Systems and methods for estimating depth and visibility from a reference viewpoint for pixels in a set of images captured from different viewpoints
First Claim
1. A camera array, comprising:
- a plurality of cameras configured to capture images of a scene from different viewpoints, wherein at least one camera in the plurality of cameras is a monochrome camera and at least one camera in the plurality of cameras includes a Bayer color filter;
a processor; and
memory containing an image processing application;
wherein the image processing application stored in memory directs the processor to;
separately configure the imaging parameters for each of the plurality of cameras;
read out image data from the plurality of cameras including a set of images captured from different viewpoints;
store the image data in the memory;
select a reference viewpoint relative to the viewpoints of the set of images captured from different viewpoints; and
determine depth estimates for pixel locations in an image from the reference viewpoint, where a depth estimate for a given pixel location in the image from the reference viewpoint is determined by;
determining the similarity of pixels that correspond to the given pixel location in the image from the reference viewpoint based upon expected disparity at a plurality of depths, where similarity of pixels across different spectral channels is evaluated based upon similarity of neighborhoods of pixels containing the corresponding pixels; and
selecting the depth from the plurality of depths at which corresponding pixels have the highest degree of similarity as a depth estimate for the given pixel location in the image from the reference viewpoint.
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Abstract
Systems in accordance with embodiments of the invention can perform parallax detection and correction in images captured using array cameras. Due to the different viewpoints of the cameras, parallax results in variations in the position of objects within the captured images of the scene. Methods in accordance with embodiments of the invention provide an accurate account of the pixel disparity due to parallax between the different cameras in the array, so that appropriate scene-dependent geometric shifts can be applied to the pixels of the captured images when performing super-resolution processing. In a number of embodiments, generating depth estimates considers the similarity of pixels in multiple spectral channels. In certain embodiments, generating depth estimates involves generating a confidence map indicating the reliability of depth estimates.
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Citations
18 Claims
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1. A camera array, comprising:
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a plurality of cameras configured to capture images of a scene from different viewpoints, wherein at least one camera in the plurality of cameras is a monochrome camera and at least one camera in the plurality of cameras includes a Bayer color filter; a processor; and memory containing an image processing application; wherein the image processing application stored in memory directs the processor to; separately configure the imaging parameters for each of the plurality of cameras; read out image data from the plurality of cameras including a set of images captured from different viewpoints; store the image data in the memory; select a reference viewpoint relative to the viewpoints of the set of images captured from different viewpoints; and determine depth estimates for pixel locations in an image from the reference viewpoint, where a depth estimate for a given pixel location in the image from the reference viewpoint is determined by; determining the similarity of pixels that correspond to the given pixel location in the image from the reference viewpoint based upon expected disparity at a plurality of depths, where similarity of pixels across different spectral channels is evaluated based upon similarity of neighborhoods of pixels containing the corresponding pixels; and selecting the depth from the plurality of depths at which corresponding pixels have the highest degree of similarity as a depth estimate for the given pixel location in the image from the reference viewpoint. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A camera array, comprising:
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a plurality of cameras configured to capture images of a scene from different viewpoints, wherein at least one camera in the plurality of cameras is a monochrome camera and at least one camera in the plurality of cameras includes a Bayer color filter; a processor; and memory containing an image processing application; wherein the image processing application stored in memory directs the processor to; separately configure the imaging parameters for each of the plurality of cameras; read out image data from the plurality of cameras including a set of images captured from different viewpoints; store the image data in the memory; select a viewpoint of a camera including a Bayer color filter as a reference viewpoint; determine depth estimates for pixel locations in an image from the reference viewpoint, where a depth estimate for a given pixel location in the image from the reference viewpoint is determined by; determining the similarity of pixels that correspond to the given pixel location in the image from the reference viewpoint based upon expected disparity at a plurality of depths, where similarity of pixels across different spectral channels is evaluated using a cost function that evaluates similarity of neighborhoods of pixels containing the corresponding pixels; and selecting the depth from the plurality of depths at which corresponding pixels have the highest degree of similarity as a depth estimate for the given pixel location in the image from the reference viewpoint; and generate a depth map using depth estimates for pixel locations in the image from the reference viewpoint.
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18. A method of generating a depth map from images captured by a plurality of cameras that includes a monochrome camera and a camera that includes a Bayer color filter, comprising:
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selecting a viewpoint of the camera including a Bayer color filter as a reference viewpoint; determining depth estimates for pixel locations in an image captured by the camera including the Bayer color filter using a processor configured by an image processing application, where a depth estimate for a given pixel location in the image from the reference viewpoint is determined by; determining the similarity of pixels that correspond to the given pixel location in the image from the reference viewpoint based upon expected disparity at a plurality of depths, where similarity of pixels across different spectral channels is evaluated using a cost function that evaluates similarity of neighborhoods of pixels containing the corresponding pixels; and selecting the depth from the plurality of depths at which corresponding pixels have the highest degree of similarity as a depth estimate for the given pixel location in the image from the reference viewpoint; and generating a depth map from the depth estimates for pixel locations in the image captured by the camera including the Bayer color filter using the processor configured by the image processing application.
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Specification