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Estimating depth from a single image

  • US 9,594,774 B2
  • Filed: 01/13/2016
  • Issued: 03/14/2017
  • Est. Priority Date: 09/05/2013
  • Status: Active Grant
First Claim
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1. A method comprising:

  • accessing reference images and corresponding reference depth maps from a reference database, a first reference image corresponding to a first reference depth map and including a color pixel defined by at least three color values, the first reference depth map including a depth value that corresponds to the color pixel in the first reference image;

    calculating visual descriptors and corresponding depth descriptors from the accessed reference images and their corresponding reference depth maps;

    generating a matrix that correlates the calculated visual descriptors with their calculated corresponding depth descriptors, the generating of the matrix being performed by a processor of a machine;

    receiving a query image that depicts a surface of a physical item;

    calculating a visual descriptor from the received query image;

    obtaining a depth descriptor that corresponds to the calculated visual descriptor from the generated matrix;

    creating a depth map that corresponds to the query image based on the obtained depth descriptor that corresponds to the visual descriptor calculated from the query image;

    subdividing the query image that depicts the surface into superpixels; and

    modifying the created depth map of the query image by modifying an orientation of a plane represented by a superpixel among the superpixels based on a summation of depth values of color pixels in the superpixel and based on a cardinality of the depth values of the color pixels in the superpixel.

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