公开(公告)号：US20180213201A1

公开(公告)日：2018-07-26

申请号：US15745150

申请日：2016-07-13

Applicant: Heptagon Micro Optics Pte. Ltd.

Inventor： Chi Zhang ,  Alireza Yasan ,  Xin Liu ,  Florin Cutu ,  Dmitry Ryuma

IPC: H04N13/00 ,  G06T7/00 ,  G06K9/62

CPC classification number: H04N13/128 ,  G06K9/6212 ,  G06T7/97 ,  G06T2207/10012 ,  H04N2013/0081

Abstract: Providing a disparity map includes acquiring first and second stereo images, binarizing the first stereo image to obtain a binarized image, and applying a block matching technique to the first and second stereo images to obtain an initial disparity map in which individual image elements are assigned a respective initial disparity value. For each respective image element, an updated disparity value that represents a product of the initial disparity value assigned to the image element and a value associated with the image element in the binarized image is obtained. An updated disparity map can be generated and represents the updated disparity values of the image elements.

公开(公告)号：US20180225866A1

公开(公告)日：2018-08-09

申请号：US15749825

申请日：2016-08-04

Applicant: Heptagon Micro Optics Pte. Ltd.

Inventor： Chi Zhang ,  Xin Liu ,  Florin Cutu

IPC: G06T17/00

Abstract: Presenting a merged, fused three-dimensional point cloud includes acquiring multiple sets of images of a scene from different vantage points, each set of images including respective stereo matched images and a color image. For each respective set of images, a disparity map based on the plurality of stereo images is obtained, data from the color image is fused onto the disparity map so as to generate a fused disparity map, and a three-dimensional fused point cloud is created from the fused disparity map. The respective three-dimensional fused point clouds is merged together so as to obtain a merged, fused three-dimensional point cloud. The techniques can be advantageous even under the constraints of sparseness and low-depth resolution, and are suitable, in some cases, for real-time or near real-time applications in which computing time needs to be reduced.

公开(公告)号：US20180204329A1

公开(公告)日：2018-07-19

申请号：US15743948

申请日：2016-07-08

Applicant: Heptagon Micro Optics Pte. Ltd.

Inventor： Florin Cutu ,  Alireza Yasan ,  Xin Liu

IPC: G06T7/174 ,  G06T7/593 ,  G06T5/00 ,  G06T5/50 ,  G06T7/90 ,  G06T7/557

CPC classification number: G06T7/174 ,  G06T5/001 ,  G06T5/007 ,  G06T5/50 ,  G06T7/557 ,  G06T7/593 ,  G06T7/90 ,  G06T2200/04 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/10048 ,  G06T2207/20216

Abstract: Techniques are described for generating a distance map (e.g., a map of disparity, depth or other distance values) for image elements (e.g., pixels) of an image capture device. The distance map is generated based on an initial distance map (obtained, e.g., using a block or code matching algorithm) and a segmentation map (obtained using a segmentation algorithm). In some instances, the resulting distance map can be less sparse than the initial distance map, can contain more accurate distance values, and can be sufficiently fast for real-time or near real-time applications. The resulting distance map can be converted, for example, to a color-coded distance map of a scene that is presented on a display device.