CN101873509A - Method for eliminating background and edge shake of depth map sequence - Google Patents
Method for eliminating background and edge shake of depth map sequence Download PDFInfo
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Abstract
The invention discloses a method and a device for eliminating the background and edge shake of a depth map sequence. The method comprises the following steps: reading the background image of a source image sequence and calculating to obtain the depth map of the background image; calculating the frame difference between the source image sequence and the background image to obtain a frame difference array; calculating to obtain the depth map of each frame of the source image sequence; judging the foreground and the background of the depth map of a source image according to a preset threshold value and eliminating background shake; assigning a value to the foreground of the depth map of the source image to eliminate foreground profile shake; and optimizing through median filtering and bilateral filtering to obtain the final depth map of the source image. By adopting the method for eliminating the background and edge shake of the depth map sequence, the invention has the advantages that the defects of the prior art are overcome, the image shake is effectively eliminated, the interference noise is eliminated and the edge is smoothened.
Description
Technical field
The present invention relates to technical field of computer vision, particularly a kind of method of eliminating depth map sequence background and edge shake.
Background technology
3-D view and show it is a kind of important behaviour form of following information system, 3-D view and show that level is bright in luster clearly on the one hand has very strong visual impact, makes people's time in the scape of watching longer, stays deep impression; 3-D view and demonstration are given truly, life-like in addition, and the personage is ready to appear, and sensation on the spot in person is arranged, and very high value of art appreciation is arranged.Just because of 3-D view and video have these plane pictures and the not available characteristics of video, thus such as computer demonstration, TV, video, robot, measure, pour examine, field such as medical treatment, advertisement media, electronic game has broad application prospects.
The people watches why the world has third dimension, and being has a little different and have a parallax (disparity) because left eye and right eye are seen the visual angle in the world.Parallax is meant the horizontal displacement corresponding to two picture elements of same world point of left view and right view.The theorem of computer vision field points out that the degree of depth (depth, i.e. distance perspective) of the parallax of certain point and its pairing world point is inversely proportional to; That is to say that more little from the parallax value of watching point a little far away more, the parallax of infinite point is 0.The depth value that image is had a few has been formed depth map (depth map).
Development based on the depth map generation technique of binocular stereo vision makes that generating high-quality depth map fast becomes possibility, but because prior art is not considered temporal correlation, when image sequence is operated, each width of cloth depth map all is independent the generation, this depth map sequence that just causes generating the serious background and the shake at edge can occur when playing continuously, influenced whole demonstration effect.
Summary of the invention
The present invention is intended to one of solve the problems of the technologies described above at least.
For this reason, one object of the present invention has been to propose a kind of method of eliminating depth map sequence background and edge shake, and this method has overcome the deficiency of prior art, and removal of images shake is effectively eliminated interference noise, smooth edges.
One aspect of the present invention has proposed a kind of method of eliminating depth map sequence background and edge shake, may further comprise the steps: the background image that reads sequence of source images to and calculate the depth map of described background image; The frame difference of calculating described sequence of source images and described background image is to obtain frame difference group; Calculating is to obtain the depth map of described each frame of sequence of source images; Judge the prospect and the background of described source images depth map according to predetermined threshold value, and eliminate background shake; Prospect assignment to described source images depth map is shaken to eliminate prospect profile; Obtain final described source images depth map by medium filtering and bilateral filtering with optimization.
In one embodiment of the invention, utilize the greyscale transformation formula that the data of each pixel of described background image and described source images are become gray value after, to calculate the depth map of described background image and described source images.
In one embodiment of the invention, the frame difference of described sequence of source images of described calculating and described background image further comprises to obtain frame difference group: it is right to read each two field picture of described sequence of source images; Each two field picture of described sequence of source images is done greyscale transformation; It is poor that described source images reference-view after the greyscale transformation and described Background reference-view are done, to obtain described frame difference group.
In one embodiment of the invention, described prospect and the background of judging described source images depth map according to predetermined threshold value, and eliminating background shake further comprises: by predetermined threshold value described frame difference group is carried out threshold decision, with prospect and the background of distinguishing described source images depth map; Value with described background depth map correspondence is the background assignment of described source images depth map.
In one embodiment of the invention, described prospect assignment to described source images depth map further comprises to eliminate the prospect profile shake: add up all pixels in the described prospect scope; By calculate unified value as depth value to give described depth value to described prospect.
In one embodiment of the invention, describedly obtain final described source images depth map by medium filtering and bilateral filtering with optimization and further comprise: the depth map to the described sequence of source images of eliminating the shake of background shake and prospect profile carries out medium filtering, to remove the interference noise in the described background; Depth map to interference noise in the described removal background carries out the edge of bilateral filtering with level and smooth described depth map, obtains the depth map of the sequence of source images after the final optimization pass.
Another aspect of the present invention has proposed a kind of device of eliminating depth map sequence background and edge shake, comprising: image collection module, the background image that is used to read sequence of source images to and calculate the depth map of described background image; Frame difference batch total is calculated module, is used to calculate the frame difference of described sequence of source images and described background image to obtain frame difference group; Computing module is used to calculate to obtain the depth map of described each frame of sequence of source images; The prospect background judge module is used for judging according to predetermined threshold value the prospect and the background of described source images depth map, and eliminates background shake; The foreground image processing module is used for the prospect assignment of described source images depth map is shaken to eliminate prospect profile; The image optimization module is used for obtaining final described source images depth map by medium filtering and bilateral filtering with optimization.
According to the elimination depth map sequence background of the embodiment of the invention and the method for edge shake, overcome the deficiency of prior art, removal of images shake is effectively eliminated interference noise, smooth edges.The invention process is simple in addition, is convenient to operation.
Aspect that the present invention adds and advantage part in the following description provide, and part will become obviously from the following description, or recognize by practice of the present invention.
Description of drawings
Above-mentioned and/or additional aspect of the present invention and advantage are from obviously and easily understanding becoming the description of embodiment below in conjunction with accompanying drawing, wherein:
Fig. 1 is the overall flow block diagram of the method for the elimination depth map sequence background of the embodiment of the invention and edge shake;
Fig. 2 handles depth map before for the method that adopts the embodiment of the invention;
Fig. 3 adopts depth map after the method for the embodiment of the invention is optimized for Fig. 2;
Fig. 4 is for handling the three-dimensional rendering image of other images that obtain with the method for the embodiment of the invention; With
Fig. 5 is the elimination depth map sequence background of the embodiment of the invention and the device overall structure schematic diagram of edge shake.
Embodiment
Describe embodiments of the invention below in detail, the example of described embodiment is shown in the drawings, and wherein identical from start to finish or similar label is represented identical or similar elements or the element with identical or similar functions.Below by the embodiment that is described with reference to the drawings is exemplary, only is used to explain the present invention, and can not be interpreted as limitation of the present invention.
Describe the elimination depth map sequence background of the embodiment of the invention and the method for edge shake below with reference to accompanying drawing, this method has overcome the deficiency of prior art, and removal of images shake is effectively eliminated interference noise, smooth edges.The invention process is simple in addition, is convenient to operation.
As shown in Figure 1, be the overall flow block diagram of the method for the elimination depth map sequence background of the embodiment of the invention and edge shake.May further comprise the steps:
Step S101, the background image that reads sequence of source images to and calculate the depth map of described background image.
1.1 the definition image interface comprises: the view data pointer, picture traverse, highly, the position is dark, picture format.
1.2 according to described image interface definition image function reading, the background image of opening sequence of source images from hard disk with the image function reading, so that obtain background image data and is kept at described background image data in the Installed System Memory file.
1.3, utilize the greyscale transformation formula, described background image data is changed into the gray level image data of respective background image.
Particularly, in one embodiment of the invention, utilize RGB (Red Green Blue, RGB) image transform formula to source images to carrying out greyscale transformation, right to obtain corresponding gray level image.Wherein, RGB image transform formula is as follows in the embodiment of the invention:
Y＝0.212671×R+0.715160×G+0.072169×B (1)
Wherein, Y is each gray values of pixel points of gray level image, and R, G, B are respectively R, G, the B components of each pixel in the planar video two field picture.
1.4, utilize the Stereo Matching Algorithm of belief propagation to calculate the depth map of the background image of sequence of source images.In one embodiment of the invention, the depth map of background image is designated as: reDepth.
Step S102, the frame difference of calculating described sequence of source images and described background image is to obtain frame difference group.
2.1, according to image interface definition image function reading, open each two field picture of sequence of source images to file from hard disk with the image function reading, so that obtain the view data of source images, and the view data of source images is kept in the internal memory.
2.2, utilize the greyscale transformation formula, each frame image data of sequence of source images is become the gray level image data.
2.3 it is poor that the Background reference-view after the greyscale transformation in the source images reference-view and 1.4 after the greyscale transformation in 2.2 is done, and take absolute value to obtain the frame difference group between source images reference-view and the Background reference-view.
Particularly, in one embodiment of the invention, the source images reference-view after the greyscale transformation is designated as: depth1, the Background reference-view is designated as: depth2, frame difference group is designated as: cha.Use following formula:
cha＝|depth1-depth2| (2)
Obtain corresponding frame difference group cha.
Step S103 calculates to obtain the depth map of described each frame of sequence of source images.
3.1, obtain the sequence of source images data after the greyscale transformation in 2.2.
3.2 the data in the Stereo Matching Algorithm calculating 3.1 of the belief propagation that proposes in the utilization 1.4 are to obtain the depth map of each frame of sequence of source images.In one embodiment of the invention, the depth map of each two field picture of sequence of source images is designated as: depth.As shown in Figure 2, be the depth map of each two field picture of sequence of source images of the embodiment of the invention.
Step S104 judges the prospect and the background of described source images depth map according to predetermined threshold value, and eliminates background shake.
4.1 the definition threshold value is carried out threshold decision to the frame difference group that obtains in 2.3, because camera is motionless, thinks that then background is motionless, thus can be wherein as a setting less than the point of threshold value, and other point is as prospect.In one embodiment of the invention, threshold value is defined as 20.
4.2, to being divided into the zone of background, come to be source images depth map assignment with the value of background depth map correspondence, use following formula:
In one embodiment of the invention, from formula (3), can find out, if frame difference group cha less than threshold value 20, then is the color assignment of the depth map depth of each two field picture of sequence of source images the color of the depth map reDepth of background image.Otherwise be prospect, keep original value.
Step S105 shakes to eliminate prospect profile the prospect assignment of described source images depth map.
5.1, pixels all in the prospect scope is added up.
5.3 the unified value that statistical computation obtains is given unified value in order to eliminate the shake of prospect profile as the depth value of prospect to the depth map of described prospect.In one embodiment of the invention, employing calculates unified value to the average again method of have a few summation.
Step S106 obtains final described source images depth map by medium filtering and bilateral filtering with optimization.
6.1, the depth map of the sequence of source images handled in 5.3 is carried out medium filtering, can remove interference noise in the background by medium filtering.
6.2,6.1 depth maps of handling sequence of source images are carried out bilateral filtering, can smooth edges by bilateral filtering.
6.3, obtain the depth map of each frame of source images.In one embodiment of the invention, as shown in Figure 3, be the good depth map shown in Figure 2 of final optimization pass.
In another one embodiment of the present invention.As shown in Figure 4,, can find out this three-dimensional rendering image, still not have tangible background and edge shake by Fig. 4 for the elimination depth map sequence background that proposes by the present invention with other image sequences and the method test effect of edge shake.
Another aspect of the present invention has proposed a kind of device of eliminating depth map sequence background and edge shake, the device 100 of this elimination depth map sequence background and edge shake comprises image collection module 110, frame difference batch total is calculated module 120, prospect background judge module 130, foreground image processing module 140 and image optimization module 150.Wherein, the background image that image collection module 110 is used to read sequence of source images to and calculate the depth map of described background image, frame difference batch total is calculated module 120 and is used to calculate the frame difference of described sequence of source images and described background image to obtain frame difference group, prospect background judge module 130 is used for judging according to predetermined threshold value the prospect and the background of described source images depth map, and elimination background shake, foreground image processing module 140 is used for the prospect assignment of described source images depth map is shaken to eliminate prospect profile, and image optimization module 150 is used for obtaining final described source images depth map by medium filtering and bilateral filtering with optimization.
Wherein, image collection module 110 comprises background image acquisition module 1101, greyscale transformation module 1102, computing module 1103.Background image acquisition module 1101 is used to obtain Background, greyscale transformation module 1102 adopts the greyscale transformation formula that the data of each pixel of described background image and described source images are become gray value, computing module 1103 is used for described background image after the greyscale transformation and described source images, to calculate the depth map of described background image and described source images.
