Hybrid depth sensing pipeline

• US 10,497,140 B2
• Filed: 08/15/2013
• Issued: 12/03/2019
• Est. Priority Date: 08/15/2013
• Status: Active Grant

• Current Assignee: Intel Corporation
• Original Assignee: Intel Corporation
• Inventors: Krig, Scott, Johnson, Gregory
• Primary Examiner(s): Harold, Jefferey F
• Assistant Examiner(s): Haiem, Sean N.
• Application Number:
  US13/968,076
• Publication Number:
  US 20150049169A1
• Time in Patent Office: 2,301 Days
• CPC Class Codes: G06T 2207/10021 Stereoscopic video; Stereoscopic image sequence
• CPC Class Codes: G06T 2207/20016 Hierarchical, coarse-to-fine, multiscale or multiresolution image processing; Pyramid transform
• CPC Class Codes: G06T 7/593 from stereo images
• CPC Class Codes: G06V 20/64 Three-dimensional objects
• CPC Class Codes: G06V 40/168 Feature extraction; Face representation
• CPC Class Codes: H04N 13/211 using temporal multiplexing
• CPC Class Codes: H04N 2013/0081 Depth or disparity estimation from stereoscopic image signals
• CPC Class Codes: H04N 2213/005 Aspects relating to the "3D+depth" image format

Abstract

An apparatus for a hybrid tracking and mapping is described herein. The apparatus includes logic to determine a plurality of depth sensing techniques. The apparatus also includes logic to vary the plurality of depth sensing techniques based on a camera configuration. Additionally, the apparatus includes logic to generate a hybrid tracking and mapping pipeline based on the depth sensing techniques and the camera configuration.

Claims

1. An apparatus for hybrid tracking and mapping, comprising:

logic to determine a plurality of depth sensing techniques;

logic to vary the plurality of depth sensing techniques based on a sensor configuration, wherein in response to a plurality of sensors the depth sensing techniques comprise at least stereoscopic imaging, otherwise the depth sensing techniques comprise at least virtual stereoscopic reconstruction;

logic to vary the plurality of depth sensing techniques based on a compute unit configuration, wherein in response to an accelerometer in the compute unit configuration the accelerometer is to guide a depth algorithm selection; and

logic to generate a hybrid tracking and mapping pipeline to produce a variable resolution depth representation based on the depth sensing techniques, sensor configuration, and the compute unit configuration.

2. The apparatus of claim 1, wherein the depth sensing techniques include disparity estimation from stereoscopic image left/right pairs, virtual stereoscopic frames, multi-view stereoscopic (MVS) reconstruction from image sequences, and structured light scanning.

3. The apparatus of claim 1, wherein the compute unit configuration includes a location of the compute unit, a movement of the compute unit, and a power available to the compute unit.

4. The apparatus of claim 1, wherein the pipeline is regenerated based on a new compute unit configuration.

5. The apparatus of claim 1, wherein the pipeline is optimized based on the compute unit configuration.

6. The apparatus of claim 1, wherein algorithm tuning is used to generate the hybrid tracking and mapping pipeline.

7. The apparatus of claim 1, wherein the apparatus is a tablet device, print device, or smart phone.