Method and apparatus for enhancing the dynamic range of stereo vision system
First Claim
1. A system for producing a stereo disparity map representing an imaged subject, the system comprising:
- a plurality of sensors operative to produce a plurality of images, each image having an associated exposure according to an exposure level of an associated sensor;
a system control that determines exposure levels for the plurality of sensors according to an exposure selection algorithm;
a disparity processing component that is operative to generate a stereo disparity map from a plurality of images; and
an image merger that is operative to merge a plurality of images to produce a composite image having an increased dynamic range.
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Accused Products
Abstract
Systems and methods are provided for producing a stereo disparity map representing an imaged subject. A plurality of sensors (102 and 104) are operative to produce a plurality of images. Each image has an associated exposure according to an exposure level of an associated sensor. A system control (106) determines exposure levels for the plurality of sensors according to an exposure selection algorithm. A disparity processing component (112) is operative to generate a stereo disparity map from a plurality of images. An image merger (110) is operative to merge a plurality of images to produce a composite image having an increased dynamic range.
69 Citations
20 Claims
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1. A system for producing a stereo disparity map representing an imaged subject, the system comprising:
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a plurality of sensors operative to produce a plurality of images, each image having an associated exposure according to an exposure level of an associated sensor;
a system control that determines exposure levels for the plurality of sensors according to an exposure selection algorithm;
a disparity processing component that is operative to generate a stereo disparity map from a plurality of images; and
an image merger that is operative to merge a plurality of images to produce a composite image having an increased dynamic range. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for producing a stereo disparity map having an enhanced dynamic range, comprising:
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determining a first exposure level for a first image set according to an exposure selection algorithm;
generating the first image set at the determined first exposure level;
generating a first stereo disparity map from the first image set, the first stereo disparity map having an associated dynamic range;
determining a second exposure level for a second image set according to the exposure selection algorithm;
generating the second image set at the determined second exposure level;
generating a second stereo disparity map from the second image set, the second stereo disparity map having an associated dynamic range; and
merging the first stereo disparity map and the second stereo disparity map as to produce a composite stereo disparity map having an effective dynamic range greater than either of the associated dynamic ranges of the first disparity map and the second disparity map. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A method for generating a stereo disparity map having an enhanced dynamic range, comprising:
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determining a desired exposure level for each of a plurality of images, the plurality of images including a first set of images and a second set of images;
generating each of the plurality of images at the desired level of exposure;
merging the first set of images to produce a first composite image;
merging the second set of images to produce a second composite image; and
generating a stereo disparity map from the first composite image and the second composite image. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification