公开(公告)号：US20240153120A1

公开(公告)日：2024-05-09

申请号：US17781783

申请日：2020-11-19

申请人： Alma Mater Studiorum - Università di Bologna

发明人： Matteo POGGI ,  Fabio TOSI ,  Stefano MATTOCCIA ,  Luigi DI STEFANO ,  Alessio TONIONI

IPC分类号： G06T7/593

CPC分类号： G06T7/593 ,  G06T2207/10012 ,  G06T2207/20081 ,  G06T2207/20084

摘要： The present invention relates to a Method to determine the depth of a scene (I) from at least one digital image (R, T) of said scene (I), comprising the following steps: A. acquiring said at least one digital image (R, T) of said scene (I); B. calculating a first disparity map (DM1) from said at least one digital image (R, T), wherein said first disparity map (DM1) consists of a matrix of pixels pij with i=1, . . . , M and j=1, . . . , N, where i and j indicate respectively the line and column index of said first disparity map (DM1), and M and N are positive integers; C. calculating a second disparity map (DM2), by a neural network, from said at least one digital image (R, T); D. selecting a plurality of sparse depth data Sij relative to the respective pixel pij of said first disparity map (DM1); E. extracting said plurality of sparse depth data S ii from said first disparity map (DM1); and F. optimizing said second disparity map (DM2) by said plurality of sparse depth data S ii, training at least one portion of said neural network with the information relative to said depth of said scene (I) associated with said sparse depth data Sij.
The present invention also relates to a system (S) for determining the depth of a scene (I) starting from at least one digital image (R, T) of said scene (I).