KR101817140B1 - Coding Method and Device for Depth Video Plane Modeling - Google Patents

Abstract

A method for coding a depth video through plane modeling according to an embodiment of the present invention includes a step of generating a depth video by photographing a three-dimensional space; a step of generating divided blocks by putting the depth video into blocks with a predetermined size; a step of generating a predicted depth value by predicting the depth value of each pixel of a target block with reference to the information of a plane in a reference block according to the position coordinate and the depth value of the pixel of the reference block adjacent to the target block among the divided blocks; and a step of encoding the target block based on the depth value of each pixel of the target block and the predicted depth value. It is possible to increase a compression rate while maintaining the quality of the depth video.

Description

Technical Field [0001] The present invention relates to a method and apparatus for encoding a depth image using a plane modeling method,

The present invention relates to a method and apparatus for coding a depth image through plane modeling.

Since the advent of the digital age, various multimedia technologies have been rapidly developing, and the digital content market is growing rapidly every year. In addition, the development of various communication means and transmission technology such as the Internet is leading the activation of various multimedia content industries. In recent years, the demand of users has changed from using simple consumption type to using interactive contents and realistic contents. In the field of digital imaging, related technologies from past black-and-white analog TV to recent UHD digital TV are constantly evolving. Recently, interest in 3D images has increased and various depth cameras have been developed for 3D stereoscopic image production. In addition, the demand for high quality 3D stereoscopic images is increasing in various applications.

As such, the demand for high resolution, high quality images is increasing in various applications. However, as the image has high resolution and high quality, the amount of information about the image also increases. Therefore, when image information is transmitted using a medium such as a conventional wired / wireless broadband line, or image information is stored using an existing storage medium, information transmission cost and storage cost are increased. There is a demand for a highly efficient depth image compression technique for effectively transmitting, storing and reproducing information of high resolution and high quality images.

In addition, since the image is viewed by a human being in the case of a general image, it is necessary to appropriately compress the image within a constraint requiring good color and good image quality. However, in the case of a depth image, appropriate compression is required for information processing such as object detection or motion recognition A new compression technique that is different from the compression technique of general image is needed.

Korean Patent Publication No. 10-2011-0032485

The present invention can provide a depth image encoding method and an encoding device by plane modeling that can improve the compression rate while maintaining the quality of the depth image considering the characteristics of the depth image.

Also, it is possible to provide a method and a device for encoding a depth image through plane modeling, which can extract information on a planar area in a depth image of the present invention and predict a depth value.

A method of coding a depth image through plane modeling according to an embodiment of the present invention includes: generating a depth image by capturing a three-dimensional space; Generating a divided block by blocking the depth image with a predetermined size; Generating a prediction depth value by predicting a depth value of each pixel of the target block with reference to information of a plane in the reference block according to a position coordinate and a depth value of a pixel of the reference block adjacent to the target block among the divided blocks; ; And encoding the target block based on the depth value of each pixel of the target block and the predicted depth value.

According to another aspect of the present invention, there is provided a method of coding a depth image through plane modeling, the method comprising: selecting a target block including a plane from among the divided blocks based on depth values of pixels of the divided blocks; The depth image may be encoded using the plane modeling.

According to another aspect of the present invention, the step of generating the predicted depth value of the depth image encoding method using plane modeling includes: determining an equation of a plane including arbitrary position coordinates on a camera coordinate system; Determining parameters constituting the equation of the plane using the position coordinates and depth values of the pixels of the reference block; And generating the predicted depth value using the position coordinates and the focal length of each pixel of the target block in a plane equation expressed using the determined parameters. May be provided.

Also, the reference block of the depth image coding method using plane modeling according to another embodiment of the present invention may provide a method of encoding a depth image through plane modeling, wherein the reference block includes already encoded pixels .

According to still another aspect of the present invention, there is provided a method of coding a depth image through plane modeling, wherein a pixel of the reference block is a pixel in contact with the target block, have.

In another aspect of the present invention, there is provided a method of coding a depth image through plane modeling, the method comprising the steps of: It is possible.

According to another aspect of the present invention, there is provided a method of coding a depth image through plane modeling, the step of determining a parameter constituting the equation of the plane using a position coordinate and a depth value of a pixel of the reference block, And a step of assigning a position coordinate and a depth value of pixels in the reference block and determining the parameter by applying a least squares method to Equation (2). It is possible.

[Equation 1]

&Quot; (2) "

In Equations (1) and (2), x, y are position coordinate values of pixels in a reference block, f is a focal length, and tx, ty, and tf are coordinates on a three-dimensional space.

Equation (2) is expressed by using a parameter of an equation of a sphere satisfying Equation (1).

Further, according to another embodiment of the present invention, the position coordinates and the focal length of each pixel of the target block are used for the prediction of the plane represented by the determined parameters of the depth image coding method using the plane modeling, The step of generating the depth value may be performed by substituting the position coordinates and the focal length of the pixels of the target block into an equation of a plane satisfying the following equation (3) expressed by using the determined parameters, Determining; And generating the predicted depth value based on the t and the focal length. The present invention also provides a method of encoding a depth image through plane modeling.

 &Quot; (3) "

According to another aspect of the present invention, there is provided an encoding apparatus including: a depth measurement unit that captures a three-dimensional space to generate a depth image; A block dividing unit for dividing the depth image into a predetermined size to generate divided blocks; And generating a prediction depth value by predicting a depth value of each pixel of the target block with reference to information of a plane in the reference block according to a position coordinate and a depth value of a pixel of the reference block adjacent to the target block among the divided blocks And an encoding unit encoding the target block based on a depth value of each pixel of the target block and the predicted depth value.

According to still another aspect of the present invention, there is provided an encoding apparatus for encoding an image, the apparatus comprising: an encoding controller for selecting a target block including a plane among the divided blocks based on depth values of pixels of the divided blocks; An encoding apparatus may be provided.

According to another aspect of the present invention, there is provided a method of coding a depth image through plane modeling, the method comprising: generating a depth image in which a depth coordinate value of a coordinate value of an object in a three-dimensional space is projected to a measured depth value of the pixel; Dividing the depth image into a plurality of blocks; Modeling an object in a reference block of the divided blocks into an equation of a first plane represented by an undetermined parameter; Determining a value of the undetermined parameter based on the undetermined parameter, the location coordinates of the first pixels in the reference block, and the measured depth value of the first pixels to generate a decision parameter; Generating a prediction depth value by predicting a depth value of second pixels in a target block among the divided blocks from the determination parameter; And encoding the target block based on the predicted depth value.

The encoding of the target block based on the predicted depth value may encode the target block by encoding the difference between the predicted depth value and the measured depth value of the second pixels.

In the embodiment of the present invention, depth information can be represented with a digital code amount as small as possible without losing the quality of the original depth image, while preserving important information included in the original depth image while removing other information.

In addition, the embodiment of the present invention can estimate the depth value of the depth image including the plane by finding the plane information in the depth image using the depth value in the block, and calculate the depth image using the error between the predicted value and the measured depth value Can be performed.

FIG. 1A is a block diagram of an encoding apparatus according to an embodiment of the present invention and constructions thereof.
1B is a block diagram of the constructions constituting the encoding unit
2 is a conceptual diagram for explaining the concept of depth applied in the embodiment of the present invention.
3 is a conceptual diagram of a point of a sphere projected on an image plane when the sphere is displayed on the world coordinate system.
Fig. 4 is a rectangular coordinate system showing an arbitrary point of a two-dimensional world coordinate system along the X and Z axes and a point of a two-dimensional image plane.
5 and 6 are flowcharts illustrating a method of coding a depth image through plane modeling.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention and methods of achieving them will be apparent with reference to the embodiments described in detail below with reference to the drawings. However, the present invention is not limited to the embodiments described below, but may be implemented in various forms. In the following embodiments, the terms first, second, and the like are used for the purpose of distinguishing one element from another element, not the limitative meaning. Also, the singular expressions include plural expressions unless the context clearly dictates otherwise. Also, the terms include, including, etc. mean that there is a feature, or element, recited in the specification and does not preclude the possibility that one or more other features or components may be added. Also, in the drawings, for convenience of explanation, the components may be exaggerated or reduced in size. For example, the size and thickness of each component shown in the drawings are arbitrarily shown for convenience of explanation, and thus the present invention is not necessarily limited to those shown in the drawings.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals refer to like or corresponding components throughout the drawings, and a duplicate description thereof will be omitted .

<Encoder>

FIG. 1A is a block diagram of an encoding apparatus according to an embodiment of the present invention, and FIG. 1B is a block diagram of the encoding unit. Referring to FIG. 2 is a conceptual diagram for explaining the concept of depth applied in the embodiment of the present invention.

1A, an encoding apparatus 10 according to an embodiment of the present invention includes a depth measuring unit 100, a block dividing unit 200, a coding control unit 300, an encoding unit 400, and a memory 500 .

1B, an encoding unit 400, which is a component of an embodiment of the present invention, includes a reference block plane modeling unit 401, a target block plane modeling unit 402, and a target block encoding unit 403 .

However, since at least one of the reference block plane modeling unit 401 and the object block plane modeling unit 402 may be included in the encoding control unit 300, not the encoding unit 400, But is not limited to.

The depth measuring unit 100 constituting the embodiment of the present invention may include a camera capable of photographing a three-dimensional space.

In addition, the pixels of the image taken by the depth measuring unit 100 may be depth information of an integer of mm, for example, not the RGB color information.

Also, the depth measuring unit 100 can capture a three-dimensional space and generate a depth image. Here, the depth image can be represented by, for example, a gray level, but is not limited thereto. Also, each pixel belonging to the depth image may have a depth value, and the depth value may mean the distance from the point corresponding to the corresponding pixel of the scene shot by the camera to the camera.

<Depth measurement method>

In addition, the depth measuring unit 100 can irradiate light onto the three-dimensional space and receive reflected light reflected from the object in the three-dimensional space. And depth information of the object can be detected using the time information from the output of light to the point of time of receiving the reflected light. More specifically, the depth measuring unit 100 may include a TOF (Time Of Flight) camera. The TOF camera may include an image sensor including an in-phase receptor and an out-phase receptor, and a light emitting diode that emits light. In addition, the image sensor is activated in synchronization with the emitted light by being modulated from the light emitting diode. When the light emitting diode is turned on, the in-phase receptor is activated and when the light emitting diode is turned off, have. Since the in phase receptors and the out phase receptors are activated at different points of time with a time difference, there is a difference in the amount of light received (accumulated) depending on the distance to the object, and the distance to the object is measured can do.

Unlike the depth measurement described above, the depth measuring unit 100 is composed of a camera and a projector that outputs structured light, and it is possible to display a narrow band light toward an object to obtain a depth, Dimensional space in which an object exists, by photographing the lines of light, i.e., a light pattern, by using a stereo camera, and by finding a matching point between the left and right images by using a stereo camera, Dimensional depth information can be extracted using the difference between the three-dimensional depth information.

However, the depth measuring unit 100 is not limited to the above-described one, and any device capable of extracting three-dimensional depth information may be used. However, in explaining the present invention, Dimensional space is detected and explained.

<The concept of depth>

Referring to FIG. 2, the concept of the depth in the depth image will be described in more detail. A three-dimensional space in which the camera and the image of the depth measuring unit 100 are elevated is referred to as a world coordinate system, and the camera also has a camera coordinate system, which is a three-dimensional coordinate system. The camera may be located at a camera center, which is a point in the clock coordinate system. The X, Y, and Z axes of the camera are referred to as a vertical axis, a horizontal axis, and an optical axis, respectively, and the optical axis is referred to as a principal axis in the direction of a straight line of a camera ray. The point at which the optical axis meets the image plane is called a principal point as a point in the image plane and the distance from the center of the camera to the principal point is the focal length of the camera. Then, each point of the three-dimensional scene to be photographed by projection of the camera is projected onto a two-dimensional image plane. That is, the position of the depth measuring unit 100 represents the origin of the three-dimensional camera coordinate system, and the Z axis (optical axis, principal axis) is in line with the direction of the eye. And an arbitrary point P = (X, Y, Z) in the world coordinate system can be projected to an arbitrary point p = (x, y) of a two-dimensional image plane perpendicular to the Z axis.

In this case, each point p = (x, y) of the 3D scene can be expressed as the Z value of P = (X, Y, Z) of the 3D coordinate system, have.

<Concept of depth information>

If the depth image is redefined based on the above description, it can be said to be a set of information obtained by digitizing the distance between the position of the depth measuring unit 100 and the real object relative to the depth measuring unit 100, , A slice unit, or the like, and the depth information in the depth image can be expressed in pixel units.

In addition, since a pixel value within one frame has a correlation with its neighboring pixel values, encoding can be performed using this correlation. Therefore, a pixel block can be formed by collecting a plurality of pixels in a certain range within a frame to be encoded.

More specifically, the block dividing unit 200 divides the received depth image into a plurality of blocks according to a size determined by the encoding control unit 300, and outputs the divided blocks.

Each of the plurality of blocks may be defined as an area consisting of M * N (M, N is a natural number) pixels. For example, M * N can be defined as an area consisting of 16 * 16 pixels. When the resolution is increased, the basic unit can be defined as an area consisting of 32 * 32 pixels or 64 * 64 pixels.

The encoding unit 400 may encode each of the divided blocks output from the block dividing unit 200 according to the encoding mode determined by the encoding control unit 300. [

Also, The encoding mode may include a plane modeling mode.

Also, the encoding control unit 300 can determine a block to be encoded through the plane modeling mode among the divided blocks based on the depth values of the pixels of the divided blocks. For example, if only a difference in depth value within a preset value occurs from an arbitrary pixel among pixels within a divided block to an adjacent pixel area away from the arbitrary pixel, a planar region is included in the corresponding block And can store information of the blocks classified by dividing the blocks predicted to include the planar region.

<Plane modelling mode >

Fig. 3 is a conceptual view of one point of a plane projected on the image plane when the plane is displayed on the world coordinate system, Fig. 4 is a conceptual view of a point on the world coordinate system on the two- It is a Cartesian coordinate system that represents a point on the plane.

3 and 4, a plane including coordinates on a three-dimensional space projected at a position (x, y) of a pixel in a target block, which is one of the divided blocks, is introduced and a plane equation having the plane Equation (1) is satisfied. Also, the coordinates on the three-dimensional space can be expressed as P = (tx, ty, tf) according to the similarity ratio of the triangle.

[Equation 1]

In this case, tf is the coordinate of the Z-axis of the projected point, so it is the depth value in the corresponding pixel.

Also, when the parameters (undetermined parameters) expressing the equation (1) are summarized and expressed as a matrix, the determinant satisfies the equation (2).

&Quot; (2) &quot;

(결정매개변수)를 구할 수 있고 구한 결정매개변수를 이용하여 대상 블록 내의 화소들의 깊이 값(d)을 예측할 수 있다.In addition, the coordinate value and the depth value of all the pixels in the block are substituted into the equation (2), and the least squares method can be applied using the pseudo inverse matrix of the leftmost matrix. The distribution can be expressed by estimating one plane,

(Decision parameter) can be obtained and the depth value d of the pixels in the target block can be predicted using the determined decision parameters.

를 구할 수 있다. 여기서의 참조 블록은 부호화가 끝난 화소가 될 수 있으나 이에 한정하는 것은 아니다. 또한 여기서의 참조 블록은 대상 블록의 위쪽과 좌측과 맞닿은 화소로 구성될 수 있으나 반드시 이에 한정하는 것은 아니다.The encoding unit 400 may receive information on a block including the plane region determined by the encoding control unit 300 and encode the block based on the received information. In this case, a block to be coded is defined as a target block. Then, the reference block plane modeling unit 401 of the encoding unit 400 substitutes the matrix of the equation (2) read from the memory 500 for the pixels of the reference block adjacent to the target block and applies the least squares method to the equation parameter

Can be obtained. Here, the reference block may be a coded pixel, but the present invention is not limited thereto. Here, the reference block may be composed of pixels that are in contact with the upper and left sides of the target block, but the present invention is not limited thereto.

