【摘要】 针对飞行时间相机获取的深度图像存在大量无效点的问题,提出了一种基于彩色图像轮廓的深度图像修复方法。该方法先通过无效点邻域内像素的值和高斯函数来确定该邻域的方差,结合无效点邻域内有效点个数和方差计算所有无效点的填充顺序,完成填充过程的优先级评估;再将彩色图像中目标物体轮廓投射到深度图像中,结合投影轮廓和欧式距离函数实现对无效点的填充。实验结果表明,与其他常用的修复算法相比,本文算法可以在保护目标物体边缘的前提下,实现对无效点的有效填充,针对不同目标物体,信噪比指标提高了2～14dB。更多还原

【Abstract】 Aiming at the problem of a large number of invalid points in the depth image obtained by the time-of-flight camera,a depth image restoration method based on the color image contour is proposed.This method first determines the variance of the neighborhood through the value of the pixel in the neighborhood of the invalid point and the Gaussian function,and calculates the filling order of all invalid points based on the number and variance of the valid point in the neighborhood of the invalid point,and completes the priority evaluation of the filling process.The contour of the target object in the color image is projected into the depth image,combined with the projection contour and the Euclidean distance function to realize the filling of invalid points.The experimental results show that compared with other commonly used denoising algorithms,the algorithm in this paper can effectively fill invalid points on the premise of protecting the edge of the target object.The signal-to-noise ratio index is improved by 2-14 dB for different target objects.更多还原