Depth data processing and compression

摘要

Techniques for setting depth values for invalid measurement regions of depth images are described herein. A computing device may set the depth values based on evaluations of depth values of neighboring pixels and of corresponding pixels from time-adjacent depth images. Alternately or additionally, the computing device may utilize a texture image corresponding to the depth image to identify objects and may set depth values for pixels based on depth values of other pixels belonging to the same object. After setting the depth values, the computing device may normalize the depth values of the pixels. Further, the computing device may generate reduced representations of the depth images based on a depth reference model or a depth error model and may provide the reduced representations to an encoder.

主权项

1. A system comprising:
one or more processors; a filling module configured to be executed by the one or more processors to determine that a depth image of a plurality of depth images includes one or more portions associated with invalid depth measurements and to set depth values for pixels in the one or more portions based at least in part on evaluations of depth values of neighboring pixels in the depth image and depth values a block of pixels in other depth images of the plurality of depth images that are located in time-adjacent frames to the depth image, wherein the plurality of depth images comprise three-dimensional images captured by a depth camera and wherein the block of pixels is associated with a same object as the pixels in the one or more portions; and a filter module configured to be executed by the one or more processors to normalize a depth value of a pixel of the depth image based at least in part on depth values of the other pixels of the depth image and on the depth values of the pixels in the other, time-adjacent depth images, wherein filter parameters of the filter module are adjusted based at least in part on a depth variance of the depth value of the pixel.