PROCESSING DEVICE OF DEPTH INFORMATION
A depth information processing device includes a multi-directional information processor. The multi-directional information processor is used for generating a corrected depth value according to valid depth values of corresponding positions in at least two different directions corresponding to a position in a hole in depth information, wherein the corrected depth value is used for correcting an invalid depth value of the position, and the corresponding positions in the at least two different directions are outside the hole. After the multi-directional information processor corrects invalid depth values of a plurality of positions included in the hole, the multi-directional information processor outputs corrected depth information.
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This application claims the benefit of U.S. Provisional Application No. 63/184,792, filed on May 6, 2021. The content of the application is incorporated herein by reference.
BACKGROUND OF THE INVENTION 1. Field of the InventionThe present invention relates to a depth information processing device, and particularly to a depth information processing device that can fill a hole in depth information.
2. Description of the Prior ArtNowadays, applications of some electronic products require depth information. However, when the electronic products generate the depth information, depth values of some positions in the depth information may be invalid (e.g. depth values of the positions cannot be measured or there is no depth value existing in the positions). That is, holes appear in areas corresponding to the positions in the depth information, resulting in the applications of the electronic products being invalid because of the holes.
The prior art utilizes a one-way search (e.g. from left to right) method to generate valid depth values corresponding to the positions to correct invalid depth values of the positions according to a plurality of first depth values corresponding to the positions in the depth information (wherein the plurality of first depth values are valid). However, the one-way search (e.g. from left to right) method may still produce invalid results in the depth information, resulting in the applications of the electronic products being still invalid. Therefore, how to design a depth information processing device that can fill the holes in the depth information has become an important issue.
SUMMARY OF THE INVENTIONAn embodiment of the present invention provides a depth information processing device. The depth information processing device includes a multi-directional information processor. The multi-directional information processor is used for generating a corrected depth value according to valid depth values of corresponding positions in at least two different directions corresponding to a position in a hole in depth information, wherein the corrected depth value is used for correcting an invalid depth value of the position, and the corresponding positions in the at least two different directions are outside the hole. After the multi-directional information processor corrects invalid depth values of a plurality of positions included in the hole, the multi-directional information processor outputs corrected depth information.
According to one aspect of the present invention, the depth information processing device further includes an iteration processor, wherein the iteration processor is coupled to the multi-directional information processor, the iteration processor is used for controlling and making the multi-directional information processor restart to generate a first corrected depth value corresponding to a first position adjacent to the position at least according to the corrected depth value, the first position is included in the hole, and the first corrected depth value is used for correcting an invalid depth value of the first position.
According to one aspect of the present invention, the depth information processing device further includes a backtracking processor, wherein the backtracking processor is coupled to the multi-directional information processor, the backtracking processor is used for generating a first corrected depth value corresponding to a first position adjacent to the position at least according to the corrected depth value, and the first corrected depth value is used for substituting for a first invalid depth value of the first position.
Another embodiment of the present invention provides a depth information processing device. The depth information processing device includes an edge information processor. The edge information processor is used for utilizing valid depth values of corresponding positions in at least one direction corresponding to a position in a hole in depth information to generate a corrected depth value according to gray levels and/or color values of the corresponding positions in the at least one direction, wherein the corrected depth value is used for correcting an invalid depth value of the position, and the corresponding positions in the at least one direction are outside the hole. After the edge information processor corrects invalid depth values of a plurality of positions included in the hole, the edge information processor outputs corrected depth information.
According to one aspect of the present invention, the depth information processing device further includes an iteration processor, wherein the iteration processor is coupled to the edge information processor, the iteration processor is used for controlling and making the edge information processor restart to generate a first corrected depth value corresponding to a first position adjacent to the position at least according to the corrected depth value, the first position is included in the hole, and the first corrected depth value is used for correcting an invalid depth value of the first position.
According to one aspect of the present invention, the depth information processing device further includes a backtracking processor, wherein the backtracking processor is coupled to the edge information processor, the backtracking processor is used for generating a first corrected depth value corresponding to a first position adjacent to the position at least according to the corrected depth value, and the first corrected depth value is used for substituting for a first invalid depth value of the first position.
Another embodiment of the present invention provides a depth information processing device. The depth information processing device includes a filter. The filter is used for generating a filtering value corresponding to a filtering window in depth information according to valid depth values of a plurality of selected positions within the filtering window, wherein the filtering value is used for correcting an invalid depth value corresponding to a position within the filtering window in the depth information. After the filter corrects invalid depth values of a plurality of positions in the depth information, the filter outputs corrected depth information.
According to one aspect of the present invention, the depth information processing device further includes an iteration processor, wherein the iteration processor is coupled to the filter, the iteration processor is used for controlling and making the filter restart to generate a first filtering value corresponding to a first position of the plurality of positions adjacent to the position at least according to the filtering value, and the first filtering value is used for correcting an invalid depth value of the first position.
According to one aspect of the present invention, the depth information processing device further includes a backtracking processor, wherein the backtracking processor is coupled to the filter, the backtracking processor is used for generating a first corrected depth value corresponding to a first position adjacent to the position at least according to the filtering value, and the first filtering value is used for substituting for a first invalid depth value of the first position.
According to one aspect of the present invention, the filter is a medium filter, or a mean filter, or a Gaussian filter.
According to one aspect of the present invention, the filter first calculates weights of the plurality of selected positions according to at least one item of gray level values, color values, valid depth values, and position relationships of the plurality of selected positions, and then obtains the filtering value according to the weights of the plurality of selected positions and the valid depth values of the plurality of selected positions.
These and other objectives of the present invention will no doubt become obvious to those of ordinary skill in the art after reading the following detailed description of the preferred embodiment that is illustrated in the various figures and drawings.
Please refer to
In addition, in the present invention, the depth information DP can be any information with depth, for example, the depth information DP can be a depth map (parallax, or distance, or phase), or a point cloud (coordinates), or data generated by any depth device (e.g. binocular vision, or Time of Flight (ToF), or Lidar, or Radar, or sound waves). The positions A, B, C, D, E, Fare defined as sampling positions within the depth information DP. For example, sampling positions within the depth map are pixels, sampling positions within the point cloud are coordinates or voxels. In addition, the two opposite directions in the depth information DP are defined as specific vectors after dimension reduction corresponding to the position E.
In addition, in another embodiment of the present invention, as shown in
In addition, because one of ordinary skilled in the art should know that the multi-directional information processor 102 can be a field programmable gate array (FPGA) with the above-mentioned functions of the multi-directional information processor 102, or an application-specific integrated circuit (ASIC) with the above-mentioned functions of the multi-directional information processor 102, or a software module with the above-mentioned functions of the multi-directional information processor 102, or an analog integrated circuit with the above-mentioned functions of the multi-directional information processor 102 according to the above-mentioned functions of the multi-directional information processor 102, descriptions of a corresponding structure of the multi-directional information processor 102 are omitted for simplicity.
Please refer to
In addition, because one of ordinary skilled in the art should know that the iteration processor 602 can be a field programmable gate array (FPGA) with the above-mentioned functions of the iteration processor 602, or an application-specific integrated circuit (ASIC) with the above-mentioned functions of the iteration processor 602, or a software module with the above-mentioned functions of the iteration processor 602, or an analog integrated circuit with the above-mentioned functions of the iteration processor 602 according to the above-mentioned functions of the iteration processor 602, descriptions of a corresponding structure of the iteration processor 602 are omitted for simplicity.
Please refer to
In addition, because one of ordinary skilled in the art should know that the backtracking processor 802 can be a field programmable gate array (FPGA) with the above-mentioned functions of the backtracking processor 802, or an application-specific integrated circuit (ASIC) with the above-mentioned functions of the backtracking processor 802, or a software module with the above-mentioned functions of the backtracking processor 802, or an analog integrated circuit with the above-mentioned functions of the backtracking processor 802 according to the above-mentioned functions of the backtracking processor 802, descriptions of a corresponding structure of the backtracking processor 802 are omitted for simplicity.
In addition, in another embodiment of the present invention, a depth information processing device can include the multi-directional information processor 102, the iteration processor 602, and the backtracking processor 802, wherein the iteration processor 602 can be coupled between the backtracking processor 802 and the multi-directional information processor 102, or the backtracking processor 802 can be coupled between the iteration processor 602 and the multi-directional information processor 102.
Please refer to
In addition, as shown in
In addition, because one of ordinary skilled in the art should know that the edge information processor 1002 can be a field programmable gate array (FPGA) with the above-mentioned functions of the edge information processor 1002, or an application-specific integrated circuit (ASIC) with the above-mentioned functions of the edge information processor 1002, or a software module with the above-mentioned functions of the edge information processor 1002, or an analog integrated circuit with the above-mentioned functions of the edge information processor 1002 according to the above-mentioned functions of the edge information processor 1002, descriptions of a corresponding structure of the edge information processor 1002 are omitted for simplicity.
In addition, in another embodiment of the present invention, a depth information processing device can include the edge information processor 1002, iteration processor 602, and the backtracking processor 802, wherein the iteration processor 602 can be coupled between the backtracking processor 802 and the edge information processor 1002, or the backtracking processor 802 can be coupled between the iteration processor 602 and the edge information processor 1002. In addition, the iteration processor 602 can be referred to corresponding descriptions in
Please refer to
In addition, because one of ordinary skilled in the art should know that the filter 1402 can be a field programmable gate array (FPGA) with the above-mentioned functions of the filter 1402, or an application-specific integrated circuit (ASIC) with the above-mentioned functions of the filter 1402, or a software module with the above-mentioned functions of the filter 1402, or an analog integrated circuit with the above-mentioned functions of the filter 1402 according to the above-mentioned functions of the filter 1402, descriptions of a corresponding structure of the filter 1402 are omitted for simplicity.
