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发明公开
CN102576407A 用于距离成像系统的实时动态参考图像产生 有权 许可

用于距离成像系统的实时动态参考图像产生
摘要：
一种动态参考距离图像产生方法包括：提供要动态更新的、由像素构成的参考距离图像，每一个像素包含参考距离值。提供获取的距离图像，其的像素每一个包含测量的距离值，以预定速率更新所述测量的距离值。包含无效测量的距离值的获取的距离图像的像素因此被标注。将未被标注为包含无效的测量的距离值的、获取的距离图像的每个像素的测量的距离值与参考距离图像的对应的像素的参考距离值作比较。如果在下述情况下，则将参考距离图像的那个像素的参考距离值例如更新为测量的距离值或测量的距离值和一个或多个先前测量的距离值的平均值：a)测量的距离值被认为小于参考距离值，并且保持基本上不变达到第一时间段，或者，b)测量的距离值被认为大于参考距离值，并且保持基本上不变达到比第一时间段小的第二时间段。如果条件a)和b)都未被满足，则替代地保持参考距离值基本上不变。
摘要（英）：

A dynamic reference range image generation method comprises providing a reference range image, to be dynamically updated, composed of pixels, each of which contains a reference range value. An acquired range image is provided, the pixels of which contain each a measured range value, the measured range values being updated at a predetermined rate. Pixels of the acquired range image containing an invalid measured range value are accordingly marked. The measured range value of each pixel of the acquired range image not marked as containing an invalid measured range value is compared with the reference range value of the corresponding pixel of the reference range image. The reference range value of that pixel of the reference range image is updated e.g. to the measured range value or to an average of the measured range value and one or more prior measured range values if a) the measured range value is considered less than the reference range value and has remained substantially constant for a first time period, or if b) the measured range value is considered greater than the reference range value and has remained substantially constant for a second time period smaller than the first time period. If neither of conditions a) and b) is fulfilled, the reference range value is kept substantially constant instead.

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