Real-time depth extraction using stereo correspondence
First Claim
Patent Images
1. A system comprising:
- a first camera to capture a first image;
a second camera to capture a second image;
a processor;
and a computer readable storage medium including a set of instructions which, if executed by the processor, cause the system to, rectify the first and second images to obtain a plurality of rectified images, determine a one-dimensional disparity between the plurality of rectified images, extract depth information from the plurality of rectified images based at least in part on the one-dimensional disparity, and construct a three-dimensional image based at least in part on the depth information;
wherein the instructions, if executed, cause the system to;
identify a pixel neighborhood for the plurality of rectified images, detect an edge in the pixel neighborhood, and conduct a block search to refine the one-dimensional disparity in response to detecting the edge.
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Abstract
Systems and methods may provide for determining a one-dimensional (1D) disparity between a plurality of rectified images, and extracting depth information from the plurality of rectified images based at least in part on the 1D disparity. In one example, the 1D disparity is in the horizontal direction and the images are rectified with respect to one another in the vertical direction.
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Citations
19 Claims
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1. A system comprising:
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a first camera to capture a first image; a second camera to capture a second image; a processor; and a computer readable storage medium including a set of instructions which, if executed by the processor, cause the system to, rectify the first and second images to obtain a plurality of rectified images, determine a one-dimensional disparity between the plurality of rectified images, extract depth information from the plurality of rectified images based at least in part on the one-dimensional disparity, and construct a three-dimensional image based at least in part on the depth information; wherein the instructions, if executed, cause the system to;
identify a pixel neighborhood for the plurality of rectified images, detect an edge in the pixel neighborhood, and conduct a block search to refine the one-dimensional disparity in response to detecting the edge. - View Dependent Claims (2, 3, 4, 5)
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6. A computer implemented method comprising:
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determining a one-dimensional disparity between a plurality of rectified images; and extracting depth information from the plurality of rectified images based at least in part on the one-dimensional disparity; wherein the instructions, if executed, cause the system to;
identify a pixel neighborhood for the plurality of rectified images, detect an edge in the pixel neighborhood, and conduct a block search to refine the one-dimensional disparity in response to detecting the edge. - View Dependent Claims (7, 8, 9, 10, 11, 12)
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13. A non-transitory computer readable storage medium including a set of instructions which, if executed by a processor, cause a computer to:
- determine a one-dimensional disparity between a plurality of rectified images;
and extract depth information from the plurality of rectified images based at least in part on the one-dimensional disparity; wherein the instructions, if executed, cause the system to;
identify a pixel neighborhood for the plurality of rectified images, detect an edge in the pixel neighborhood, and conduct a block search to refine the one-dimensional disparity in response to detecting the edge. - View Dependent Claims (14, 15, 16, 17, 18, 19)
- determine a one-dimensional disparity between a plurality of rectified images;
Specification