CN114365191A - 图像的深度值的确定方法、图像处理器以及模组 - Google Patents
图像的深度值的确定方法、图像处理器以及模组 Download PDFInfo
- Publication number
- CN114365191A CN114365191A CN201980100275.3A CN201980100275A CN114365191A CN 114365191 A CN114365191 A CN 114365191A CN 201980100275 A CN201980100275 A CN 201980100275A CN 114365191 A CN114365191 A CN 114365191A
- Authority
- CN
- China
- Prior art keywords
- image
- depth
- value
- accuracy
- target image
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 92
- 238000004364 calculation method Methods 0.000 claims abstract description 26
- 230000000007 visual effect Effects 0.000 claims description 44
- 238000001914 filtration Methods 0.000 claims description 32
- 238000004891 communication Methods 0.000 claims description 26
- 238000010586 diagram Methods 0.000 description 14
- 230000015572 biosynthetic process Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 6
- 238000003786 synthesis reaction Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 4
- 238000003384 imaging method Methods 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 230000008447 perception Effects 0.000 description 3
- 239000000126 substance Substances 0.000 description 3
- 238000009499 grossing Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/50—Image enhancement or restoration using two or more images, e.g. averaging or subtraction
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/55—Depth or shape recovery from multiple images
- G06T7/593—Depth or shape recovery from multiple images from stereo images
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Image Processing (AREA)
Abstract
一种图像的深度值的确定方法、图像处理器(1000)以及模组，图像的深度值的确定方法包括：针对目标图像的物体，从TOF模组(11)获取第一深度图像，以及从双目视觉模组(12)获取第二深度图像(S401)；根据第一深度图像的深度值、第一深度图像的深度值对应的准确度值、第二深度图像的深度值和第二深度图像的深度值对应的准确度值，利用预设的加权算法进行加权计算，得到目标图像的深度值(S402)，能够提高图像的深度值的精确度。
Description
PCT国内申请，说明书已公开。
Claims (13)
- PCT国内申请，权利要求书已公开。
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/116021 WO2021087812A1 (zh) | 2019-11-06 | 2019-11-06 | 图像的深度值的确定方法、图像处理器以及模组 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114365191A true CN114365191A (zh) | 2022-04-15 |
Family
ID=75848143
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201980100275.3A Pending CN114365191A (zh) | 2019-11-06 | 2019-11-06 | 图像的深度值的确定方法、图像处理器以及模组 |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN114365191A (zh) |
| WO (1) | WO2021087812A1 (zh) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115393224A (zh) * | 2022-09-02 | 2022-11-25 | 点昀技术(南通)有限公司 | 一种深度图像的滤波方法及装置 |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101862199B1 (ko) * | 2012-02-29 | 2018-05-29 | 삼성전자주식회사 | 원거리 획득이 가능한 ｔｏｆ카메라와 스테레오 카메라의 합성 시스템 및 방법 |
| CN107025660B (zh) * | 2016-02-01 | 2020-07-10 | 北京三星通信技术研究有限公司 | 一种确定双目动态视觉传感器图像视差的方法和装置 |
| CN109213138B (zh) * | 2017-07-07 | 2021-09-14 | 北京臻迪科技股份有限公司 | 一种避障方法、装置及*** |
| US20200150695A1 (en) * | 2018-02-13 | 2020-05-14 | Honeywell International Inc. | Environment-adaptive sense and avoid system for unmanned vehicles |
| CN109544616B (zh) * | 2018-12-11 | 2021-02-26 | 维沃移动通信有限公司 | 一种深度信息确定方法和终端 |
| CN110335211B (zh) * | 2019-06-24 | 2021-07-30 | Oppo广东移动通信有限公司 | 深度图像的校正方法、终端设备以及计算机存储介质 |
-
2019
- 2019-11-06 WO PCT/CN2019/116021 patent/WO2021087812A1/zh active Application Filing
- 2019-11-06 CN CN201980100275.3A patent/CN114365191A/zh active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021087812A1 (zh) | 2021-05-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110874852A (zh) | 深度图像的确定方法、图像处理器及存储介质 | |
| CN109154501B (zh) | 视觉导航***中的几何匹配 | |
| KR20200049502A (ko) | 상이한 fov를 갖는 카메라들을 이용한 시차 추정 시스템 및 방법 | |
| CN111436216A (zh) | 用于彩色点云生成的方法和*** | |
| US9619886B2 (en) | Image processing apparatus, imaging apparatus, image processing method and program | |
| CN112106111A (zh) | 一种标定方法、设备、可移动平台及存储介质 | |
| JP2012058188A (ja) | 校正装置、距離計測システム、校正方法および校正プログラム | |
| CN111080784B (zh) | 一种基于地面图像纹理的地面三维重建方法和装置 | |
| CN113343745B (zh) | 基于双目相机的远距离目标检测方法、***和智能终端 | |
| US20170270680A1 (en) | Method for Determining Depth Maps from Stereo Images with Improved Depth Resolution in a Range | |
| US10904512B2 (en) | Combined stereoscopic and phase detection depth mapping in a dual aperture camera | |
| CN110793544A (zh) | 感知传感器参数标定方法、装置、设备及存储介质 | |
| CN111047634B (zh) | 场景深度的确定方法、装置、设备及存储介质 | |
| CN109685748B (zh) | 图像处理方法、装置、电子设备、计算机可读存储介质 | |
| CN114419165B (zh) | 相机外参校正方法、装置、电子设备和存储介质 | |
| US11341742B2 (en) | Apparatus and method of estimating self-location of vehicle | |
| KR101076406B1 (ko) | 장애물체 위치 및 속도 추정 장치 및 방법 | |
| KR101674298B1 (ko) | 카메라 렌즈 초점거리 정보를 이용한 거리계산 방법 | |
| CN113965742B (zh) | 基于多传感融合的稠密视差图提取方法、***和智能终端 | |
| JP2018009833A (ja) | 自車位置特定装置、及び自車位置特定方法 | |
| CN114365191A (zh) | 图像的深度值的确定方法、图像处理器以及模组 | |
| KR20200057513A (ko) | 차량 위치 추정 장치 및 방법 | |
| US20210190509A1 (en) | Position estimating apparatus and position estimating method | |
| CN115965961B (zh) | 局部到全局的多模态融合方法、***、设备及存储介质 | |
| WO2018139297A1 (ja) | カメラ装置 |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |