Depth map generation for 2d panoramic images

An image processing device for generating a depth map for a two-dimensional (2D) panoramic image, the image processing device comprising:

• memory;
• and
• processing circuitry, the processing circuitry being configured to cause the image processing device to perform a method comprising:
• obtaining a depth map for the 2D panoramic image of a three-dimensional (3D) environment, wherein the depth map is generated from a 3D point cloud of the 3D environment, and wherein the depth map comprises some pixels with unknown depth values;
• generating an edge map for the depth map, wherein the edge map is generated from the depth map and indicates locations of edges in the 3D point cloud with unknown depth values in the depth map;
• and
• calculating a respective depth value for each of the pixels with unknown depth values in the depth map, wherein the respective depth value is calculated as a weighted interpolation of known depth values in a region of the depth map that surrounds the respective unknown depth value, where the known depth values do not cross any of the edges in the edge map.

A non-transitory computer readable storage medium storing a computer program for generating a depth map for a two-dimensional (2D) panoramic image, the computer program comprising computer code which, when run on processing circuitry of an image processing device, causes the image processing device to perform a method comprising:

• obtaining a depth map for the 2D panoramic image of a three-dimensional (3D) environment, wherein the depth map is generated from a 3D point cloud of the 3D environment, and wherein the depth map comprises some pixels with unknown depth values;
• generating an edge map for the depth map, wherein the edge map is generated from the depth map and indicates locations of edges in the 3D point cloud with unknown depth values in the depth map;
• and
• calculating a respective depth value for each of the pixels with unknown depth values in the depth map, wherein the respective depth value is calculated as a weighted interpolation of known depth values in a region of the depth map that surrounds the respective unknown depth value, where the known depth values do not cross any of the edges in the edge map.