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Depth map processing method and device

A processing method and technology of depth map, applied in the field of image processing, can solve problems such as ToF depth measurement error, and achieve the effect of smooth depth value and high dynamics

Active Publication Date: 2019-10-29
GUANGDONG OPPO MOBILE TELECOMM CORP LTD
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  • Application Information

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Problems solved by technology

Among them, due to the existence of various uncertainties in the measurement process, various errors have been corrected in the offline calibration stage, but due to the great randomness of these errors, this has resulted in In-range ToF depth measurement error of about 1%

Method used

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  • Depth map processing method and device
  • Depth map processing method and device

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Embodiment Construction

[0023] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0024] The method and device for processing a depth map according to the embodiments of the present invention will be described below with reference to the accompanying drawings. Wherein, the depth value in the depth map in the embodiment of the present invention is obtained based on the TOF sensor.

[0025] In order to enable those skilled in the art to more clearly understand the timing of the depth map processing method of the present invention, the following combination figure 1 Describe the entire process of TOF depth map p...

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Abstract

The invention provides a depth map processing method and device. The method comprises the following steps: obtaining a first depth image frame and a second depth image frame adjacent to the first depth image frame, determining a first content value of each first pixel and a second content value of a corresponding second pixel, and obtaining a content difference between the first content value andthe second content value, determining a credible pixel in the first depth image frame according to the content difference, determining a smoothing factor corresponding to the credible pixel, and performing filtering processing on the depth value of the credible pixel according to the smoothing factor and the depth value of the pixel corresponding to the credible pixel in the second depth image frame. Therefore, time-based consistency filtering is carried out on the depth value in the depth slow change area based on the change condition of the depth value. The depth value of the depth smooth area in the time dimension is smoother effectively, and the original high dynamic property of the depth fast change area is kept.

Description

technical field [0001] The present invention relates to the technical field of image processing, in particular to a depth map processing method and device. Background technique [0002] Generally, when measuring the depth of an object based on a Time of Flight (ToF) sensor, the ToF sensor determines the distance between the sensor and the object by calculating the flight time of the pulse signal, and then determines the depth value of the object based on the distance. Among them, due to the existence of various uncertainties in the measurement process, various errors have been corrected in the offline calibration stage, but due to the great randomness of these errors, this has caused the In-range ToF has a depth measurement error of about 1%. When calculating the depth value of an object, we smooth the depth value based on the fixed depth measurement error. [0003] However, if the error of the depth value is fixed within a certain period of time, that is, it has time cons...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/514G06T5/00
CPCG06T7/514G06T5/70
Inventor 康健
Owner GUANGDONG OPPO MOBILE TELECOMM CORP LTD
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