(결정매개변수)를 메모리(500)로부터 읽어드린 수학식 1의 평면의 방정식에 대입하여 평면의 방정식을 재구성하고, 부호화 대상 화소의 (x, y) 좌표 값과 깊이 영상의 초점 길이(f)를 재구성된 평면의 방정식에 대입하여 t를 결정할 수 있고, 결정된 tf 값으로부터 대상 블록내의 해당 화소의 예측된 깊이 값을 구할 수 있다. 따라서 대상 블록 내의 각 화소의 깊이 값(tf)을 예측할 수 있다.In addition, the target block plane modeling unit 402 uses the parameters of the reference block determined by the reference block plane modeling unit 401

(X, y) coordinate value of the pixel to be coded and the focal length f of the depth image is calculated by substituting the equation (planar equation) into the equation of the plane of equation (1) read from the memory 500, Can be substituted into the reconstructed plane equation to determine t, and the predicted depth value of the corresponding pixel in the target block can be determined from the determined tf value. Therefore, the depth value (tf) of each pixel in the target block can be predicted.

More specifically, the reference block plane modeling unit 401 models an object in a reference block into an equation of a first plane, which is expressed by an undetermined parameter, as shown in Equation (1), and determines the positions of the first pixels in the reference block Coordinates, and depth values of the first pixels, and determining a value of the undetermined parameter by performing an operation using a least squares method in Equation (2) expressed by the depth value of the first pixels. Then, the object block plane modeling unit 402 models the equation of the second plane having the form of Equation 1, which is made up of the decision parameters, assigns the depth values and the focal lengths of the second pixels in the object block to the equation of the second plane The predicted depth value of the second pixels can be generated.

The target block coding unit 403 can encode the target block by coding the error between the predicted depth value of each pixel in the target block received from the target block plane modeling unit 402 and the measured depth value of the target block .

In addition, the above process may be applied to all of the target blocks to sequentially encode the target blocks to encode the entire image.

<Coding method of depth image through plane modeling>

5 and 6 are flowcharts illustrating a method of coding a depth image through plane modeling.

Referring to FIG. 5, a method of coding a depth image through plane modeling according to an embodiment of the present invention includes a step of generating a depth image by photographing a three-dimensional space using the depth detector 100 (S100) (S200), the encoding unit (200) blocks the depth image at a size determined by the encoding control unit (300) and generates a divided block (S200). When the encoding unit (400) (S400) of generating a prediction depth value by predicting a depth value of each pixel of the target block with reference to information of a plane in the reference block according to a position coordinate and a depth value of the pixel of the block, And encoding the target block based on the depth value of each pixel of the target block and the predicted depth value (S500). Also, the reference block herein may include already coded pixels, and the pixels of the reference block may be pixels that are in contact with the target block, and each of the pixels of the reference block may have information on the depth value.

According to another aspect of the present invention, there is provided a method of coding a depth image through plane modeling, the method comprising: selecting the target block including a plane among the divided blocks based on depth values of pixels of the divided blocks S300).

In addition, the step of generating the predicted depth value (S400) may include: determining an equation of a plane including an arbitrary position coordinate on the camera coordinate system (S410); calculating a predicted depth value using the position coordinates and the depth value of the pixel of the reference block A step S420 of determining a parameter forming an equation of a plane and a step of generating the predicted depth value using the coordinates and the focal length of each pixel of the target block in an equation of a plane expressed by using the determined parameter (S430).

The embodiments of the present invention described above can be implemented in the form of program instructions that can be executed through various computer components and recorded in a computer-readable recording medium. The computer-readable recording medium may include program commands, data files, data structures, and the like, alone or in combination. The program instructions recorded on the computer-readable recording medium may be those specifically designed and configured for the present invention or may be those known and used by those skilled in the computer software arts. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape, optical recording media such as CD-ROM and DVD, magneto-optical media such as floptical disks, medium, and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code, such as those generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware device may be modified into one or more software modules for performing the processing according to the present invention, and vice versa.

The specific acts described in the present invention are, by way of example, not intended to limit the scope of the invention in any way. For brevity of description, descriptions of conventional electronic configurations, control systems, software, and other functional aspects of such systems may be omitted. Also, the connections or connecting members of the lines between the components shown in the figures are illustrative of functional connections and / or physical or circuit connections, which may be replaced or additionally provided by a variety of functional connections, physical Connection, or circuit connections. Also, unless explicitly mentioned, such as &quot; essential &quot;, &quot; importantly &quot;, etc., it may not be a necessary component for application of the present invention.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the technical scope of the present invention should not be limited to the contents described in the detailed description of the specification, but should be defined by the claims.

