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    MULTI-DEPTH IMAGE FUSION METHOD AND APPARATUS
    2.
    发明公开
    MULTI-DEPTH IMAGE FUSION METHOD AND APPARATUS 有权

    公开(公告)号：EP3340170A1

    公开(公告)日：2018-06-27

    申请号：EP16850213.6

    申请日：2016-08-19

    申请人： Huawei Technologies Co., Ltd. ,  Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V.

    发明人： XI, Ming ,  EBEL, Sascha ,  SCHREER, Oliver ,  FELDMANN, Ingo

    IPC分类号： G06T5/50

    CPC分类号： G06T5/50 ,  G06T7/136 ,  G06T7/50 ,  G06T17/00 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/20221

    摘要： The present invention discloses a method and an apparatus for fusing a plurality of depth images. The method includes: obtaining N depth images collected by N image collection units, where N≥2; obtaining a first foreground pixel of an i th depth image of the N depth images, where i≥1 and i≤N; obtaining N-1 projected points that correspond to the first foreground pixel and that are in depth images respectively collected by N-1 image collection units; and when depth values of a foreground three-dimensional space point in respective coordinate systems of the N-1 image collection units are greater than or equal to depth values of the respective N-1 projected points corresponding to the first foreground pixel, obtaining a three-dimensional point cloud by means of fusion. The method and the apparatus disclosed in the present invention resolve a problem that in a three-dimensional scene, a pixel offset occurs in a depth discontinuous location at which a foreground object borders a background object, and consequently a three-dimensional image finally formed is distorted.