REFINEMENT OF STRUCTURED LIGHT DEPTH MAPS USING RGB COLOR DATA
First Claim
Patent Images
1. A computer-implemented method for refining a depth map, comprising:
- receiving a color image of the scene;
receiving a depth map of a scene, the depth map comprising depth values corresponding to different locations of the scene, wherein each location on the depth map corresponds to a location on the color image; and
refining the depth values of the depth map based upon color values of corresponding locations on the color image.
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Abstract
Systems and method for refining a depth map of a scene based upon a captured image of the scene. A captured depth map of the scene may contain outage areas or other areas of low confidence. The depth map may be aligned with a color image of the scene, and the depth values of the depth map may be adjusted based upon corresponding color values of the color image. An amount of refinement for each depth value of the aligned depth map is based upon the confidence value of the depth value and a smoothing function based upon a corresponding location of the depth value on the color image.
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Citations
30 Claims
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1. A computer-implemented method for refining a depth map, comprising:
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receiving a color image of the scene; receiving a depth map of a scene, the depth map comprising depth values corresponding to different locations of the scene, wherein each location on the depth map corresponds to a location on the color image; and refining the depth values of the depth map based upon color values of corresponding locations on the color image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 23, 24, 25, 26)
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11. An apparatus for refining a depth map, comprising:
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a depth map generation system configured to generate a depth map of a scene, the depth map comprising depth values corresponding to different locations of the scene; at least one processor configured to; receive a color image of the scene; receive the depth map of the scene from the depth map generation system, wherein each location on the depth map corresponds to a location on the color image; and refine the depth values of the depth map based upon color values of corresponding locations on the color image. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A non-transitory computer readable medium comprising instructions that when executed cause a processor to perform a method for refining a depth map, the method comprising:
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receiving a color image of the scene; receiving a depth map of a scene, the depth map comprising depth values corresponding to different locations of the scene, wherein each location on the depth map corresponds to a location on the color image; and refining the depth values of the depth map based upon color values of corresponding locations on the color image. - View Dependent Claims (22, 27, 28, 29, 30)
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Specification