But those of ordinary skill in the art knows; the image optimization module 150 of the elimination depth map sequence background that the present invention proposes and the device 100 of edge shake can also be subdivided into medium filtering module and bilateral filtering module; certainly other forms of combination can also be arranged, these also should be thought within protection scope of the present invention.
By the elimination depth map sequence background of the present invention's proposition and the method for edge shake, overcome the deficiency of prior art, removal of images shake is effectively eliminated interference noise, smooth edges.The invention process is simple in addition, is convenient to operation.
Although illustrated and described embodiments of the invention, for the ordinary skill in the art, be appreciated that without departing from the principles and spirit of the present invention and can carry out multiple variation, modification, replacement and modification that scope of the present invention is by claims and be equal to and limit to these embodiment.
Claims (8)
1. a method of eliminating depth map sequence background and edge shake is characterized in that, may further comprise the steps:
The background image that reads sequence of source images to and calculate the depth map of described background image;
The frame difference of calculating described sequence of source images and described background image is to obtain frame difference group;
Calculating is to obtain the depth map of described each frame of sequence of source images;
Judge the prospect and the background of described source images depth map according to predetermined threshold value, and eliminate background shake;
Prospect assignment to described source images depth map is shaken to eliminate prospect profile;
Obtain final described source images depth map by medium filtering and bilateral filtering with optimization.
2. the method for elimination depth map sequence background as claimed in claim 1 and edge shake, it is characterized in that, after utilizing the greyscale transformation formula that the data of each pixel of described background image and described source images are become gray value, to calculate the depth map of described background image and described source images.
3. the method for elimination depth map sequence background as claimed in claim 2 and edge shake is characterized in that, the frame difference of described sequence of source images of described calculating and described background image further comprises to obtain frame difference group:
It is right to read each two field picture of described sequence of source images;
Each two field picture of described sequence of source images is done greyscale transformation;
It is poor that described source images reference-view after the greyscale transformation and described Background reference-view are done, to obtain described frame difference group.
4. the method for elimination depth map sequence background as claimed in claim 3 and edge shake is characterized in that, describedly judges the prospect and the background of described source images depth map according to predetermined threshold value, and eliminates background shake and further comprise:
By predetermined threshold value described frame difference group is carried out threshold decision, with prospect and the background of distinguishing described source images depth map;
Value with described background depth map correspondence is the background assignment of described source images depth map.
5. the method for elimination depth map sequence background as claimed in claim 4 and edge shake is characterized in that, described prospect assignment to described source images depth map further comprises to eliminate the prospect profile shake:
Add up all pixels in the described prospect scope;
By calculate unified value as depth value to give described depth value to described prospect.
6. the method for elimination depth map sequence background as claimed in claim 5 and edge shake is characterized in that, describedly obtains final described source images depth map by medium filtering and bilateral filtering with optimization and further comprises:
Depth map to the described sequence of source images of eliminating the shake of background shake and prospect profile carries out medium filtering, to remove the interference noise in the described background;
Depth map to interference noise in the described removal background carries out the edge of bilateral filtering with level and smooth described depth map, obtains the depth map of the sequence of source images after the final optimization pass.
7. a device of eliminating depth map sequence background and edge shake is characterized in that, comprising:
Image collection module, the background image that is used to read sequence of source images to and calculate the depth map of described background image;
Frame difference batch total is calculated module, is used to calculate the frame difference of described sequence of source images and described background image to obtain frame difference group;
Computing module is used to calculate to obtain the depth map of described each frame of sequence of source images;
The prospect background judge module is used for judging according to predetermined threshold value the prospect and the background of described source images depth map, and eliminates background shake;
The foreground image processing module is used for the prospect assignment of described source images depth map is shaken to eliminate prospect profile; Close
The image optimization module is used for obtaining final described source images depth map by medium filtering and bilateral filtering with optimization.
8. the device of elimination depth map sequence background as claimed in claim 7 and edge shake, it is characterized in that, after utilizing the greyscale transformation formula that the data of each pixel of described background image and described source images are become gray value, to calculate the depth map of described background image and described source images.
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