Method and apparatus for estimating depth, and method and apparatus for training distance estimator
First Claim
Patent Images
1. A method of estimating a depth, the method comprising:
- obtaining an image of a scene including at least a first object and a second object;
estimating a depth of a second image object corresponding to the second object based on a correlation between a first image object corresponding to the first object and the second image object in the image and a depth of the first image object.
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Abstract
A method and apparatus for estimating a depth, and a method and apparatus for training an distance estimator are provided, wherein the method for estimating a depth may include obtaining an image, and estimating a depth of a second image object based on a correlation between a first image object and the second image object in the image and a depth of the first image object.
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Citations
20 Claims
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1. A method of estimating a depth, the method comprising:
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obtaining an image of a scene including at least a first object and a second object; estimating a depth of a second image object corresponding to the second object based on a correlation between a first image object corresponding to the first object and the second image object in the image and a depth of the first image object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method of training a distance estimator, the method comprising:
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obtaining a correlation between each pair of training short-distance object and training long-distance object of a scene included in training data; obtaining a depth of each training short-distance object by performing stereo matching on the training data; obtaining actual depth of each training long-distance object; and training the distance estimator using the correlation between each pair of training short-distance object and training long-distance object, the depth of each training short-distance object and the actual depth of each training long-distance object; wherein the distance estimator is configured to estimate a depth of a long-distance object in a scene based on a depth of a short-distance object in the scene and a correlation between the short-distance object and the long-distance object. - View Dependent Claims (11, 12, 13)
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14. An apparatus for estimating a distance, the apparatus comprising:
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a stereo camera configured to obtain an image of a scene including at least a first object and a second object; and a circuit configured to estimate a depth of a second image object corresponding to the second object based on a value of a correlation between a first image object corresponding to the first object and the second image object in the image and a depth of the first image object. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification