CN110300991A - 表面图形确定方法和装置 - Google Patents

表面图形确定方法和装置 Download PDF

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Publication number
CN110300991A
CN110300991A CN201880012035.3A CN201880012035A CN110300991A CN 110300991 A CN110300991 A CN 110300991A CN 201880012035 A CN201880012035 A CN 201880012035A CN 110300991 A CN110300991 A CN 110300991A
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China
Prior art keywords
pixel
voxel
confidence
determining
image
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CN201880012035.3A
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English (en)
Inventor
周游
杨振飞
杜劼熹
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Publication of CN110300991A publication Critical patent/CN110300991A/zh
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras

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  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Image Processing (AREA)

Abstract

一种表面图形确定方法，包括：获取多张目标区域的深度图像；计算每张深度图像中像素的置信度；确定目标帧图像中像素的权值；确定像素对应的空间位置信息；针对每张深度图像中的每个像素，确定像素对应的体素；通过截断符号距离函数算法，根据像素的权值对每张深度图像中的每个像素对应的体素的值进行迭代，以确定体素中处于目标区域中的物体的表面的表面体素；对表面体素进行拟合，以确定物体的表面的图形。还包括一种表面图形确定装置，一种机器可读存储介质和一种无人飞行器。上述方法可以根据多张深度图像来生成物体表面的图形，使得计算结果鲁棒性更强，并且使得生成的图形更符合人眼的观看习惯，便于操作者根据显示的图形快速且准确地确定目标区域的地形。

Description

PCT国内申请，说明书已公开。

Claims (16)

  1. PCT国内申请，权利要求书已公开。
CN201880012035.3A 2018-01-23 2018-01-23 表面图形确定方法和装置 Pending CN110300991A (zh)

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PCT/CN2018/073839 WO2019144281A1 (zh) 2018-01-23 2018-01-23 表面图形确定方法和装置

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CN110300991A true CN110300991A (zh) 2019-10-01

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WO (1) WO2019144281A1 (zh)

Cited By (2)

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CN112712477A (zh) * 2020-12-21 2021-04-27 东莞埃科思科技有限公司 结构光模组的深度图像评价方法及其装置
WO2023035509A1 (zh) * 2021-09-13 2023-03-16 浙江商汤科技开发有限公司 网格生成方法、装置、电子设备、计算机可读存储介质、计算机程序及计算机程序产品

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112712477A (zh) * 2020-12-21 2021-04-27 东莞埃科思科技有限公司 结构光模组的深度图像评价方法及其装置
WO2023035509A1 (zh) * 2021-09-13 2023-03-16 浙江商汤科技开发有限公司 网格生成方法、装置、电子设备、计算机可读存储介质、计算机程序及计算机程序产品

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