DE-ALIASING DEPTH IMAGES
First Claim
1. A machine-implemented method, comprising:
- accessing a depth image that includes a depth value for each of a plurality of locations in the depth image, each of the locations has one or more neighbor locations;
determining potential depth values for each of the plurality of locations based on the depth value in the depth image for the location and potential aliasing in the depth image;
determining a cost function based on differences between the potential depth values of each location and its one or more neighbor locations, determining the cost function includes assigning a higher cost for greater differences in potential depth values between a pair of neighbor locations; and
substantially minimizing the cost function to select one of the potential depth values for each of the locations.
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Abstract
Techniques are provided for de-aliasing depth images. The depth image may have been generated based on phase differences between a transmitted and received modulated light beam. A method may include accessing a depth image that has a depth value for a plurality of locations in the depth image. Each location has one or more neighbor locations. Potential depth values are determined for each of the plurality of locations based on the depth value in the depth image for the location and potential aliasing in the depth image. A cost function is determined based on differences between the potential depth values of each location and its neighboring locations. Determining the cost function includes assigning a higher cost for greater differences in potential depth values between neighboring locations. The cost function is substantially minimized to select one of the potential depth values for each of the locations.
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Citations
20 Claims
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1. A machine-implemented method, comprising:
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accessing a depth image that includes a depth value for each of a plurality of locations in the depth image, each of the locations has one or more neighbor locations; determining potential depth values for each of the plurality of locations based on the depth value in the depth image for the location and potential aliasing in the depth image; determining a cost function based on differences between the potential depth values of each location and its one or more neighbor locations, determining the cost function includes assigning a higher cost for greater differences in potential depth values between a pair of neighbor locations; and substantially minimizing the cost function to select one of the potential depth values for each of the locations. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. An apparatus, comprising:
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a processor; and a computer readable storage medium coupled to the processor, the computer readable storage medium having instructions stored thereon which, when executed on the processor cause the processor to access a depth image that includes a depth value for a plurality of locations, each of the locations has one or more neighbor locations, the instructions further cause the processor to determine potential depth values for each of the plurality of locations based on the depth value in the depth image and potential aliasing in the depth image, the instructions further cause the processor to determine a cost function based on differences between the potential depth values of each location and its one or more neighbor locations, to determine the cost function the processor assigns a higher cost for greater differences in potential depth values between a pair of neighbor locations, the instructions further cause the processor to substantially minimize the cost function to select one of the potential depth values for each of the locations. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A machine-implemented method, comprising:
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generating a depth image that includes a plurality of pixels, each pixel has one or more neighbor pixels, each pixel having a depth value, the depth image having a depth window; determining potential depth values for each of the plurality of pixels based on the depth window and the depth value in the depth image for the pixel; generating a graph that includes a plurality of layers of nodes, each pixel is represented by one node in each layer, the potential depth values for a given pixel are represented by nodes in different layers, pairs of nodes that correspond to neighbor pixels are connected by edges; assigning a cost to each of the edges, the cost of a given edge is based on a depth difference between the potential depth values of the pair of nodes that are connected by the edge; and reducing the graph to a single layer based on minimizing the costs of remaining edges, each of the pixels has one node in the reduced graph. - View Dependent Claims (18, 19, 20)
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Specification