Depth mapping with enhanced resolution
First Claim
1. A method for depth mapping, comprising:
- receiving in a digital processor an image of a pattern of spots that has been projected onto a scene, which includes a hand having fingers,wherein the fingers have a transverse dimension that is less than twice an average distance between the spots in the pattern that is projected onto the scene;
processing the image in order to segment and find a three-dimensional (3D) location of the hand, wherein processing the image comprises computing 3D coordinates of points on the hand and fingers based on transverse shifts of the spots in the image;
based on the spots appearing on the hand in the 3D location, computing a first depth value that is characteristic of the hand and a second depth value that is characteristic of a background of the scene behind the hand;
sorting the spots in a vicinity of the hand in the image between the first and second depth values in order to extract separate, respective contours of each of the fingers; and
processing the respective contours in order to identify a posture of the hand and fingers.
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Accused Products
Abstract
A method for depth mapping includes receiving an image of a pattern of spots that has been projected onto a scene, which includes a hand having fingers. The image is processed in order to segment and find a three-dimensional (3D) location of the hand. Based on the spots appearing on the hand in the 3D location, a first depth value that is characteristic of the hand and a second depth value that is characteristic of a background of the scene behind the hand are computed. The spots in a vicinity of the hand in the image between the first and second depth values are sorted in order to extract separate, respective contours of each of the fingers. The respective contours are processed in order to identify a posture of the hand and fingers.
6 Citations
17 Claims
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1. A method for depth mapping, comprising:
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receiving in a digital processor an image of a pattern of spots that has been projected onto a scene, which includes a hand having fingers, wherein the fingers have a transverse dimension that is less than twice an average distance between the spots in the pattern that is projected onto the scene; processing the image in order to segment and find a three-dimensional (3D) location of the hand, wherein processing the image comprises computing 3D coordinates of points on the hand and fingers based on transverse shifts of the spots in the image; based on the spots appearing on the hand in the 3D location, computing a first depth value that is characteristic of the hand and a second depth value that is characteristic of a background of the scene behind the hand; sorting the spots in a vicinity of the hand in the image between the first and second depth values in order to extract separate, respective contours of each of the fingers; and processing the respective contours in order to identify a posture of the hand and fingers. - View Dependent Claims (2, 3, 4, 5, 6, 14, 16)
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7. Apparatus for depth mapping, comprising:
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an imaging assembly, which is configured to capture an image of a pattern of spots that has been projected onto a scene, which includes a hand having fingers, wherein the fingers have a transverse dimension that is less than twice an average distance between the spots in the pattern that is projected onto the scene; and a processor, which is configured to process the image in order to compute 3D coordinates of points on the hand and fingers based on transverse shifts of the spots in the image, to segment and find a three-dimensional (3D) location of the hand, and to compute, based on the spots appearing on the hand in the 3D location, a first depth value that is characteristic of the hand and a second depth value that is characteristic of a background of the scene behind the hand, to sort the spots in a vicinity of the hand in the image between the first and second depth values in order to extract separate, respective contours of each of the fingers, and to process the respective contours in order to identify a posture of the hand and fingers. - View Dependent Claims (8, 9, 10, 11, 12, 15, 17)
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13. A computer software product, comprising a non-transitory computer-readable medium in which program instructions are stored, which instructions, when read by a processor, cause the processor to receive a an image of a pattern of spots that has been projected onto a scene, which includes a hand having fingers, wherein the fingers have a transverse dimension that is less than twice an average distance between the spots in the pattern that is projected onto the scene, to process the image in order to compute 3D coordinates of points on the hand and fingers based on transverse shifts of the spots in the image, to segment and find a three-dimensional (3D) location of the hand, and to compute, based on the spots appearing on the hand in the 3D location, a first depth value that is characteristic of the hand and a second depth value that is characteristic of a background of the scene behind the hand, to sort the spots in a vicinity of the hand in the image between the first and second depth values, to extract separate, respective contours of each of the fingers using the identified cut edges, and to process the respective contours in order to identify a posture of the hand and fingers.
Specification