公开(公告)号：US20180211398A1

公开(公告)日：2018-07-26

申请号：US15415724

申请日：2017-01-25

Applicant: Google Inc.

Inventor： Mirko Schmidt

IPC: G06T7/514 ,  G06T19/00 ,  G06T5/00

CPC classification number: G06T7/514 ,  G01S7/4873 ,  G01S17/023 ,  G01S17/89 ,  G06T5/002 ,  G06T19/006 ,  G06T2207/10012 ,  G06T2207/10028

Abstract: An electronic device includes a time of flight (ToF) camera and one or more processors. The ToF camera captures raw depth images. The processors determine a depth frame and an amplitude frame from the raw depth images. The depth frame comprises an array of pixels, each pixel having a depth value. The amplitude frame comprises an array of pixels, each pixel having an amplitude energy value. The processors determine a first energy threshold value based on the amplitude energy values of the array of pixels of the amplitude frame and determine, for the depth value of a first pixel of the depth frame, a confidence value representing a corresponding validity of a depth represented by the depth value, based on a comparison of the amplitude energy value of a corresponding first pixel of the amplitude frame to the first energy threshold value.

公开(公告)号：US10242454B2

公开(公告)日：2019-03-26

申请号：US15415724

申请日：2017-01-25

Applicant: Google Inc.

Inventor： Mirko Schmidt

IPC: G06T5/00 ,  G01S17/42 ,  G01S17/87 ,  G01S17/89 ,  G01S7/487 ,  G01S7/493 ,  G06T19/00 ,  G06T7/514

Abstract: An electronic device includes a time of flight (ToF) camera and one or more processors. The ToF camera captures raw depth images. The processors determine a depth frame and an amplitude frame from the raw depth images. The depth frame comprises an array of pixels, each pixel having a depth value. The amplitude frame comprises an array of pixels, each pixel having an amplitude energy value. The processors determine a first energy threshold value based on the amplitude energy values of the array of pixels of the amplitude frame and determine, for the depth value of a first pixel of the depth frame, a confidence value representing a corresponding validity of a depth represented by the depth value, based on a comparison of the amplitude energy value of a corresponding first pixel of the amplitude frame to the first energy threshold value.

公开(公告)号：US20190037194A1

公开(公告)日：2019-01-31

申请号：US15659971

申请日：2017-07-26

Applicant: Google Inc.

Inventor： Mirko Schmidt ,  Ivan Dryanovski

IPC: H04N13/00 ,  H04N13/04 ,  G06T19/00

Abstract: An HMD adjusts adjusting depth information based on detected motion of the system. The HMD includes a depth camera that collects depth data for objects in the local environment of the HMD. The HMD further includes an inertial measurement unit (IMU) including non-visual motion sensors such as one or more accelerometers, gyroscopes, and the like. The HMD adjusts the received depth information based on motion data provided by the IMU, thereby improving the accuracy of the depth information, and in turn reducing visual artifacts that can result from inaccuracies in the depth information.