Generation of depth image through interpolation and extrapolation of intermediate images derived from stereo image pair using disparity vector fields
First Claim
1. A method of generating a depth image of a scene comprising the steps of:
- (a) providing first and second digital images of said scene derived at first and second scene observation locations spatially spaced apart from one another;
(b) for a plurality of spatially separated scene observation locations, spaced apart from one another and spaced apart from said first and second scene observation locations and associated with respective missing images of said depth image, generating missing angular digital images of said scene in accordance with an iteratively refined set of disparity vector fields that associate said plurality of spatially separated scene observation locations with said first and second digital images; and
(c) interlacing said missing angular digital images of said scene and said first and second digital images to derive said depth image.
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Abstract
A depth image is generated from a pair of stereo images by means of a disparity vector field-based digital image processing methodology. Specifically, images corresponding to missing angular views are derived from the stereo image pair based upon an iteratively refined set of disparity vector fields that associate desired missing image locations with the pair of stereo images. For a reduced angular separation between the optically recorded pair of stereo images, the stereo images are employed as the images corresponding to intermediate angular viewing locations, and images corresponding to missing angular views are reconstructed by either digitally interpolating or digitally extrapolating the stereo image pair, depending on whether or not the missing angular view is between the angular views of the stereo image pair or outside the angular views of the stereo image pair. The missing images are then interlaced with the images of the stereo to derive the depth image. A system of nonlinear equations is formed relative to an unknown current estimate of the disparity vector field corresponding to the missing image. This system of nonlinear equations is then linearized from which initial estimates of the disparity vector fields are derived relative to the current estimates of the disparity vector fields. Solutions to the resulting set of linear equations are used to iteratively refine estimates of the disparity vector fields.
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Citations
54 Claims
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1. A method of generating a depth image of a scene comprising the steps of:
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(a) providing first and second digital images of said scene derived at first and second scene observation locations spatially spaced apart from one another; (b) for a plurality of spatially separated scene observation locations, spaced apart from one another and spaced apart from said first and second scene observation locations and associated with respective missing images of said depth image, generating missing angular digital images of said scene in accordance with an iteratively refined set of disparity vector fields that associate said plurality of spatially separated scene observation locations with said first and second digital images; and (c) interlacing said missing angular digital images of said scene and said first and second digital images to derive said depth image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
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24. A method of generating a depth image of a scene comprising the steps of:
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(a) generating respective left and right images of said scene derived at stereo scene observation locations spaced apart from one another; (b) for a plurality of spatially separated scene observation locations, spaced apart from one another and spaced apart from said stereo scene observation locations, and associated with respective missing images of said depth image, generating missing digital images of said scene in accordance with an iteratively refined set of disparity vector fields that associate said plurality of spatially separated scene observation locations with said left and right images; and (c) interlacing said missing images of said scene and said left and right images to derive said depth image. - View Dependent Claims (25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38)
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39. A system for generating a depth image of a scene comprising:
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an image capture apparatus which is operative to capture respective left and right images of said scene at stereo scene observation locations that are spaced apart from one another in a common image plane and to output respective left and right digital images, each of said left and right digital images being comprised of a matrix of multiband pixels encoded to a prescribed digital code width; and a digital image processor, which is coupled to receive said left and right digital images and generates, for a plurality of spatially separated scene observation locations, spaced apart from one another and spaced apart from said stereo scene observation locations, and associated with respective missing images of said depth image, missing digital images of said scene, by processing said left and right digital images in accordance with an iteratively refined set of disparity vector fields that associate said plurality of spatially separated scene observation locations with said left and right images, and interlaces said missing images of said scene and said left and right images to produce said depth image. - View Dependent Claims (40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54)
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Specification