Color noise reduction in 3D depth map
First Claim
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1. A device comprising:
- at least one computer medium that is not a transitory signal and that comprises instructions executable by at least one processor to;
generate, using at least one laser, a three dimensional (3D) depth map;
apply color noise reduction to the depth map to increase a signal-to-noise ratio (SNR) of the depth map compared to a SNR of the depth map prior to application of noise reduction;
access a transmission schedule; and
transmit laser range-finding beams using the at least one laser at transmission times according to the transmission schedule to generate the depth map.
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Abstract
A camera based depth mapping system. Depth information is coded with colors to make a laser-generated 3D depth map easier to interpret. In the event that the laser illumination is not sufficient, the depth information can have a low signal to noise ratio, i.e., the depth map can be noisy. Color noise reduction techniques are used to alleviate this problem.
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Citations
19 Claims
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1. A device comprising:
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at least one computer medium that is not a transitory signal and that comprises instructions executable by at least one processor to; generate, using at least one laser, a three dimensional (3D) depth map; apply color noise reduction to the depth map to increase a signal-to-noise ratio (SNR) of the depth map compared to a SNR of the depth map prior to application of noise reduction; access a transmission schedule; and transmit laser range-finding beams using the at least one laser at transmission times according to the transmission schedule to generate the depth map. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. An assembly comprising:
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plural computerized devices; each computerized device comprising at least one laser emitter configured to output signals useful for generating at least one three dimensional (3D) depth map; and at least one processor programmed with instructions to augment at least one of the 3D depth maps with color and to apply noise reduction to 3D depth maps augmented with color to reduce noise in the depth map augmented with color. - View Dependent Claims (9, 10, 11, 12)
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13. A method comprising:
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emitting laser emissions; using reflections of the emissions, generating a three dimensional (3D) depth map; and applying color to the 3D depth map to render an augmented depth map by associating a first color with a first region of the 3D depth map representing a “
closest”
surface and associating a second color with at least a second region of the 3D depth map on the basis that the first color is warmer than the second color. - View Dependent Claims (14, 15, 16, 17, 18, 19)
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Specification