Electronic Science and Technology ›› 2021, Vol. 34 ›› Issue (11): 31-36.doi: 10.16180/j.cnki.issn1007-7820.2021.11.005

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Research on Depth Image Preprocessing Algorithm

WU Haibo,WANG Chen,CUI Yu   

  1. Faculty of Mechanical and Electrical Engineering,Kunming University of Science and Technology,Kunming 650500,China
  • Received:2020-07-09 Online:2021-11-15 Published:2021-11-16
  • Supported by:
    National Key R&D Program of China(2017YFC1702503)


In order to solve the problem that the original depth image data acquired by RGB-D camera contains noise and holes, a depth image filtering algorithm based on color image guidance is proposed in this study. The proposed algorithm is based on the principle of bilateral filtering. First, the color image is used as a guide map, and the gray pixel change weight of the color image is multiplied by the Gaussian filter weight to obtain the comprehensive filter weight. Then, the algorithm uses the separation characteristic of the Gaussian kernel function to reduce the computational complexity and improve the running speed of the algorithm through fast Gaussian transformation. Experimental results show that after filtering the original depth image, the algorithm can significantly improve the denoising effect of depth image. Additionally, the algorithm can repair the small-area void area of the depth image while maintaining the advantages of bilateral filter denoising and edge preservation, and shorten the running time.

Key words: RGB-D, depth image, noise, holes, bilateral filtering, fast Gaussian transformation, de-noising and edge preserving

CLC Number: 

  • TN911.73