公开(公告)号：US11048957B2

公开(公告)日：2021-06-29

申请号：US16108472

申请日：2018-08-22

Applicant: Texas Instruments Incorporated

Inventor： Vikram VijayanBabu Appia

IPC: G06K9/20 ,  G01C11/02 ,  G06K9/00 ,  G06K9/50 ,  G06T7/521 ,  G06T7/11 ,  G06T7/136

Abstract: A method of image processing in a structured light imaging system is provided that includes receiving a captured image of a scene, wherein the captured image is captured by a camera of a projector-camera pair, and wherein the captured image includes a binary pattern projected into the scene by the projector, applying a filter to the rectified captured image to generate a local threshold image, wherein the local threshold image includes a local threshold value for each pixel in the rectified captured image, and extracting a binary image from the rectified captured image wherein a value of each location in the binary image is determined based on a comparison of a value of a pixel in a corresponding location in the rectified captured image to a local threshold value in a corresponding location in the local threshold image.

公开(公告)号：US10542248B2

公开(公告)日：2020-01-21

申请号：US15470541

申请日：2017-03-27

Applicant: Texas Instruments Incorporated

Inventor： Vikram VijayanBabu Appia

IPC: H04N13/254 ,  H04N13/271 ,  G01B11/25 ,  G06T7/40 ,  G06T7/521 ,  H04N13/00

Abstract: A method of image processing in a structured light imaging device is provided that includes receiving a captured image of a scene, wherein the captured image is captured by a camera of a projector-camera pair in the structured light imaging system, and wherein the captured image includes a pre-determined hierarchical binary pattern projected into the scene by the projector, wherein the pre-determined hierarchical binary pattern was formed by iteratively scaling a lower resolution binary pattern to multiple successively higher resolutions, rectifying the captured image to generated a rectified captured image, extracting a binary image from the rectified captured image at full resolution and at each resolution used to generate the pre-determined hierarchical binary pattern, and using the binary images to generate a depth map of the captured image.

公开(公告)号：US10313584B2

公开(公告)日：2019-06-04

申请号：US15661844

申请日：2017-07-27

Applicant: Texas Instruments Incorporated

Inventor： Janice Shuay-Ann Pan ,  Vikram VijayanBabu Appia

IPC: H04N5/232 ,  B60R1/00 ,  H04N13/111 ,  H04N13/128 ,  H04N13/271 ,  H04N7/18 ,  H04N13/246 ,  H04N13/239 ,  H04N5/445

Abstract: A rear-stitched view panorama (RSVP) system is provided that includes at least one processor and a memory storing software instructions that, when executed by the least one processor, cause the RSVP system to compute a disparity map for a left center rear image and a right center rear image captured by a stereo camera mounted on a rear of a vehicle, transform a right rear image, a left rear image, a reference center rear image, and the disparity map to a virtual world view, the right rear image and left rear image captured by respective right and left cameras mounted on the vehicle, compute an optimal left seam and an optimal right seam based on the transformed disparity map, and stitch the transformed images based on respective optimal seams to generate a panorama.

公开(公告)号：US20190096077A1

公开(公告)日：2019-03-28

申请号：US15879281

申请日：2018-01-24

Applicant: Texas Instruments Incorporated

Inventor： Rajasekhar Reddy Allu ,  Niraj Nandan ,  Mihir Narendra Mody ,  Gang Hua ,  Brian Okchon Chae ,  Shashank Dabral ,  Hetul Sanghvi ,  Vikram VijayanBabu Appia ,  Sujith Shivalingappa

IPC: G06T7/60 ,  G06T7/11 ,  G06T5/00

Abstract: An apparatus and method for geometrically correcting an arbitrary shaped input frame and generating an undistorted output frame. The method includes capturing arbitrary shaped input images with multiple optical devices and processing the images, identifying redundant blocks and valid blocks in each of the images, allocating an output frame with an output frame size and dividing the output frame into regions shaped as a rectangle, programming the apparatus and disabling processing for invalid blocks in each of the regions, fetching data corresponding to each of the valid blocks and storing in an internal memory, interpolating data for each of the regions with stitching and composing the valid blocks for the output frame and displaying the output frame on a display module.

公开(公告)号：US20190096042A1

公开(公告)日：2019-03-28

申请号：US15927820

申请日：2018-03-21

Applicant: TEXAS INSTRUMENTS INCORPORATED

Inventor： Rajasekhar Reddy Allu ,  Niraj Nandan ,  Mihir Narendra Mody ,  Gang Hua ,  Brian Okchon Chae ,  Shashank Dabral ,  Hetul Sanghvi ,  Vikram VijayanBabu Appia ,  Sujith Shivalingappa

IPC: G06T5/00 ,  G06T3/00

Abstract: A method for geometrically correcting a distorted input frame and generating an undistorted output frame includes capturing and storing an input frame in an external memory, allocating an output frame with an output frame size and dividing the output frame into output blocks, computing a size of the input blocks in the input image corresponding to each output blocks, checking if the size of the input blocks is less than the size of the internal memory and if not dividing until the required input block size of divided sub blocks is less than the size of the internal memory, programming an apparatus with input parameters, fetching the input blocks into an internal memory, processing each of the divided sub blocks sequentially and processing the next output block in step until all the output blocks are processed; and composing the output frame for each of the blocks in the output frame.

