Method and device for synthesizing depth images

Abstract

Embodiments of the present application disclose a method and a device for synthesizing depth images, which relate to the technical field of image processing. The method includes: obtaining depth images to be synthesized, which are shot by real depth cameras respectively, wherein y-axes of respective camera coordinate systems of the real depth cameras are parallel to each other; calculating a mapping pixel point in a camera coordinate system corresponding to a virtual depth camera for each of pixel points in the depth images to be synthesized, according to pre-obtained pixel point mapping relationship, wherein camera parameters of the virtual depth camera are determined according to camera parameters of the real depth cameras, a lens optical center of the virtual depth camera is located in a connecting line of lens optical centers of the real depth cameras, an x-axis of the camera coordinate system corresponding to the virtual depth camera is parallel to the connecting line of lens optical centers of the real depth cameras; and generating a target synthesized depth image corresponding to the depth images to be synthesized, according to calculated mapping pixel points. By applying the solutions provided by the embodiments of the present application, a depth image with a large field of view can be obtained by image synthesis.