DEPTH MAP CONFIDENCE FILTERING
First Claim
1. A method for filtering depth information the depth information including a confidence measure;
- comprising;
receiving input data including depth information on a scene, the depth information comprising a plurality of pixels, each pixel including a depth value and a confidence value;
generating a confidence weight normalized filter for each pixel in the depth information, the confidence weight normalized filter including a filtering weight derived from confidence values relative to a distance of pixels surrounding each said pixel;
combining the normalized filter and the input data; and
outputting filtered data to an application.
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Accused Products
Abstract
An apparatus and method for filtering depth information received from a capture device. Depth information is filtered by using confidence information provided with the depth information based an adaptively created, optimal spatial filter on a per pixel basis. Input data including depth information is received on a scene. The depth information comprises a plurality of pixels, each pixel including a depth value and a confidence value. A confidence weight normalized filter for each pixel in the depth information is generated. The weight normalized filter is combined with the input data to provide filtered data to an application.
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Citations
20 Claims
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1. A method for filtering depth information the depth information including a confidence measure;
- comprising;
receiving input data including depth information on a scene, the depth information comprising a plurality of pixels, each pixel including a depth value and a confidence value; generating a confidence weight normalized filter for each pixel in the depth information, the confidence weight normalized filter including a filtering weight derived from confidence values relative to a distance of pixels surrounding each said pixel; combining the normalized filter and the input data; and outputting filtered data to an application. - View Dependent Claims (2, 3, 4, 5, 6, 7)
- comprising;
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8. A method for filtering depth information the depth information including a confidence measure;
- comprising;
receiving depth information on a scene, the depth information including a depth value and a confidence value; selecting an input pixel in the information; generating a spatial weighting matrix assigning a first filter weight based on confidence value contributions from a kernel of pixels surrounding the input pixel, the confidence value contribution relative to a distance of each kernel pixel from the input pixel; generating a confidence weighting matrix based on the confidence value of each pixel kernel; generating an object correlation matrix based on the relative depth between an input pixel and pixels in the kernel; combining the confidence weighting matrix, object correlation matrix, and the spatial weighting matrix to provide a combined matrix; normalizing the combined matrix; and multiplying the weighted normalized matrix with the input data and summing the products to derive a final filtered value. - View Dependent Claims (9, 10, 11, 12, 13, 14)
- comprising;
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15. An apparatus, comprising:
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a depth information input; a spatial weighting matrix generator; a confidence weighting matrix generator; an object correlation weighting matrix generator; a first multiplier coupled to the spatial weighting matrix generator and the a confidence weighting matrix generator and outputting a combined matrix; a combined matrix normalizer coupled to the first multiplier; and a second multiplier coupled to the depth information input and the combined matrix normalizer, the multiplier providing a filtered depth information output. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification