Feature based high resolution motion estimation from low resolution images captured using an array source
First Claim
1. A method for performing feature based high resolution motion estimation from a plurality of low resolution images, comprising:
- performing feature detection with respect to a first sequence of low resolution images captured by a first imager in an imager array using a processor configured by software to identify initial locations for a plurality of detected features in the first sequence of low resolution images, where the first sequence of low resolution images is part of a set of sequences of low resolution images captured from different perspectives by different imagers in the imager array, a first plurality of images includes one image from each sequence of low resolution images taken by different imagers from different perspectives at a first point in time, and a second plurality of images includes one images from each sequence of low resolution images taken by different imagers from different perspectives at a second point in time;
synthesizing a first set of high resolution image portions from the set of sequences of low resolution images captured from different perspectives using the processor configured by software to perform a super-resolution process using the first plurality of images and parallax information, where the synthesized high resolution image portions contain the identified plurality of detected features from the sequence of low resolution images;
synthesizing a second set of high resolution image portions from the set of sequences of low resolution images captured from different perspectives using the processor configured by software to perform a super-resolution process using the second plurality of images and parallax information, where the synthesized high resolution image portions contain the identified plurality of detected features from the sequence of low resolution images;
performing feature detection within the first and second sets of high resolution image portions to identify locations for said plurality of detected features to a higher precision than the initial locations identified in the low resolution images using the processor configured by software; and
estimating camera motion using the high precision locations for said plurality of detected features using the processor configured by software.
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Abstract
Systems and methods in accordance with embodiments of the invention enable feature based high resolution motion estimation from low resolution images captured using an array camera. One embodiment includes performing feature detection with respect to a sequence of low resolution images to identify initial locations for a plurality of detected features in the sequence of low resolution images, where the at least one sequence of low resolution images is part of a set of sequences of low resolution images captured from different perspectives. The method also includes synthesizing high resolution image portions, where the synthesized high resolution image portions contain the identified plurality of detected features from the sequence of low resolution images. The method further including performing feature detection within the high resolution image portions to identify high precision locations for the detected features, and estimating camera motion using the high precision locations for said plurality of detected features.
935 Citations
20 Claims
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1. A method for performing feature based high resolution motion estimation from a plurality of low resolution images, comprising:
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performing feature detection with respect to a first sequence of low resolution images captured by a first imager in an imager array using a processor configured by software to identify initial locations for a plurality of detected features in the first sequence of low resolution images, where the first sequence of low resolution images is part of a set of sequences of low resolution images captured from different perspectives by different imagers in the imager array, a first plurality of images includes one image from each sequence of low resolution images taken by different imagers from different perspectives at a first point in time, and a second plurality of images includes one images from each sequence of low resolution images taken by different imagers from different perspectives at a second point in time; synthesizing a first set of high resolution image portions from the set of sequences of low resolution images captured from different perspectives using the processor configured by software to perform a super-resolution process using the first plurality of images and parallax information, where the synthesized high resolution image portions contain the identified plurality of detected features from the sequence of low resolution images; synthesizing a second set of high resolution image portions from the set of sequences of low resolution images captured from different perspectives using the processor configured by software to perform a super-resolution process using the second plurality of images and parallax information, where the synthesized high resolution image portions contain the identified plurality of detected features from the sequence of low resolution images; performing feature detection within the first and second sets of high resolution image portions to identify locations for said plurality of detected features to a higher precision than the initial locations identified in the low resolution images using the processor configured by software; and estimating camera motion using the high precision locations for said plurality of detected features using the processor configured by software. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. An array camera configured to perform feature based high resolution motion estimation from low resolution images captured using the array camera, comprising:
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an imager array comprising a plurality of imagers; a processor configured by software to control various operating parameters of the imager array; wherein the software further configures the processor to; capture a set of sequences of low resolution images captured from different perspectives using the imager array, where a first imager captures a first sequence of low resolution images from a first perspective, a second imager captures a second sequence of low resolution images from a second perspective, a first plurality of images includes one image from each sequence of low resolution images taken by different imagers from different perspectives at a first point in time, and a second plurality of images includes one images from each sequence of low resolution images taken by different imagers from different perspectives at a second point in time; perform feature detection with respect to one of the set of sequences of low resolution images to identify initial locations for a plurality of detected features in the sequence of low resolution images; synthesize a first set of high resolution image portions from the set of sequences of low resolution images captured from different perspectives using a super-resolution process using the first plurality of images and parallax information, where the high resolution image portions contain the identified plurality of detected features from the sequence of low resolution images; synthesize a second set of high resolution image portions from the set of sequences of low resolution images captured from different perspectives using a super-resolution process using the second plurality of images and parallax information, where the synthesized high resolution image portions contain the identified plurality of detected features from the sequence of low resolution images; perform feature detection within the first and second sets of high resolution image portions to identify locations for said plurality of detected features to a higher precision than the initial locations identified in the low resolution images; and estimate camera motion using the high precision locations for said plurality of detected features. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
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Specification