22-08-2019 дата публикации
Номер: US20190256159A1
An image processing method and system, a storage medium and a moving system are provided, and the image processing method includes: obtaining a 2D depth array Dhaving depth information of a target object; calculating to obtain a depth vector D=[d, d, d, . . . , d, . . . , d], in which an element dis an average value of elements of the irow in the 2D depth array; calculating to obtain an edge determination vector ΔD=[Δd, Δd, Δd, . . . , Δd, . . . , Δd], in which an element Δd=|d−d|; calculating an average value d=(|Δd−Δd|+|Δd−Δd|+ . . . +|Δd−Δd|)/(n−2); and comparing an absolute value |Δd−Δd| with dto identify an edge of the target object, in which in a situation where |Δd−Δd| is greater than d, it is determined that the elements of the irow in the 2D depth array Dcorrespond to the edge of the target object. 1. An image processing method comprising:{'sub': p', 'p', 'ij, 'sup': th', 'th, 'obtaining a 2D (two-dimensional) depth array Dhaving depth information of a target object, wherein an element du is an element of an irow and jcolumn in the 2D depth array Dand a value of the element dis a depth value;'}{'sub': p', '1', '2', '3', 'i', 'n', 'i, 'sup': 'th', 'calculating an average value of elements in each row in the 2D depth array Dto obtain a depth vector D=[d, d, d, . . . , d, . . . , d], wherein an element dis an average value of elements of the irow in the 2D depth array;'}{'sub': 1', '2', '3', 'i', 'n−1', 'i', 'i', 'i+1, 'calculating an absolute value of differences between adjacent elements in the depth vector D to obtain an edge determination vector ΔD=[Δd, Δd, Δd, . . . , Δd, . . . , Δd], wherein an element Δd=|d−d|;'}{'sub': 0', '0', '2', '1', '3', '2', 'n−1', 'n−2, 'calculating an average value dof absolute values of differences between adjacent elements in the edge determination vector ΔD, wherein d=(|Δd−Δd|+|Δd−Δd|+ . . . +|Δd−Δd|)/(n−2); and'}{'sub': i', 'i+1', '0', 'i', 'i+1', '0', 'p, 'sup': 'th', 'comparing an absolute value |Δd−Δd| of differences ...
Подробнее
