PROCESSING DEPTH DATA OF A THREE-DIMENSIONAL SCENE

摘要

The invention relates to a signal processing device (100) for processing three-dimensional [3D] image data, the 3D image data comprising two-dimensional [2D] image data (150) and thereto corresponding 2D depth data (170), and the signal processing device comprising an input (120) for receiving the 2D image data and the 2D depth data, a first outlier detector (160) for establishing a statistical depth deviation (178)of a depth value from other depth values in a first spatial neighborhood of the 2D depth data, a second outlier detector (140) for establishing a statistical image deviation (158) of an image value from other image values in a second spatial neighborhood of the 2D image data, the depth value representing a depth of the image value, and a depth value generator (180) for, in dependence on the statistical depth deviation and the statistical image deviation, providing a replacement depth value (190) when the statistical depth deviation exceeds the statistical image deviation, the replacement depth value having a lower statistical depth deviation than the depth value.