METHOD AND APPARATUS FOR EFFICIENT DEPTH IMAGE TRANSFORMATION

• US 20160073080A1
• Filed: 09/03/2015
• Published: 03/10/2016
• Est. Priority Date: 09/05/2014
• Status: Active Grant

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Wagner, Daniel, Mulloni, Alessandro
• Granted Patent: US 9,948,911 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G06T 2207/10024 Color image
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 5/50 using two or more images, e.g. averaging or subtraction
• CPC Class Codes: G06T 5/80 Geometric correction
• CPC Class Codes: G06T 7/55 from multiple images
• CPC Class Codes: H04N 13/111 Transformation of image signals corresponding to virtual viewpoints, e.g. spatial image interpolation
• CPC Class Codes: H04N 13/128 Adjusting depth or disparity
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 13/257 Colour aspects

Abstract

Disclosed are a system, apparatus, and method for depth camera image re-mapping. A depth camera image from a depth camera may be received and a depth camera'"'"'s physical position may be determined The depth camera'"'"'s physical position may be determined relative to an other physical position, such as the physical position of a color camera. The depth camera image may be transformed according to a processing order associated with the other physical position.

Claims

1. A method for depth camera image transformation, the method comprising:

receiving a depth camera image from a depth camera;

determining, according to the depth camera'"'"'s physical position relative to an other physical position, a processing order for transforming points of the depth camera image into a depth image at an other coordinate system associated with the other physical position; and

transforming, without testing for depth, the depth camera image into the coordinate system of the other coordinate system according to the determined processing order.

2. The method of claim 1, wherein the other physical position is a color camera'"'"'s physical position.

3. The method of claim 1, wherein the processing order comprises a horizontal depth camera pixel processing order.

4. The method of claim 3, wherein the horizontal depth camera pixel processing order comprises:

a left to right depth camera pixel processing order when the depth camera is physically positioned left of the other physical position.

5. The method of claim 3, wherein the horizontal depth camera pixel processing order comprises:

a right to left depth camera pixel processing order when the depth camera is physically positioned right of the other physical position.

6. The method of claim 1, wherein the processing order comprises completing a horizontal depth camera pixel processing for a first row before proceeding in a vertical direction to select a second row for additional horizontal depth camera pixel processing.

7. The method of claim 1, wherein the processing order comprises a vertical depth camera pixel processing order.

8. The method of claim 7, wherein the vertical depth camera pixel processing order comprises:

a bottom to top depth camera pixel processing order when the depth camera is physically positioned below the other physical position.

9. A mobile device for displaying an image, the mobile device comprising:

a processor; and

a storage device coupled to the processor and configurable for storing instructions, which, when executed by the processor cause the processor to;

receive a depth camera image from a depth camera;

determine, according to the depth camera'"'"'s physical position relative to an other physical position, a processing order for transforming points of the depth camera image into a depth image at an other coordinate system associated with the other physical position; and

transform, without testing for depth, the depth camera image into the coordinate system of the other coordinate system according to the determined processing order.

10. The mobile device of claim 9, wherein the other physical position is a color camera'"'"'s physical position.

11. The mobile device of claim 9, wherein the processing order comprises a horizontal depth camera pixel processing order.

12. The mobile device of claim 11, wherein the horizontal depth camera pixel processing order comprises:

a left to right depth camera pixel processing order when the depth camera is physically positioned left of the other physical position.

13. The mobile device of claim 11, wherein the horizontal depth camera pixel processing order comprises:

a right to left depth camera pixel processing order when the depth camera is physically positioned right of the other physical position.

14. The mobile device of claim 9, wherein the processing order comprises completing a horizontal depth camera pixel processing for a first row before proceeding in a vertical direction to select a second row for additional horizontal depth camera pixel processing.

15. The mobile device of claim 9, wherein the processing order comprises a vertical depth camera pixel processing order.

16. The mobile device of claim 15, wherein the vertical depth camera pixel processing order comprises:

a bottom to top depth camera pixel processing order when the depth camera is physically positioned below the other physical position.

17. A machine readable non-transitory storage medium having stored therein program instructions that are executable by a processor to:

receive a depth camera image from a depth camera;

determine, according to the depth camera'"'"'s physical position relative to an other physical position, a processing order for transforming points of the depth camera image into a depth image at an other coordinate system associated with the other physical position; and

transform, without testing for depth, the depth camera image into the coordinate system of the other coordinate system according to the determined processing order.

18. The medium of claim 17, wherein the other physical position is a color camera'"'"'s physical position.

19. The medium of claim 17, wherein the processing order comprises a horizontal depth camera pixel processing order.

20. The medium of claim 19, wherein the horizontal depth camera pixel processing order comprises:

a left to right depth camera pixel processing order when the depth camera is physically positioned left of the other physical position.

21. The medium of claim 19, wherein the horizontal depth camera pixel processing order comprises:

a right to left depth camera pixel processing order when the depth camera is physically positioned right of the other physical position.

22. The medium of claim 17, wherein the processing order comprises completing a horizontal depth camera pixel processing for a first row before proceeding in a vertical direction to select a second row for additional horizontal depth camera pixel processing.

23. An apparatus for displaying an image, the apparatus comprising:

means for receiving a depth camera image from a depth camera;

means for determining, according to the depth camera'"'"'s physical position relative to an other physical position, a processing order for transforming points of the depth camera image into a depth image at an other coordinate system associated with the other physical position; and

means for transforming, without testing for depth, the depth camera image into the coordinate system of the other coordinate system according to the determined processing order.

24. The apparatus of claim 23, wherein the other physical position is a color camera'"'"'s physical position.

25. The apparatus of claim 23, wherein the processing order comprises a horizontal depth camera pixel processing order.

26. The apparatus of claim 25, wherein the horizontal depth camera pixel processing order comprises:

a left to right depth camera pixel processing order when the depth camera is physically positioned left of the other physical position.

27. The apparatus of claim 25, wherein the horizontal depth camera pixel processing order comprises:

a right to left depth camera pixel processing order when the depth camera is physically positioned right of the other physical position.

28. The apparatus of claim 23, wherein the processing order comprises completing a horizontal depth camera pixel processing for a first row before proceeding in a vertical direction to select a second row for additional horizontal depth camera pixel processing.