Refinement of depth maps by fusion of multiple estimates
First Claim
1. A computer-implemented method, comprising:
- generating a plurality of initial depth maps for a first image of a stereo pair such that a given pixel p in the first image is associated with a first plurality of depth estimates, wherein the plurality of initial depth maps for the first image are generated using at least two separate and distinct techniques for depth estimation;
generating a plurality of initial depth maps for a second image of the stereo pair such that a given pixel in the second image is associated with a second plurality of depth estimates, wherein the plurality of initial depth maps for the second image are generated using at least two separate and distinct techniques for depth estimation;
generating a fused depth map for the first image that comprises a first plurality of fused depth estimates,wherein a given one of the first plurality of fused depth estimates that corresponds to the given pixel p in the first image is derived from the first plurality of depth estimates,wherein the given one of the first plurality of fused depth estimates is derived based on a smoothness parameter S(p) that represents a fraction of pixels in a neighborhood N(p) of the given pixel p in the first image that fall within (a) a predetermined depth proximity threshold δ and
(b) a predetermined color proximity threshold τ
, andwherein the given one of the first plurality of fused depth estimates is also derived based on a cross-validation parameter that indicates whether any of the first plurality of depth estimates is cross-validated by any of the second plurality of depth estimates; and
generating a fused depth map for the second image that comprises the second plurality of fused depth estimates,wherein a given one of the second plurality of fused depth estimates that corresponds to the given pixel in the second image is derived from the second plurality of depth estimates,wherein the given one of the second plurality of fused depth estimates is derived based on a smoothness parameter that represents a fraction of pixels in a neighborhood of the given pixel in the second image that exhibit the relatively small variation in depth and the relatively small variation in color, andwherein the given one of the second plurality of fused depth estimates is also derived based on a cross-validation parameter that indicates whether any of the second plurality of depth estimates is cross-validated by any of the first plurality of depth estimates.
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Abstract
A method, system, and computer-readable storage medium are disclosed for generating fused depth maps. A plurality of initial depth maps are generated for a first image of a stereo pair, using at least two separate and distinct techniques for depth estimation. A plurality of initial depth maps are generated for a second image of the stereo pair, using at least two separate and distinct techniques for depth estimation. A fused depth map is generated for the first image based on the plurality of initial depth maps for the first image and the plurality of initial depth maps for the second image. A fused depth map is generated for the second image based on the plurality of initial depth maps for the second image and the plurality of initial depth maps for the first image.
5 Citations
20 Claims
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1. A computer-implemented method, comprising:
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generating a plurality of initial depth maps for a first image of a stereo pair such that a given pixel p in the first image is associated with a first plurality of depth estimates, wherein the plurality of initial depth maps for the first image are generated using at least two separate and distinct techniques for depth estimation; generating a plurality of initial depth maps for a second image of the stereo pair such that a given pixel in the second image is associated with a second plurality of depth estimates, wherein the plurality of initial depth maps for the second image are generated using at least two separate and distinct techniques for depth estimation; generating a fused depth map for the first image that comprises a first plurality of fused depth estimates, wherein a given one of the first plurality of fused depth estimates that corresponds to the given pixel p in the first image is derived from the first plurality of depth estimates, wherein the given one of the first plurality of fused depth estimates is derived based on a smoothness parameter S(p) that represents a fraction of pixels in a neighborhood N(p) of the given pixel p in the first image that fall within (a) a predetermined depth proximity threshold δ and
(b) a predetermined color proximity threshold τ
, andwherein the given one of the first plurality of fused depth estimates is also derived based on a cross-validation parameter that indicates whether any of the first plurality of depth estimates is cross-validated by any of the second plurality of depth estimates; and generating a fused depth map for the second image that comprises the second plurality of fused depth estimates, wherein a given one of the second plurality of fused depth estimates that corresponds to the given pixel in the second image is derived from the second plurality of depth estimates, wherein the given one of the second plurality of fused depth estimates is derived based on a smoothness parameter that represents a fraction of pixels in a neighborhood of the given pixel in the second image that exhibit the relatively small variation in depth and the relatively small variation in color, and wherein the given one of the second plurality of fused depth estimates is also derived based on a cross-validation parameter that indicates whether any of the second plurality of depth estimates is cross-validated by any of the first plurality of depth estimates. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A system, comprising:
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at least one processor; and a memory coupled to the at least one processor, wherein the memory stores program instructions, wherein the program instructions are executable by the at least one processor to; generate a plurality of initial depth maps for a first image of a stereo pair such that a given pixel p in the first image is associated with a first plurality of depth estimates, wherein the plurality of initial depth maps for the first image are generated using at least two separate and distinct techniques for depth estimation; generate a plurality of initial depth maps for a second image of the stereo pair such that a given pixel in the second image is associated with a second plurality of depth estimates, wherein the plurality of initial depth maps for the second image are generated using at least two separate and distinct techniques for depth estimation; generate a fused depth map for the first image that comprises a first plurality of fused depth estimates, wherein a given one of the first plurality of fused depth estimates that corresponds to the given pixel p in the first image is derived from the first plurality of depth estimates, wherein the given one of the first plurality of fused depth estimates is derived based on a smoothness parameter S(p) that represents a fraction of pixels in a neighborhood N(p) of the given pixel p in the first image that fall within (a) a predetermined depth proximity threshold δ and
(b) a predetermined color proximity threshold τ
, andwherein the given one of the first plurality of fused depth estimates is also derived based on a cross-validation parameter that indicates whether any of the first plurality of depth estimates is cross-validated by any of the second plurality of depth estimates; and generate a fused depth map for the second image that comprises the second plurality of fused depth estimates, wherein a given one of the second plurality of fused depth estimates that corresponds to the given pixel in the second image is derived from the second plurality of depth estimates, wherein the given one of the second plurality of fused depth estimates is derived based on a smoothness parameter that represents a fraction of pixels in a neighborhood of the given pixel in the second image that exhibit the relatively small variation in depth and the relatively small variation in color, and wherein the given one of the second plurality of fused depth estimates is also derived based on a cross-validation parameter that indicates whether any of the second plurality of depth estimates is cross-validated by any of the first plurality of depth estimates. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A non-transitory computer-readable storage medium storing program instructions computer-executable to perform:
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generating a plurality of initial depth maps for a first image of a stereo pair such that a given pixel p in the first image is associated with a first plurality of depth estimates, wherein the plurality of initial depth maps for the first image are generated using at least two separate and distinct techniques for depth estimation; generating a plurality of initial depth maps for a second image of the stereo pair such that a given pixel in the second image is associated with a second plurality of depth estimates, wherein the plurality of initial depth maps for the second image are generated using at least two separate and distinct techniques for depth estimation; generating a fused depth map for the first image that comprises a first plurality of fused depth estimates, wherein a given one of the first plurality of fused depth estimates that corresponds to the given pixel p in the first image is derived from the first plurality of depth estimates, wherein the given one of the first plurality of fused depth estimates is derived based on a smoothness parameter S(p) that represents a fraction of pixels in a neighborhood N(p) of the given pixel p in the first image that fall within (a) a predetermined depth proximity threshold δ and
(b) a predetermined color proximity threshold τ
, andwherein the given one of the first plurality of fused depth estimates is also derived based on a cross-validation parameter that indicates whether any of the first plurality of depth estimates is cross-validated by any of the second plurality of depth estimates; and generating a fused depth map for the second image that comprises the second plurality of fused depth estimates, wherein a given one of the second plurality of fused depth estimates that corresponds to the given pixel in the second image is derived from the second plurality of depth estimates, wherein the given one of the second plurality of fused depth estimates is derived based on a smoothness parameter that represents a fraction of pixels in a neighborhood of the given pixel in the second image that exhibit the relatively small variation in depth and the relatively small variation in color, and wherein the given one of the second plurality of fused depth estimates is also derived based on a cross-validation parameter that indicates whether any of the second plurality of depth estimates is cross-validated by any of the first plurality of depth estimates. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification