公开(公告)号：US10732285B2

公开(公告)日：2020-08-04

申请号：US16143070

申请日：2018-09-26

Applicant: QUALCOMM Incorporated

Inventor： Kalin Atanassov ,  Sergiu Goma ,  James Nash

IPC: G01S17/89 ,  G01S7/486 ,  G01S7/4863 ,  G06T7/521 ,  G06T3/40 ,  H04N5/345 ,  H04N5/353 ,  H04N5/374

Abstract: Aspects of the present disclosure relate to systems and methods for structured light (SL) depth systems. A depth finding system includes one or more processors and a memory, coupled to the one or more processors, includes instructions that, when executed by the one or more processors, cause the system to capture a plurality of frames based on transmitted pulses of light, where each of the frames is captured by scanning a sensor array after a respective one of the pulses has been transmitted, and generate an image depicting reflections of the transmitted light by combining the plurality of frames, where each of the frames provides a different portion of the image.

公开(公告)号：US20190340776A1

公开(公告)日：2019-11-07

申请号：US16107901

申请日：2018-08-21

Applicant: QUALCOMM Incorporated

Inventor： James Nash ,  Hasib Siddiqui ,  Kalin Atanassov ,  Justin Cheng

IPC: G06T7/521 ,  G06T7/11

Abstract: Aspects of the present disclosure relate to systems and methods for structured light (SL) depth systems. An example method for determining a depth map post-processing filter may include receiving an image including a scene superimposed on a codeword pattern, segmenting the image into a plurality of tiles, estimating a codeword for each tile of the plurality of tiles, estimating a mean scene value for each tile based at least in part on the respective estimated codeword, and determining the depth map post-processing filter based at least in part on the estimated codewords and the mean scene values.

公开(公告)号：US09996933B2

公开(公告)日：2018-06-12

申请号：US15069751

申请日：2016-03-14

Applicant: QUALCOMM Incorporated

Inventor： Albrecht Johannes Lindner ,  Kalin Atanassov ,  Stephen Verrall

IPC: G06K9/00 ,  G06T7/00 ,  G06T5/00 ,  G06K9/03 ,  G06K9/38 ,  G06T7/50 ,  G06T5/40

CPC classification number: G06T7/521 ,  G06K9/03 ,  G06K9/38 ,  G06T5/001 ,  G06T5/002 ,  G06T5/005 ,  G06T5/008 ,  G06T5/009 ,  G06T5/40 ,  G06T7/0057 ,  G06T7/50 ,  G06T2207/10028 ,  G06T2207/20004 ,  G06T2207/20021 ,  G06T2207/20182

Abstract: Systems and methods for correcting errors in a depth map generated by a structured light system are disclosed. In one aspect, a method includes dividing a depth map into segments and calculating a density distribution of the depth values for each segment. The method includes detecting error (or “outlier”) values by determining the depth values that fall outside of a range of depth values, the range of depth values representative of the highest density depth values for a given segment. The method includes detecting error values in the depth map as a whole based on the density distribution values for each segment.