基于像素滤波和中值滤波的深度图像修复方法

针对Kinect相机采集的深度数据一般有噪声和黑洞现象,直接应用于场景三维重建系统中效果差的问题,提出了像素滤波器和中值滤波器相结合的Kinect深度图像修复方法。首先对一帧图片上的像素进行搜索,找到像素值为0的点,以该点为中心,利用其邻域内的像素,定义一个两层的滤波器,根据像素滤波器的原理对其进行修复,填充深度图片的黑洞;然后采用中值滤波器,在平滑深度图像的同时保留边缘信息,去除孤立噪声点。实验结果表明,本文方法去噪的同时也能对黑洞进行修补,与原始深度图像相比,空洞明显减少,深度图像质量大大提高。

Autonomous optical navigation for interplanetary exploration based on information of earth-moon

The image elements of earth-center and moon-center are obtained by processing the images of earthand moon, these image elements in combination with the inertial attitude information and the moon ephemerisare utilized to obtain the probe initial position relative to earth, and the Levenberg-Marquardt algorithm is usedto determine the accurate probe position relative to earth, and the probe orbit relative to earth is estimated by u-sing the extended Kalman filter. The autonomous optical navigation algorithm is validated using the digital simu-lation.