Method and apparatus for image processing, and robot using the same

An image processing apparatus, comprising:

• an obtaining module configured to obtain a depth map and a color map of a target object in a predetermined scene;
• a first filtering module configured to filter the depth map based on the color map to obtain a first depth filter map;
• a detection module configured to detect pixel values of pixels in the first depth filter map to find one or more first pixels with the pixel values less than or equal to a preset value, and form a black dot cavity area based on the one or more first pixels;
• a processing module configured to re-assign a depth value of each of the one or more first pixels in the black dot cavity area according to a preset rule to obtain the depth map after repair;
• and
• a second filtering module configured to filter the depth map after repair to obtain a second depth filter map.

A robot, comprising:

• a memory;
• one or more processors;
• and
• one or more computer programs stored in the memory and executable on the one or more processors, wherein the one or more computer programs comprise:
• instructions for obtaining a depth map and a color map of a target object in a predetermined scene;
• instructions for filtering the depth map based on the color map to obtain a first depth filter map;
• instructions tor detecting pixel values of pixels in the first depth filter map to find one or more first pixels with the pixel values less than or equal to a preset value, and forming a black dot cavity area based on the one or more first pixels;
• instructions for re-assigning a depth value of each of the one or more first pixels in the black dot cavity area according to a preset rule to obtain the depth map after repair;
• and
• instructions for filtering the depth map after repair to obtain a second depth filter map.