Edge preserving depth filtering

摘要

A scene is illuminated with modulated illumination light that reflects from surfaces in the scene as modulated reflection light. Each of a plurality of pixels of a depth camera receive the modulated reflection light and observe a phase difference between the modulated illumination light and the modulated reflection light. For each of the plurality of pixels, an edginess of that pixel is recognized, and the phase difference of that pixel is smoothed as a function of the edginess of that pixel.

主权项

1. A method of filtering depth information, the method comprising:
illuminating a scene with a modulated illumination light having a plurality of different modulation frequencies, the modulated illumination light reflecting from surfaces in the scene as modulated reflection light; receiving at each of a plurality of pixels the modulated reflection light; observing a phase difference between the modulated illumination light and the modulated reflection light at each of the plurality of pixels for each of the modulation frequencies; for each of the plurality of pixels and modulation frequencies, recognizing an edginess of that pixel corresponding to a relative difference between the phase difference of that pixel and phase differences of one or more neighboring pixels; and for each of the plurality of pixels and modulation frequencies, smoothing the phase difference of that pixel relative to phase differences of one or more neighboring pixels as a function of the edginess of that pixel such that greater edginess corresponds to less smoothing and lesser edginess corresponds to more smoothing.