Pseudo 3D lighting method for road surface depth image based on 3D camera

The invention discloses a simulated 3D lighting method for a pavement depth image based on a 3D camera. The simulated 3D lighting method comprises the following steps: S1, analyzing elevation data acquired by the camera; s2, carrying out filtering processing on the data; s3, data wave jitter is removed; and S4, performing simulated 3D lighting on the data. The method has the beneficial effects that in different pavement images, compared with a normalized display method, filtering and denoising are performed on the data, abnormal data are eliminated, the influence of burrs on data processing is reduced, then wave jitter of the data is filtered out, and finally, lighting processing is performed on the images by simulating illumination, so that the pavement data features are obvious, and the data processing efficiency is improved. Therefore, the characteristic information of cracks, slab joints, notch grooves and the like in the pavement image can be clearly displayed, and subsequent analysis and processing of t