Method and apparatus for disparity estimation
First Claim
1. A method for hierarchical disparity estimation on an image pair, wherein image pyramids are created by successively downscaling each image of the image pair, the method comprising:
- applying a full search on a highest level of the image pyramids to determine initial disparity estimates;
passing the initial disparity estimates to a next lower level of the image pyramids, the highest level having the lowest resolution;
for each remaining hierarchy level of the image pyramids, partitioning the pixels of a hierarchy level into two or more groups of pixels, where each pixel in a group of pixels can be processed independently from remaining pixels of that group of pixels;
for a first group of pixels, estimating disparity values for the pixels utilizing disparity estimates from a next higher level of the image pyramids; and
for remaining groups of pixels, estimating disparity values for the pixels utilizing disparity estimates from a previously processed group of pixels in that hierarchy level.
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Accused Products
Abstract
A method for hierarchical disparity estimation on an image pair, wherein image pyramids are created by successively downscaling each image of the image pair, and an apparatus configured to perform the method are described. An initial disparity estimator applies a full search on a highest level of the image pyramids to determine initial disparity estimates, the highest level having the lowest resolution. A disparity propagator passes the initial disparity estimates to a next lower level of the image pyramids. An allocator then partitions the pixels of each remaining hierarchy level of the image pyramids into two or more groups of pixels, where each pixel in a group of pixels can be processed independently from remaining pixels of that group of pixels. A disparity estimator estimates disparity values for the pixels of a first group of pixels utilizing disparity estimates from a next higher level of the image pyramids. The disparity estimator further estimates disparity values for the pixels of remaining groups of pixels utilizing disparity estimates from a previously processed group of pixels in that hierarchy level.
15 Citations
23 Claims
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1. A method for hierarchical disparity estimation on an image pair, wherein image pyramids are created by successively downscaling each image of the image pair, the method comprising:
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applying a full search on a highest level of the image pyramids to determine initial disparity estimates; passing the initial disparity estimates to a next lower level of the image pyramids, the highest level having the lowest resolution; for each remaining hierarchy level of the image pyramids, partitioning the pixels of a hierarchy level into two or more groups of pixels, where each pixel in a group of pixels can be processed independently from remaining pixels of that group of pixels; for a first group of pixels, estimating disparity values for the pixels utilizing disparity estimates from a next higher level of the image pyramids; and for remaining groups of pixels, estimating disparity values for the pixels utilizing disparity estimates from a previously processed group of pixels in that hierarchy level. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An apparatus configured to perform hierarchical disparity estimation on an image pair, wherein image pyramids are created by successively downscaling each image of the image pair, the apparatus comprising:
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an initial disparity estimator configured to apply a full search on a highest level of the image pyramids to determine initial disparity estimates, the highest level having the lowest resolution; a disparity propagator configured to pass the initial disparity estimates to a next lower level of the image pyramids; an allocator configured to partition the pixels of each remaining hierarchy level of the image pyramids into two or more groups of pixels, where each pixel in a group of pixels can be processed independently from remaining pixels of that group of pixels; and a disparity estimator configured to estimate disparity values for the pixels of a first group of pixels utilizing disparity estimates from a next higher level of the image pyramids and to estimate disparity values for the pixels of remaining groups of pixels utilizing disparity estimates from a previously processed group of pixels in that hierarchy level. - View Dependent Claims (11, 12, 13, 14)
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15. A non-transitory computer readable storage medium having stored therein instructions enabling hierarchical disparity estimation on an image pair, wherein image pyramids are created by successively downscaling each image of the image pair, which when executed by a computer, cause the computer to:
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apply a full search on a highest level of the image pyramids to determine initial disparity estimates, the highest level having the lowest resolution; pass the initial disparity estimates to a next lower level of the image pyramids; for each remaining hierarchy level of the image pyramids, partition the pixels of a hierarchy level into two or more groups of pixels, where each pixel in a group of pixels can be processed independently from remaining pixels of that group of pixels; for a first group of pixels, estimate disparity values for the pixels utilizing disparity estimates from a next higher level of the image pyramids; and for remaining groups of pixels, estimate disparity values for the pixels utilizing disparity estimates from a previously processed group of pixels in that hierarchy level. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23)
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Specification