A progressive filling algorithm for depth image holes based on multi-channel color discrimination

Depth images are playing an increasingly important role in areas such as autonomous driving and three-dimensional measurement. Aiming at the problems of difficulty in accurately repairing the information of holes in depth images and slow filling rate, this paper proposes a progressive depth image based on multi-channel color discrimination. Type filling algorithm. First, set the filter conditions according to the depth image and the color image, accurately filter the pixels in the neighborhood of the hole, and then calculate the bilateral weights of the pixels in the neighborhood in the spatial domain and the value domain, and obtain a two-dimensional filling template with weights for filling At this time, the two-dimensional template is reduced to two perpendicular one-dimensional templates to increase the filling speed and a progressive filling method is used to fill the cavity. The experimental results are qualitatively compared and analyzed subjectively on the public data set. Objectively, the two evaluation indicators of the root mean square error and the peak signal-to-noise ratio are used to accurately analyze the processing effect of the algorithm in this paper. The experimental results show that the method in this paper can better retain the boundary information of the object, effectively prevent the blur of the object edge after filling, the filling result is accurate, and the filling rate is optimized.