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Research on valid depth data extraction and correction for ToF camera
- Chinese Journal of Intelligent Science and Technology Vol. 2, Issue 1, Pages: 72-79(2020)
- 作者机构：
- 作者简介：
- 基金信息：
DOI：10.11959/j.issn.2096-6652.202008
CLC： TP751-
Published Online：2020-03，
Published：20 March 2020
- 稿件说明：
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Xin QIAO, Chenyang GE, Pengchao DENG, et al. Research on valid depth data extraction and correction for ToF camera[J]. Chinese journal of intelligent science and technology, 2020, 2(1): 72-79.
Xin QIAO, Chenyang GE, Pengchao DENG, et al. Research on valid depth data extraction and correction for ToF camera[J]. Chinese journal of intelligent science and technology, 2020, 2(1): 72-79. DOI： 10.11959/j.issn.2096-6652.202008.
摘要
提出一种针对 ToF 相机的有效深度数据提取与校正算法，利用深度图和置信度图对深度信息进行校正。首先，基于核密度估计和连通域标记对测得的深度图进行自适应分割；然后使用一种改进的结构张量进行边缘检测，从而探测深度图中的无效像素和飞行像素；最后用双三次方插值或投票操作纠正或剔除这些像素，同时使用增强置信度剔除错误像素。实验结果证明了该算法的有效性，对比传统方法，本文所提算法可以剔除更多的无效像素，且保留更多的有效深度数据，对于噪声的鲁棒性也更好。
Abstract
An algorithm was proposed to extract the valid depth information and correct the values of flying pixels with depth map and confidence map for time-of-flight camera.Firstly
the depth map was segmented adaptively based on kernel density estimation and connected component labeling.Then edge detection was performed by using a modified structure tensor to recognize the invalid pixels and the flying pixels.At last
the values of flying pixels were corrected with the bi-cubic interpolation and that of the invalid pixels were deleted by voting.Meanwhile
using augmented confidence
the pixels with wrong depth values were removed.Experimental results show the effectiveness of the proposed algorithm.Comparing with the conventional methods
the proposed algorithm can remove more invalid pixels and remain more valid depth data.Also
the proposed method is more robust to noise.
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Keywords
references
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