in robot navigation systems and object detection in computer vision. [0003] In the early plane detection work, the texture information of the plane was mainly used, but when the color or texture of the plane is inconsistent, it will bring great challenges to this type of method. In the prior art, the distance information of the depth map is used to solve the above problems, ...

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Application Information

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IPC IPC(8): G06T7/70G06T7/11G06T7/136
Inventor 金枝罗海丽周长源邹文斌李霞
Owner SHENZHEN UNIV
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