METHOD AND DEVICE FOR FILLING IN THE ZONES OF OCCULTATION OF A MAP OF DEPTH OR OF DISPARITIES ESTIMATED ON THE BASIS OF AT LEAST TWO IMAGES

摘要

A method of filling occluded areas of a depth or disparity map estimated from at least two images and consisting of a matrix of pixels forming a set of lines and columns, each pixel of the map being associated with a depth or disparity value (pixel value) and any pixel of an occluded area (invalid pixel) being associated with a pixel value identifiable as being invalid. This method comprises a step of processing each line of the map pixel by pixel in a predefined direction and assigning each invalid pixel Pi encountered on a current line a value determined as a function of the values associated with the pixels in a predefined vicinity around the first valid pixel P1, if any, that follows the invalid pixel Pi on the current line and the value V(P1) of which corresponds to a greater depth or a lesser disparity relative to the value V(P0) of the last valid pixel P0, if any, that precedes the invalid pixel Pi on the current line.