Low light image registration
First Claim
Patent Images
1. A computer-implemented method for enhancing images captured in low light, the method comprising:
- obtaining first monochromatic image data corresponding to a first monochromatic image of a first field of view;
obtaining second monochromatic image data corresponding to a second monochromatic image of a second field of view, the second field of view at least partially overlapping the first field of view;
obtaining color image data corresponding to a color image of a third field of view, the third field of view at least partially overlapping the first field of view and the second field of view;
determining mono registration data between the first monochromatic image data and the second monochromatic image data, the mono registration data corresponding to a mono registration image;
determining, using the first monochromatic image data and the second monochromatic image data, a depth map to identify foreground pixels and background pixels of a color image corresponding to the color image data, the depth map providing a first depth value for a foreground plane corresponding to the foreground pixels and a second depth value for a background plane corresponding to the background pixels;
applying a first homography to the color image data to modify at least one of a foreground rotation or translation of the color image relative to the mono registration image to generate foreground adjusted color image data, the first homography corresponding to the first depth value;
applying a second homography to the background plane to modify at least one of a background rotation or translation of the color image relative to the mono registration image to generate background adjusted color image data, the second homography corresponding to the second depth value;
comparing the foreground adjusted color image data to the mono registration data to determine a first error value for each pixel between the mono registration data and the foreground adjusted color image data, the first error value corresponding to a foreground difference between a first foreground location of a foreground pixel from the mono registration data and a second foreground location of a corresponding foreground pixel from the foreground adjusted color image data;
comparing the background adjusted color image data to the mono registration data to determine a second error value for each pixel between the mono registration data and the background adjusted color image data, the second error value corresponding to a background difference between a first background location of a background pixel from the mono registration data and a second background location of a corresponding background pixel from the background adjusted color image data;
selecting, for each pixel of the color image, one of the foreground adjusted color image data or the background adjusted color image data having a smallest error value between the first error value and the second error value to generate combined color image data;
removing, from the combined color image data, first luminance image data to generate chrominance image data; and
combining the chrominance image data with second luminance image data from the mono registration data to generate fused image data corresponding to a low-light enhanced color image.
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Abstract
Various embodiments provide a method of enhancing images in low lighting conditions wherein a color image is captured with a color camera, a first monochromatic image is captured with a first monochromatic camera, and a second monochromatic image is captured with a second monochromatic camera. Image registration is performed to align the first and second monochromatic images and the luminance information from the registered monochromatic images is fused with chrominance information from the color image.
22 Citations
19 Claims
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1. A computer-implemented method for enhancing images captured in low light, the method comprising:
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obtaining first monochromatic image data corresponding to a first monochromatic image of a first field of view; obtaining second monochromatic image data corresponding to a second monochromatic image of a second field of view, the second field of view at least partially overlapping the first field of view; obtaining color image data corresponding to a color image of a third field of view, the third field of view at least partially overlapping the first field of view and the second field of view; determining mono registration data between the first monochromatic image data and the second monochromatic image data, the mono registration data corresponding to a mono registration image; determining, using the first monochromatic image data and the second monochromatic image data, a depth map to identify foreground pixels and background pixels of a color image corresponding to the color image data, the depth map providing a first depth value for a foreground plane corresponding to the foreground pixels and a second depth value for a background plane corresponding to the background pixels; applying a first homography to the color image data to modify at least one of a foreground rotation or translation of the color image relative to the mono registration image to generate foreground adjusted color image data, the first homography corresponding to the first depth value; applying a second homography to the background plane to modify at least one of a background rotation or translation of the color image relative to the mono registration image to generate background adjusted color image data, the second homography corresponding to the second depth value; comparing the foreground adjusted color image data to the mono registration data to determine a first error value for each pixel between the mono registration data and the foreground adjusted color image data, the first error value corresponding to a foreground difference between a first foreground location of a foreground pixel from the mono registration data and a second foreground location of a corresponding foreground pixel from the foreground adjusted color image data; comparing the background adjusted color image data to the mono registration data to determine a second error value for each pixel between the mono registration data and the background adjusted color image data, the second error value corresponding to a background difference between a first background location of a background pixel from the mono registration data and a second background location of a corresponding background pixel from the background adjusted color image data; selecting, for each pixel of the color image, one of the foreground adjusted color image data or the background adjusted color image data having a smallest error value between the first error value and the second error value to generate combined color image data; removing, from the combined color image data, first luminance image data to generate chrominance image data; and combining the chrominance image data with second luminance image data from the mono registration data to generate fused image data corresponding to a low-light enhanced color image. - View Dependent Claims (2, 3)
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4. A method, comprising:
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obtaining, by a computing device, monochromatic image data; obtaining, by the computing device, color image data; determining, using the monochromatic image data and the color image data, a depth map to identify a first depth value for a foreground plane and a second depth value for a background plane; applying, based on the first depth value, a first homography to the foreground plane to generate color foreground data; applying, based on the second depth value, a second homography to the background plane to generate color background data; selecting, for each subset of the color image data, a corresponding subset from the color background data or the color foreground data based on a smallest error between the color background data or the color foreground data when compared to the monochromatic image to generate combined color image data; and combining chrominance image data from the combined color image data with luminance image data from the monochromatic image to generate fused image data. - View Dependent Claims (5, 6, 7, 8, 9, 10, 11, 12)
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13. A computing device, comprising:
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a processor; and memory including instructions that, when executed by the processor, cause the computing device to; obtain first monochromatic image data; obtain second monochromatic image data;
obtain color image data;determine mono registration data between the first monochromatic image data and the second monochromatic image data; determine a depth map of the color image data to identify a foreground plane and background plane; apply, based on the depth map, a first homography to the color image data for the foreground plane to generate color foreground data; apply, based on the depth map, a second homography to the color image data for the background plane to generate color background data; select, for each subset of the color image data, a corresponding subset from the color background data or the color foreground data based on a smallest error between the color background data or the color foreground data when compared to the mono registration data to generate combined color image data; remove, from the combined color image data, first luminance image data to generate chrominance image data; and combine the chrominance image data with second luminance image data from the mono registration to generate a fused image. - View Dependent Claims (14, 15, 16, 17, 18, 19)
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Specification