Method and system to correct motion blur in time-of-flight sensor systems
First Claim
1. A method of compensating for error measurement in depth images due to relative motion between a system acquiring the images using an array of pixels and a target object being imaged, the method comprising the following steps:
- (a) acquiring a sequence of images;
(b) normalizing the acquired said sequence of images relative to a referenced one of said images;
(c) detecting presence of at least one of coarse motion associated with movement of said system, and local motion associated with movement of said target object, in said acquired said sequence of images; and
(d) compensating for at least one of coarse motion and local motion in said acquired said sequence of said images;
wherein images so compensated at step (d) are substantially free of distance error due to said relative motion.
1 Assignment
0 Petitions
Accused Products
Abstract
A method and system corrects motion blur in time-of-flight (TOF) image data in which acquired consecutive images may evidence relative motion between the TOF system and the imaged object or scene. Motion is deemed global if associated with movement of the TOF sensor system, and motion is deemed local if associated with movement in the target or scene being imaged. Acquired images are subjected to global and then to local normalization, after which coarse motion detection is applied. Correction is made to any detected global motion, and then to any detected local motion. Corrective compensation results in distance measurements that are substantially free of error due to motion-blur.
-
Citations
20 Claims
-
1. A method of compensating for error measurement in depth images due to relative motion between a system acquiring the images using an array of pixels and a target object being imaged, the method comprising the following steps:
-
(a) acquiring a sequence of images;
(b) normalizing the acquired said sequence of images relative to a referenced one of said images;
(c) detecting presence of at least one of coarse motion associated with movement of said system, and local motion associated with movement of said target object, in said acquired said sequence of images; and
(d) compensating for at least one of coarse motion and local motion in said acquired said sequence of said images;
wherein images so compensated at step (d) are substantially free of distance error due to said relative motion. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
-
-
17. A de-blurring system to compensate for error measurement in depth images due to relative motion between a system acquiring the images using an array of pixels and a target object being imaged, the de-blurring system comprising:
-
a microprocessor unit;
memory storing a routine that upon execution by said microprocessor unit carries out the following steps;
(a) normalizing a sequence of images, acquired by said system, relative to a referenced one of said images;
(b) detecting presence of at least one of coarse motion associated with movement of said system, and local motion associated with movement of said target object, in said acquired said sequence of images; and
(c) compensating for at least one of coarse motion and local motion in said acquired said sequence of said images;
wherein images so compensated at step (c) are substantially free of distance error due to said relative motion. - View Dependent Claims (18, 19, 20)
-
Specification