Method and apparatus for disparity computation in stereo images
First Claim
Patent Images
1. A method for generating a disparity map, comprising the steps of:
- segmenting a first reference image acquired at a first time into one or more segments, each segment comprising a plurality of pixels,segmenting a corresponding second reference image acquired at the first time into one or more segments, each segment comprising a plurality of pixels;
determining a disparity for one or more segments between the first reference image and the corresponding second reference image by overlaying the first reference image on the second reference image and performing subtraction between at least one of the one or more segments in the first reference image and corresponding segments in the second reference image;
generating a first disparity map based upon the subtraction between the first image and the corresponding second image;
segmenting a third reference image acquired at a second time image into one or more segments, each segment comprising a plurality of pixels,segmenting a corresponding fourth reference image acquired at the second time into one or more segments, each segment comprising a plurality of pixels;
determining one or more altered segments comprising a difference between one of the first and second images acquired at the first time and one of the corresponding third and fourth images acquired at the second time;
determining a disparity only for the determined one or more altered segments between the third reference image and the corresponding fourth reference image;
generating a disparity map update including the one or more determined disparities for the one or more altered segments between the third reference image and the corresponding fourth reference image;
generating a composite disparity map by combining the disparity map update and the first disparity map; and
generating a depth map from the composite disparity map.
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Abstract
A method and system for generating a disparity map. The method comprises the steps of generating a first disparity map based upon a first image and a second image acquired at a first time, acquiring at least a third image and a fourth image at a second time, and determining one or more portions comprising a difference between one of the first and second images and a corresponding one of the third and fourth images. A disparity map update is generated for the one or more determined portions, and a disparity map is generated based upon the third image and the fourth image by combining the disparity map update and the first disparity map.
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Citations
7 Claims
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1. A method for generating a disparity map, comprising the steps of:
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segmenting a first reference image acquired at a first time into one or more segments, each segment comprising a plurality of pixels, segmenting a corresponding second reference image acquired at the first time into one or more segments, each segment comprising a plurality of pixels; determining a disparity for one or more segments between the first reference image and the corresponding second reference image by overlaying the first reference image on the second reference image and performing subtraction between at least one of the one or more segments in the first reference image and corresponding segments in the second reference image; generating a first disparity map based upon the subtraction between the first image and the corresponding second image; segmenting a third reference image acquired at a second time image into one or more segments, each segment comprising a plurality of pixels, segmenting a corresponding fourth reference image acquired at the second time into one or more segments, each segment comprising a plurality of pixels; determining one or more altered segments comprising a difference between one of the first and second images acquired at the first time and one of the corresponding third and fourth images acquired at the second time; determining a disparity only for the determined one or more altered segments between the third reference image and the corresponding fourth reference image; generating a disparity map update including the one or more determined disparities for the one or more altered segments between the third reference image and the corresponding fourth reference image; generating a composite disparity map by combining the disparity map update and the first disparity map; and generating a depth map from the composite disparity map. - View Dependent Claims (2, 3)
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4. A system for generating a disparity map, comprising:
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a camera for acquiring a first plurality of images at a first time and for acquiring a second plurality of corresponding images at a second time; and a processor for generating a first disparity map for at least two of the first plurality of images, determining one or more objects that change position between at least one of the first plurality of images and corresponding at least one of the second plurality of images, generating disparity map update segments corresponding to the determined objects, and combining the first disparity map and the disparity map update segments to generate a composite disparity map; wherein a determination of disparity between the at least two images acquired at the second time is performed only on portions thereof that have changed from one or more of the at least one images acquired at the first time. - View Dependent Claims (5, 6, 7)
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Specification