Apparatus and method for determining disparity of textured regions
First Claim
1. A method to determine a disparity associated with one or more textured regions of a plurality of images, comprising the steps of:
- segmenting one or more textured regions from a first and second image of a first plurality of images into their color primitives, at least two of the one or more segmented textured regions being discontinuous in space resulting in at least two regions, each having two or more distinct portions associated therewith;
determining one or more changes in the one or more segmented textured regions over time;
calculating a disparity between the first and second images only for one or more of the segmented textured regions determined to have one or more changes therein in accordance with the segmented color primitives; and
combining two or more of the one or more segmented textured regions to define a single texture in accordance with the calculated disparity and the determined changes over time of the one or more segmented textured regions.
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Abstract
A method and system to determine the disparity associated with one or more textured regions of a plurality of images is presented. The method comprises the steps of breaking up the texture into its color primitives, further segmenting the textured object into any number of objects comprising such primitives, and then calculating a disparity of these objects. The textured objects emerge in the disparity domain, after having their disparity calculated. Accordingly, the method is further comprised of defining one or more textured regions in a first of a plurality of images, determining a corresponding one or more textured regions in a second of the plurality of images, segmenting the textured regions into their color primitives, and calculating a disparity between the first and second of the plurality of images in accordance with the segmented color primitives.
232 Citations
22 Claims
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1. A method to determine a disparity associated with one or more textured regions of a plurality of images, comprising the steps of:
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segmenting one or more textured regions from a first and second image of a first plurality of images into their color primitives, at least two of the one or more segmented textured regions being discontinuous in space resulting in at least two regions, each having two or more distinct portions associated therewith; determining one or more changes in the one or more segmented textured regions over time; calculating a disparity between the first and second images only for one or more of the segmented textured regions determined to have one or more changes therein in accordance with the segmented color primitives; and combining two or more of the one or more segmented textured regions to define a single texture in accordance with the calculated disparity and the determined changes over time of the one or more segmented textured regions. - View Dependent Claims (2, 3, 4, 5)
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6. A method for generating a disparity map, comprising the steps of:
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defining one or more textured regions in a first of a plurality of images acquired at a first time; segmenting the one or more textured regions into their color primitives, at least two of the one or more segmented textured regions being discontinuous in space resulting in at least two regions, each having two or more distinct portions associated therewith; determining a corresponding one or more segmented textured regions in a second of the plurality of images acquired at the first time; determining one or more changes in the one or more segmented textured regions over time; calculating a disparity only between the segmented textured regions in the first and second of the plurality of images for one or more of the segmented textured regions determined to have one or more changes therein over time in accordance with the segmented color primitives; and combining two or more of the one or more segmented textured regions to define a single texture in accordance with the calculated disparity and the determined changes over time of the one or more segmented textured regions. - View Dependent Claims (7, 8, 9)
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10. A system to determine a disparity associated with one or more textured regions of a plurality of images, comprising:
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a stereo camera for acquiring a first plurality of images at a first time and a second plurality of images at a second time; and a processor for segmenting one or more textured regions from a first and second image of the first plurality of images into their color primitives, at least two of the one or more segmented textured regions being discontinuous in space resulting in at least two regions, each having two or more distinct portions associated therewith, determining one or more changes in the one or more segmented textured regions over time;
for calculating a disparity between the first and second images only for one or more of the segmented textured regions determined to have one or more changes therein over time in accordance with the segmented color primitives, and combining two or more of the one or more segmented textured regions to define a single texture in accordance with the calculated disparity and the determined changes over time of the one or more segmented textured regions. - View Dependent Claims (11, 12)
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13. A system for generating a disparity map, comprising:
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a stereo camera for acquiring right and left images at a first time and corresponding right and left images at a second time; and a processor for defining one or more textured regions in one of the right and left images acquired at the first time, segmenting the one or more textured regions into their color primitives, at least two of the one or more segmented textured regions being discontinuous in space resulting in at least two regions, each having two or more distinct portions associated therewith, determining a corresponding one or more segmented textured regions in the other of the right and left images acquired at the first time, determining one or more changes in the one or more segmented textured regions over time, calculating a disparity between the segmented textured regions in the first and second of the right and left images acquired at the first time only for one or more of the segmented textured regions determined to have one or more changes therein in accordance with the segmented color primitives, and combining two or more of the one or more segmented textured regions to define a single texture in accordance with the calculated disparity and the determined changes over time of the one or more segmented textured regions. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22)
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Specification