Method and system to increase X-Y resolution in a depth (Z) camera using red, blue, green (RGB) sensing
First Claim
1. For use with a sensor system that includes first sensors to acquire z-depth and brightness data at a first resolution, and second sensors to acquire RGB data at a higher second resolution, said first and second sensors acquiring data substantially simultaneously, a method to combine data acquired by said first sensors with data acquired by said second sensors such that an RGBZ image may be rendered whose resolution is higher than said first resolution, the method including the following steps:
- (a) correlating timing information with data acquired by said first sensors and with data acquired by said second sensors; and
(b) up-sampling and increasing resolution of data acquired by said first sensors such that an RGBZ model may be rendered from data so up-sampled and increased in resolution, resolution of said RGBZ model exceeding said first resolution of said first sensors.
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Abstract
An imaging system substantially simultaneously acquires z-depth and brightness data from first sensors, and acquires higher resolution RGB data from second sensors, and fuses data from the first and second sensors to model an RGBZ image whose resolution can be as high as resolution of the second sensors. Time correlation of captured data from first and second sensors is associated with captured image data, which permits arbitrary mapping between the two data sources, ranging from 1:many to many:1. Preferably pixels from each set of sensors that image the same target point are mapped. Many z-depth sensor settings may be used to create a static environmental model. Non-correlative and correlative filtering is carried out, and up-sampling to increase z-resolution occurs, from which a three-dimensional model is constructed using registration and calibration data.
268 Citations
20 Claims
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1. For use with a sensor system that includes first sensors to acquire z-depth and brightness data at a first resolution, and second sensors to acquire RGB data at a higher second resolution, said first and second sensors acquiring data substantially simultaneously, a method to combine data acquired by said first sensors with data acquired by said second sensors such that an RGBZ image may be rendered whose resolution is higher than said first resolution, the method including the following steps:
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(a) correlating timing information with data acquired by said first sensors and with data acquired by said second sensors; and
(b) up-sampling and increasing resolution of data acquired by said first sensors such that an RGBZ model may be rendered from data so up-sampled and increased in resolution, resolution of said RGBZ model exceeding said first resolution of said first sensors. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A time-of-flight system that acquires z-depth, brightness, and RGB information and outputs data from which an RGBZ image may be rendered, the range-finding system including:
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a plurality of first sensors to acquire z-depth and brightness data at a first resolution;
a plurality of second sensors to acquire RGB data at a higher second resolution, said first and second sensors acquiring data substantially simultaneously, said first sensors having a characteristic selected from a group consisting of (i) said first sensors are fabricated on a common integrated circuit array as said second sensors, and (ii) said first sensors are fabricated on an integrated circuit array discrete from an integrated circuit array that includes said second sensors; and
further includingmeans for combining data acquired by said first sensors with data acquired by said second sensors such that said RGBZ image may be rendered whose resolution is higher than said first resolution. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification