Image processing apparatus, method and computer-readable medium

An image processing method, comprising:

• receiving, by at least one processor, a depth image and a brightness image, the depth image and the brightness image captured by a depth camera;
• outputting, by the at least one processor, a 3D coordinate of a target pixel and a depth of the target pixel, the 3D coordinate and the depth measured by the depth camera;
• reading, by the at least one processor, a depth error corresponding to the measured depth from a storage unit, the depth error stored in the storage unit;
• and
• correcting, by the at least one processor, the measured 3D coordinate using the read depth error,
• wherein a plurality of depth errors stored in the storage unit are corresponded to at least one of a plurality of depths and a plurality of luminous intensities.

An image processing method, comprising:

• capturing, by at least one processor, a calibration reference image by a depth camera, and acquiring a brightness image and a depth image;
• calculating, by the at least one processor, an actual depth of a target pixel by placing a 3D coordinate of the target pixel measured by the depth camera on a same line as an actual 3D coordinate of the target pixel;
• calculating, by the at least one processor, a depth error of the target pixel using the calculated actual depth and a depth of the measured 3D coordinate;
• and
• performing modeling of the calculated depth error using a function of measured depths of reference pixels when all depth errors of the reference pixels are calculated, where the measured depths are depths of 3D coordinates obtained by measuring the reference pixels.

At least one non-transitory computer readable recording medium comprising computer readable instructions that control at least one processor to implement a method, comprising:

• receiving a depth image and a brightness image, the depth image and the brightness image captured by a depth camera;
• outputting a 3D coordinate of a target pixel and a depth of the target pixel, the 3D coordinate and the depth measured by the depth camera;
• reading a depth error corresponding to the measured depth from a storage unit, the depth error stored in the storage unit;
• and
• correcting the measured 3D coordinate using the read depth error,
• wherein a plurality of depth errors stored in the storage unit are corresponded to at least one of a plurality of depths and a plurality of luminous intensities.

A method, comprising:

• capturing, by at least one processor, a brightness image and a depth image;
• calculating, by the at least one processor, a depth and a 3D coordinate of a target pixel;
• determining, by the at least one processor, a depth error by comparing the depth of the target pixel with a table of depth errors;
• and
• correcting the 3D coordinate using the depth error.