Enhancement of Stereo Depth Maps
First Claim
1. A method for computation of a depth map for corresponding left and right two dimensional (2D) images of a stereo image, the method comprising:
- determining a disparity range based on a disparity of at least one object in a scene of the left and right 2D images;
performing color matching of the left and right 2D images;
performing contrast and brightness matching of the left and right 2D images; and
computing a disparity image for the left and right 2D images after the color matching and the contrast and brightness matching are performed, wherein the disparity range is used for correspondence matching of the left and right 2D images.
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Abstract
A method for computation of a depth map for corresponding left and right two dimensional (2D) images of a stereo image is provided that includes determining a disparity range based on a disparity of at least one object in a scene of the left and right 2D images, performing color matching of the left and right 2D images, performing contrast and brightness matching of the left and right 2D images, and computing a disparity image for the left and right 2D images after the color matching and the contrast and brightness matching are performed, wherein the disparity range is used for correspondence matching of the left and right 2D images.
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Citations
20 Claims
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1. A method for computation of a depth map for corresponding left and right two dimensional (2D) images of a stereo image, the method comprising:
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determining a disparity range based on a disparity of at least one object in a scene of the left and right 2D images; performing color matching of the left and right 2D images; performing contrast and brightness matching of the left and right 2D images; and computing a disparity image for the left and right 2D images after the color matching and the contrast and brightness matching are performed, wherein the disparity range is used for correspondence matching of the left and right 2D images. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A stereo image processing system comprising:
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a first imaging component arranged to capture a left two-dimensional (2D) image of a scene; a second imaging component arranged to capture a right 2D image of a scene; means for performing color matching of the left and right 2D images, wherein performing color matching comprises; computing an average R value, an average G value, and an average B value for each of a reference block of pixels in a reference image and a non-reference block of pixels in a non-reference image, wherein the reference image is one of the left 2D image and the right 2D image and the non-reference image is another of the left 2D image and the right 2D image, and wherein the non-reference block of pixels is a block of pixels in the non-reference image corresponding to the reference block of pixels; computing an R gain, a G gain, and a B gain as respective ratios of the average R values of the non-reference block of pixels and the reference block of pixels, the average G values of the non-reference block of pixels and the reference block of pixels, and the average B values of the non-reference block of pixels and the reference block of pixels; and applying the R gain, the G gain, and the B gain to the non-reference image. means for performing contrast and brightness matching of the left and right 2D images; and means for computing a disparity image for the left and right 2D images after the color matching and the contrast and brightness matching are performed. - View Dependent Claims (11, 12, 13, 14, 15, 16)
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17. A non-transitory computer-readable medium storing software instructions that, when executed by a processor, perform a method for computation of a disparity map, the method comprising:
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performing color matching of the left and right 2D images; performing contrast and brightness matching of the left and right 2D images; and computing a disparity image for the left and right 2D images after the color matching and the contrast and brightness matching are performed, wherein computing a disparity image comprises; computing a first disparity image at a first resolution; computing a second disparity image at a second resolution, wherein the second resolution is lower than the first resolution; upsampling the second disparity image to the first resolution; and filling holes in the first disparity image by interpolating disparity values in selected areas in the first disparity image with disparity values in corresponding selected areas in the upsampled second disparity image. - View Dependent Claims (18, 19, 20)
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Specification