A depth map reconstruction method combining laser points and mean shift

[0038] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0039] The present invention provides a depth map reconstruction method combined with laser point and mean shift, the flow chart is as follows figure 1 As shown, the method includes the following steps:

[0040] (1) Take a depth image;

[0041] (2) Take a group of original RGB images and RGB images containing laser points;

[0042] (3) Establish a mean shift descriptor in combination with laser point trajectories;

[0043] (4) Set the weight according to the laser point rule;

[0044] (5) Set the threshold to determine holes and noise in the depth map;

[0045] (6) Run the improved mean shift algorithm and perform denoising and hole filling;

[0046] (7) Combining depth map and RGB image for reconstruction.

[0047] like figure 2 As shown, on the basis of the above solution, further, in step (2), a laser point is pr