Method and a device for filling occluded areas of a depth or disparity map estimated from at least two images

摘要

A method of filling occluded areas of a depth or disparity map estimated from at least two images and consisting of a matrix of pixels forming a set of lines and columns, each pixel of the map being associated with a depth or disparity value (pixel value) and any pixel of an occluded area (invalid pixel) being associated with a pixel value identifiable as being invalid. This method comprises a step of processing each line of the map pixel by pixel in a predefined direction and assigning each invalid pixel Pi encountered on a current line a value determined as a function of the values associated with the pixels in a predefined vicinity around the first valid pixel P1, if any, that follows the invalid pixel Pi on the current line and the value V(P1) of which corresponds to a greater depth or a lesser disparity relative to the value V(P0) of the last valid pixel P0, if any, that precedes the invalid pixel Pi on the current line.

主权项

1. A method of filling occluded areas of a depth or disparity map estimated from at least two images and consisting of a matrix of pixels forming a set of lines and columns, each pixel of the map being associated with a depth or disparity value, called pixel value, and any pixel of an occluded area, called invalid pixel, being associated with a pixel value identifiable as being invalid, said method comprising:
a step of processing each line of the map, pixel by pixel, in a predefined direction; and a step of assigning a pixel value to each invalid pixel Pi encountered on a current line, said pixel value being determined as a function of the values associated with the pixels in a predefined vicinity around a chosen pixel or being a predefined default value, comprising if there is a last valid pixel P0 that precedes the invalid pixel Pi on the current line, and there are one or more valid pixels that follow the invalid pixel Pi on the current line, searching among said valid pixels that follow the invalid pixel Pi for a first valid pixel P1 the value V(P1) of which corresponds to a greater depth or a lesser disparity relative to the value V(P0) of the last valid pixel P0, and if said pixel P1 is found choosing said pixel P1 as said chosen pixel; if there is a valid pixel P0 and there are one or more said valid pixels that follow the invalid pixel Pi but there is no valid pixel P1, choosing the first valid pixel P2 that follows the invalid pixel Pi as said chosen pixel, if there is no valid pixel P0 but there are one or more said valid pixels that follow the invalid pixel Pi, choosing the first valid pixel P2 that follows the invalid pixel Pi as said chosen pixel, if there is a valid pixel P0 but there is no valid pixel P2, choosing said last valid pixel P0 as said chosen pixel, and said assigned pixel value being a predefined default value Vd if there is no valid pixel P0 and no valid pixel P2.