Method and system for real-time motion artifact handling and noise removal for runtime sensor images

摘要

The invention relates to a method and system for real-time motion artifact handling and noise removal for runtime sensor (TOF) sensor images, wherein the TOF sensor images correspond to received signals (r (t)) received from a TOF sensor the transmission of modulated transmitted signals (s (t)). The method comprises: calculating values of a cross-correlation function C (T) at a plurality of temporally spaced positions or phases from the transmitted (s (t)) and received (r (t)) signals, whereby a plurality of respective cross-correlation values [C (T0 ), C (T1), C (T2), C (T3)]; Deriving from the plurality of cross-correlation values [C (T0), C (T1), C (T2), C (T3)], a depth image D, wherein the depth image D has values representing the distance to a part of a pixel for each pixel Representing object to which the transmitted signals (s (t)) are incident; Deriving from the plurality of cross-correlation values [C (T0), C (T1), C (T2), C (T3)], a guide image (I; I '), the guide image (I; I') comprising an image well defined edges; and generating an output image D 'on the basis of the depth image D and the guide image (I; I'), the output image D 'being an edge-preserving and smoothed version of the depth image D, the edge preservation being from the guide image (I; I'). The method may further include: filtering the guide image I to produce a noisy guide image t; and generating an output image D 'on the basis of the depth image D and the denuded guide image f. The method may further comprise: generating a plausibility image P based on the plurality of cross-correlation values [C (T0), C (T1), C (T2), C (T3)], wherein the plausibility image P for each pixel of the depth image D is a Includes value indicating whether the pixel is corrupted by motion or saturation; and generating the output image D 'on the basis of the depth image D and the plausibility image P and of either the guide image I or the noise image guide f.