In addition, in another embodiment of the present invention, a depth information processing device can include the filter 1402, the iteration processor 602, and the backtracking processor 802, wherein the iteration processor 602 can be coupled between the backtracking processor 802 and the filter 1402, or the backtracking processor 802 can be coupled between the iteration processor 602 and the filter 1402. In addition, the iteration processor 602 can be referred to the corresponding descriptions in
In addition, all of the above-mentioned embodiments can determine whether to correct the invalid depth values at the beginning or the end. That is to say, when the corrected depth value may be incorrect or the hole is not suitable for correction, the hole can be accepted.
To sum up, the depth information processing device provided by the present invention can correct invalid depth values of a plurality of positions in the hole according to multi-directional information, or edge information, or filtering information corresponding to the hole in the depth information. Therefore, compared to the prior art, the depth information processing device provided by the present invention can more effectively fill the invalid depth values of the hole in the depth information.
Although the present invention has been illustrated and described with reference to the embodiments, it is to be understood that the invention is not to be limited to the disclosed embodiments, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims
1. A depth information processing device, comprising:
- a multi-directional information processor generating a corrected depth value according to valid depth values of corresponding positions in at least two different directions corresponding to a position in a hole in depth information, wherein the corrected depth value is used for correcting an invalid depth value of the position, and the corresponding positions in the at least two different directions are outside the hole;
- wherein after the multi-directional information processor corrects invalid depth values of a plurality of positions comprised in the hole, the multi-directional information processor outputs corrected depth information.
2. The depth information processing device of claim 1, further comprising:
- an iteration processor coupled to the multi-directional information processor, wherein the iteration processor is used for controlling and making the multi-directional information processor restart to generate a first corrected depth value corresponding to a first position adjacent to the position at least according to the corrected depth value, the first position is comprised in the hole, and the first corrected depth value is used for correcting an invalid depth value of the first position.
3. The depth information processing device of claim 1, further comprising:
- a backtracking processor coupled to the multi-directional information processor, wherein the backtracking processor is used for generating a first corrected depth value corresponding to a first position adjacent to the position at least according to the corrected depth value, and the first corrected depth value is used for substituting for a first invalid depth value of the first position.
4. A depth information processing device, comprising:
- an edge information processor utilizing valid depth values of corresponding positions in at least one direction corresponding to a position in a hole in depth information to generate a corrected depth value according to gray levels and/or color values of the corresponding positions in the at least one direction, wherein the corrected depth value is used for correcting an invalid depth value of the position, and the corresponding positions in the at least one direction are outside the hole;
- wherein after the edge information processor corrects invalid depth values of a plurality of positions comprised in the hole, the edge information processor outputs corrected depth information.
5. The depth information processing device of claim 4, further comprising:
- an iteration processor coupled to the edge information processor, wherein the iteration processor is used for controlling and making the edge information processor restart to generate a first corrected depth value corresponding to a first position adjacent to the position at least according to the corrected depth value, the first position is comprised in the hole, and the first corrected depth value is used for correcting an invalid depth value of the first position.
6. The depth information processing device of claim 4, further comprising:
- a backtracking processor coupled to the edge information processor, wherein the backtracking processor is used for generating a first corrected depth value corresponding to a first position adjacent to the position at least according to the corrected depth value, and the first corrected depth value is used for substituting for a first invalid depth value of the first position.
7. A depth information processing device, comprising:
- a filter generating a filtering value corresponding to a filtering window in depth information according to valid depth values of a plurality of selected positions within the filtering window, wherein the filtering value is used for correcting an invalid depth value corresponding to a position within the filtering window in the depth information;
- wherein after the filter corrects invalid depth values of a plurality of positions in the depth information, the filter outputs corrected depth information.
8. The depth information processing device of claim 7, further comprising:
- an iteration processor coupled to the filter, wherein the iteration processor is used for controlling and making the filter restart to generate a first filtering value corresponding to a first position of the plurality of positions adjacent to the position at least according to the filtering value, and the first filtering value is used for correcting an invalid depth value of the first position.
9. The depth information processing device of claim 7, further comprising:
- a backtracking processor coupled to the filter, wherein the backtracking processor is used for generating a first corrected depth value corresponding to a first position adjacent to the position at least according to the filtering value, and the first filtering value is used for substituting for a first invalid depth value of the first position.
10. The depth information processing device of claim 7, wherein the filter is a medium filter, or a mean filter, or a Gaussian filter.
11. The depth information processing device of claim 7, wherein the filter first calculates weights of the plurality of selected positions according to at least one item of gray level values, color values, valid depth values, and position relationships of the plurality of selected positions, and then obtains the filtering value according to the weights of the plurality of selected positions and the valid depth values of the plurality of selected positions.
Type: Application
Filed: May 6, 2022
Publication Date: Nov 24, 2022
Applicant: eYs3D Microelectronics, Co. (Taipei City)
Inventor: Chi-Feng Lee (Hsinchu County)
Application Number: 17/738,033