10: Encoding device
100: depth detector
200: block dividers
300:
400:
401: reference block plane modeling unit
402: Target block plane modeling unit
403: Object block coding unit
500: memory unit

Claims (11)

Capturing a three-dimensional space to generate a depth image;
Generating a divided block by blocking the depth image with a predetermined size;
Generating a prediction depth value by predicting a depth value of each pixel of the target block with reference to information of a plane in the reference block according to a position coordinate and a depth value of a pixel of the reference block adjacent to the target block among the divided blocks; ; And
And encoding the target block based on a depth value of each pixel of the target block and the predicted depth value,
Wherein generating the predicted depth value comprises:
Determining an equation of a plane including any positional coordinates on the camera coordinate system;
Determining parameters constituting the equation of the plane using the position coordinates and depth values of the pixels of the reference block; And
And generating the predicted depth value using the position coordinates and the focal length of each pixel of the target block in a plane equation expressed using the determined parameters
A method of coding a depth image by plane modeling. The method according to claim 1,
And selecting the target block including a plane from among the divided blocks based on depth values of pixels of each of the divided blocks
A method of coding a depth image by plane modeling. delete The method according to claim 1,
Characterized in that the reference block includes already coded pixels
A method of coding a depth image by plane modeling. The method according to claim 1,
And the pixel of the reference block is a pixel that is in contact with the target block
A method of coding a depth image by plane modeling. The method according to claim 1,
Wherein a position coordinate of a pixel of the reference block includes a depth value.
A method of coding a depth image by plane modeling. The method according to claim 1,
Wherein the step of determining parameters constituting the equation of the plane using the position coordinates and depth values of the pixels of the reference block comprises:
And determining the parameter by substituting the position coordinates and the depth value of the pixels in the reference block and applying a least squares method to Equation (2) below
A method of coding a depth image by plane modeling.
[Equation 1]

&Quot; (2) &quot;

In Equations (1) and (2), x, y are position coordinate values of pixels in a reference block, f is a focal length, and tx, ty, and tf are coordinates on a three-dimensional space.
Equation (2) is expressed by using a parameter of an equation of a sphere satisfying Equation (1). 8. The method of claim 7,
Wherein the step of generating the predicted depth value using a position coordinate and a focal length of each pixel of the target block in an equation of a plane expressed by using the determined parameter,
Determining a t value of Equation (1) by substituting the position coordinates and the focal length of the pixels of the target block into an equation of a plane satisfying Equation (3) expressed using the determined parameters; And
And generating the predicted depth value based on the t and the focal length.
A method of coding a depth image by plane modeling.
&Quot; (3) &quot;

A depth measurement unit for generating a depth image in which a depth coordinate value of a coordinate value of an object on a three-dimensional space is projected to a measured depth value of a pixel;
A block dividing unit dividing the depth image into a plurality of blocks;
Modeling an object in a reference block among the divided blocks into an equation of a first plane represented by a preexisting parameter and calculating a position coordinate of the first pixels in the reference block and a measured depth value of the first pixels Generates a predictive depth value by predicting the depth value of the second pixels in the target block of the divided block from the determination parameter,
And an encoding unit encoding the target block based on the predicted depth value
Encoding apparatus. 10. The method of claim 9,
And a coding control unit for selecting the target block including a plane from among the divided blocks based on depth values of pixels of each of the divided blocks
Encoding apparatus. Generating a depth image in which a depth coordinate value of a coordinate value of an object on a three-dimensional space is projected to a measured depth value of the pixel;
Dividing the depth image into a plurality of blocks;
Modeling an object in a reference block of the divided blocks into an equation of a first plane represented by an undetermined parameter;
Determining a value of the undetermined parameter based on the undetermined parameter, the location coordinates of the first pixels in the reference block, and the measured depth value of the first pixels to generate a decision parameter;
Generating a prediction depth value by predicting a depth value of second pixels in a target block among the divided blocks from the determination parameter; And
And encoding the target block based on the predicted depth value
A method of coding a depth image by plane modeling.

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