Systems and Methods for Generating Depth Maps Using A Set of Images Containing A Baseline Image
First Claim
1. A method of generating a depth map from a plurality of images captured from different viewpoints, comprising:
- normalizing a set of images using calibration data stored in a storage device using an address conversion module, where;
the set of images comprises a plurality of images that are;
captured from different viewpoints including sampling diversity;
include different occlusions sets;
wherein the occlusion set of a first image is the portion of a scene visible in a second image that is occluded in the first image; and
the set of images includes;
images captured using the same imaging characteristics;
images captured using different imaging characteristics; and
a first image that captures pixels around an edge of a foreground object that is visible in a baseline image and is in the occlusion set of a second image captured using the same imaging characteristics as the first imager;
detecting and metering parallax using a parallax confirmation and measurement module, where detecting and metering parallax comprises;
determining the parallax that yields the highest correlation between pixels from images captured using the same imaging characteristics accounting for the positions of the imagers that captured the images by;
performing redundant pair-wise measurements between pixels from images captured using the same imaging characteristics to determine pixel correlation for different parallax-induced shifts;
keeping track of various pair-wise measurements and calculating a parallax difference that yields the highest pixel correlation ignoring pixels in the images that are in an exposed occlusion set; and
generating a depth map using the parallax confirmation and measurement module based upon the measured parallax.
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Abstract
Systems and methods for implementing array cameras configured to perform super-resolution processing to generate higher resolution super-resolved images using a plurality of captured images and lens stack arrays that can be utilized in array cameras are disclosed. An imaging device in accordance with one embodiment of the invention includes at least one imager array, and each imager in the array comprises a plurality of light sensing elements and a lens stack including at least one lens surface, where the lens stack is configured to form an image on the light sensing elements, control circuitry configured to capture images formed on the light sensing elements of each of the imagers, and a super-resolution processing module configured to generate at least one higher resolution super-resolved image using a plurality of the captured images.
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Citations
20 Claims
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1. A method of generating a depth map from a plurality of images captured from different viewpoints, comprising:
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normalizing a set of images using calibration data stored in a storage device using an address conversion module, where; the set of images comprises a plurality of images that are; captured from different viewpoints including sampling diversity; include different occlusions sets; wherein the occlusion set of a first image is the portion of a scene visible in a second image that is occluded in the first image; and the set of images includes; images captured using the same imaging characteristics; images captured using different imaging characteristics; and a first image that captures pixels around an edge of a foreground object that is visible in a baseline image and is in the occlusion set of a second image captured using the same imaging characteristics as the first imager; detecting and metering parallax using a parallax confirmation and measurement module, where detecting and metering parallax comprises; determining the parallax that yields the highest correlation between pixels from images captured using the same imaging characteristics accounting for the positions of the imagers that captured the images by; performing redundant pair-wise measurements between pixels from images captured using the same imaging characteristics to determine pixel correlation for different parallax-induced shifts; keeping track of various pair-wise measurements and calculating a parallax difference that yields the highest pixel correlation ignoring pixels in the images that are in an exposed occlusion set; and generating a depth map using the parallax confirmation and measurement module based upon the measured parallax. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A method of generating a depth map from a plurality of images captured from different viewpoints, comprising:
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normalizing a set of images using calibration data stored in a storage device using an address conversion module, where; the set of images comprises a plurality of images that are; captured from different viewpoints including sampling diversity; include different occlusions sets; wherein the occlusion set of a first image is the portion of a scene visible in a second image that is occluded in the first image; and the set of images includes; images captured using the same imaging characteristics; and images captured using different imaging characteristics; detect and meter parallax using a parallax confirmation and measurement module, where detecting and metering parallax comprises; determining the parallax that yields the highest correlation between pixels from images captured using the same imaging characteristics accounting for the positions of the imagers that captured the images by; performing redundant pair-wise measurements between pixels from images captured using the same imaging characteristics to determine pixel correlation for different parallax-induced shifts; keeping track of various pair-wise measurements and calculating a parallax difference that yields the highest pixel correlation ignoring pixels in the images that are in an exposed occlusion set; and aligning portions of different images to compensate for parallax using an image pixel correlation module based upon the measured parallax and the stored calibration data; obtaining a higher resolution image having a resolution that is higher than the resolutions of the images in the set of images using a super-resolution module, where color information around the edge of the foreground object that is visible to the baseline image and in the occlusion set of the second image is reconstructed in the higher resolution image using the pixels captured by the first image; and generating a depth map for the higher resolution image using the parallax confirmation and measurement module based upon the measured parallax; wherein obtaining an image having a resolution that is higher than the resolutions of the images in the set of images comprises; fusing the aligned image portions; performing super-resolution processing on the fused image portions to synthesize a super-resolution image; and selecting at least one distance as a focal plane and applying blurring to pixels in the higher resolution image with depths in the depth map that are not proximate a focal plane.
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Specification