Method and device for generating high-precision dense depth image

Abstract

The embodiment of the present application provides a method and device for generating a high-precision dense depth image, wherein the method comprises the following steps: acquiring a first image, a second image, and a third image; determining a disparity map according to the image; determining preset encoding of a pixel point in a matching window according to the gray value of the to-be-matched pixel point, the gray value of the pixel point in the matching window and a preset encoding rule; determining a matched pixel point from the second image according to the gray value of the to-be-matched pixel point in the first image, the preset encoding and disparity map of the pixel point in the matching window; and further, determining a first depth image. By acquiring and using the preset encoding of the pixel point in the matching window adjacent to the to-be-matched pixel point according to a preset encoding rule, combining the gray value of the to-be-matched pixel, using the disparity map as a constraint, determining the matched pixel point from the second image through matching, and further determining the depth image, the technical problem that the prior method for determining thedepth image is large in error and not high in precision is solved.

Description

technical field [0001] The present application relates to the technical field of image processing, in particular to a method and device for generating a high-precision dense depth image. Background technique [0002] With the development of computer vision technology, depth images carrying depth information are more and more widely used. For example, image data such as depth images are used in application fields such as image recognition and processing, scene understanding, augmented and virtual reality, and robot navigation. Correspondingly, people have higher and higher requirements on the accuracy and resolution of depth images. [0003] At present, in order to obtain high-precision depth images, most of the image data collected by depth cameras such as ToF (Time of Flight) cameras are directly integrated into and participate in the matching algorithm of binocular stereo vision, so as to simplify the processing by binocular cameras ( Stereo matching of the image data co...

AI Technical Summary

Problems solved by technology

[0006] The embodiment of the present application provides a method and device for generating a high-precision dense depth image to solve the technical problems of large errors and low precision in determining the depth image existing in the existing method, and to obtain dense, high-precision and low-precision depth images. Technical Effects of Resolution Depth Images

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