ToF Noise removal method of depth image based on ToF sensor noise model

摘要

A method and apparatus for removing depth image noise is provided. According to the depth image noise removal method, a depth image is received, and a difference value between a depth value of a specific pixel of the received depth image and a depth value of neighboring pixels for the specific pixel is less than an acceptable range value corresponding to the specific pixel. In this case, since noise filtering can be performed on a specific pixel, it is not necessary to perform noise filtering on all pixels, so the computational complexity of noise filtering is reduced and can be applied to real-time processing.