DEPTH IMAGE PROCESSING METHOD AND DEVICE, AND UNMANNED AERIAL VEHICLE

Embodiments of the present invention relate to a method, apparatus and UAV for processing a depth map. The method for processing a depth map includes the following steps: S1: correcting an image of a target area that is collected by an image collection apparatus; S2: performing binocular matching on the image to obtain a depth map of the target area; and S3: acquiring a distribution of obstacles around an UAV according to the depth map. The method further includes: acquiring execution times of the foregoing steps before executing the steps; and establishing at least two threads and at least one ring queue according to the execution times of the steps, and executing the steps by the at least two threads to reduce a total execution time. By executing the steps for processing the depth map by the at least two threads, each of the threads can obtain a processing result from other threads through the at least one ring queue. Through the mode of the ring queue and parallel multi-thread running, the problem of image processing blockage is solved, and a delay is reduced.