Method and apparatus for extracting edge of object in depth image and computer readable storage medium

An apparatus for extracting an edge of an object in a depth image, the apparatus comprising:

• a processor;
• and
• a memory having stored thereon instructions which, when executed by the processor, cause the processor to:
• calculate at least two sets of edge pixels of a first depth image using at least two edge detection algorithms;
• and
• acquire a final set of edge pixels based on the at least two sets of edge pixels;
• wherein the step of calculating, by the processor, at least two sets of edge pixels of a first depth image using at least two edge detection algorithms comprises:
• determining, by the processor, the at least two edge detection algorithms;
• determining, by the processor, a number of frames to be processed for each of the edge detection algorithms based on weight values preset for the edge detection algorithms;
• and
• calculating, by the processor, using the determined edge detection algorithms, relevant depth images related to the first depth image according to the respective determined numbers of frames to obtain sets of edge pixels;
• and
• wherein the step of acquiring, by the processor, a final set of edge pixels based on the at least two sets of edge pixels comprises performing, by the processor, the following processing for each pixel in the first depth image:
• including, by the processor, the pixel in the final set of edge pixels when a number of sets of edge pixels containing the pixel exceeds a first preset threshold.