HIGH-PRECISION DENSE DEPTH IMAGE GENERATION METHOD AND DEVICE

摘要

Embodiments of the present application provide a high-precision dense depth image generation method and a device. The method comprises: acquiring a first image, a second image, and a third image; determining a disparity map according to said images; determining, according to a grayscale value of a pixel awaiting matching, grayscale values of pixels within a matching window, and a preset encoding rule, preset encoding-based values of the pixels within the matching window; determining a matching pixel in a second image according to the grayscale value of the pixel awaiting matching in the first image, the preset encoding-based values of the pixels within the matching window, and the disparity map; and determining a first depth image. In the invention, the preset encoding-based values of the pixels within the matching window, adjacent to the pixel awaiting matching, are acquired according to the preset encoding rule; the same is combined with the grayscale value of the pixel awaiting matching; and the disparity map is used as a constraint to determine, by means of matching, a matching pixel from the second image, so as to further determine a depth image, thereby solving the technical problem of the prior art in which depth images have large errors and are imprecise.