公开(公告)号：US10061028B2

公开(公告)日：2018-08-28

申请号：US14478858

申请日：2014-09-05

Applicant: Texas Instruments Incorporated

Inventor： Sanjeev Jagannatha Koppal ,  Vikram VijayanBabu Appia

IPC: G01S17/89 ,  G01S17/46 ,  G01B11/25

CPC classification number: G01S17/89 ,  G01B11/2527 ,  G01S17/46

Abstract: A method for computing a depth map of a scene in a structured light imaging system including a time-of-flight (TOF) sensor and a projector is provided that includes capturing a plurality of high frequency phase-shifted structured light images of the scene using a camera in the structured light imaging system, generating, concurrently with the capturing of the plurality of high frequency phase-shifted structured light images, a time-of-flight (TOF) depth image of the scene using the TOF sensor, and computing the depth map from the plurality of high frequency phase-shifted structured light images wherein the TOF depth image is used for phase unwrapping.

公开(公告)号：US20170195564A1

公开(公告)日：2017-07-06

申请号：US15298214

申请日：2016-10-19

Applicant: Texas Instruments Incorporated

Inventor： Vikram VijayanBabu Appia ,  Sujith Shivalingappa ,  Brijesh Rameshbhai Jadav ,  Hemant Hariyani ,  Shashank Dabral ,  Mayank Mangla

IPC: H04N5/232 ,  H04N7/18 ,  H04N5/247 ,  B60R1/00 ,  G06T15/20 ,  G06T15/06 ,  G06T17/20 ,  G06T7/00 ,  G06T3/00 ,  G06T19/20

CPC classification number: H04N5/23238 ,  B60R1/00 ,  B60R2300/105 ,  B60R2300/202 ,  B60R2300/306 ,  B60R2300/802 ,  G06T3/0093 ,  G06T15/06 ,  G06T15/205 ,  H04N5/247 ,  H04N5/3572 ,  H04N7/181 ,  H04N9/045

Abstract: A method for displaying a surround view on a single display screen is disclosed. A plurality of image frames for a particular time may be received from a corresponding plurality of cameras. A viewpoint warp map corresponding to a predetermined first virtual viewpoint may be selected, wherein the viewpoint warp map defines a source pixel location in the plurality of image frames for each output pixel location in the display screen. The warp map was predetermined offline and stored for later use. An output image is synthesized for the display screen by selecting pixel data for each pixel of the output image from the plurality of image frames in accordance with the viewpoint warp map. The synthesized image is then displayed on a display screen.

公开(公告)号：US09554057B2

公开(公告)日：2017-01-24

申请号：US14322898

申请日：2014-07-02

Applicant: Texas Instruments Incorporated

Inventor： Vikram VijayanBabu Appia ,  Aziz Umit Batur

IPC: H04N5/235 ,  G06T5/00 ,  G06T5/50 ,  G06T7/00

CPC classification number: H04N5/2355 ,  G06T5/007 ,  G06T5/50 ,  G06T7/521 ,  G06T2207/10028 ,  G06T2207/20208 ,  G06T2207/20212

Abstract: Wide dynamic range depth imaging in a structured light device is provided that improves depth maps for scenes with a wide range of albedo values under varying light conditions. A structured light pattern, e.g., a time-multiplexed structured light pattern, is projected into a scene at various projection times and a camera captures images of the scene for at least the same exposure times as the projection times. A depth image is computed for each of the projection/exposure times and the resulting depth images are combined to generate a composite depth image.

Abstract translation: 提供了一种结构化光装置中的宽动态范围深度成像，可改善在不同光线条件下具有广泛反照率值的场景的深度图。 诸如时间复用结构光图案的结构光图案在各种投影时间被投射到场景中，并且相机拍摄场景的图像至少与投影时间相同的曝光时间。 为每个投影/曝光时间计算深度图像，并将所得到的深度图像组合以产生复合深度图像。

公开(公告)号：US20160109566A1

公开(公告)日：2016-04-21

申请号：US14919587

申请日：2015-10-21

Applicant: Texas Instruments Incorporated

Inventor： Yucheng Liu ,  Vikram VijayanBabu Appia ,  Muhammad Zubair Ikram

IPC: G01S13/66 ,  G01S13/86

CPC classification number: G01S13/66 ,  G01S13/867

Abstract: Camera-assisted tracking of point objects in a radar system is provided. An extended Kalman filter framework based on both radar and camera observations is used to track point objects detected in frames of radar signal data. This framework provides a minimum mean square estimation of the current state of a point object based on previous and current observations from both frames of radar signals and corresponding camera images.

Abstract translation: 提供了雷达系统中点对象的相机辅助跟踪。 基于雷达和摄像机观测的扩展卡尔曼滤波器框架用于跟踪在雷达信号数据帧中检测的点对象。 该框架基于来自雷达信号和相应的相机图像的两个帧的先前和当前观测值提供点对象的当前状态的最小均方估计。

公开(公告)号：US20150022642A1

公开(公告)日：2015-01-22

申请号：US14322887

申请日：2014-07-02

Applicant: Texas Instruments Incorporated

Inventor： Vikram VijayanBabu Appia ,  Ibrahim Ethem Pekkucuksen

IPC: H04N13/00 ,  G06T3/40 ,  H04N13/02

CPC classification number: H04N13/106 ,  G06T3/4053 ,  H04N13/243 ,  H04N13/25 ,  H04N13/282 ,  H04N2013/0081

Abstract: A method of image processing in a structured light imaging device is provided that includes capturing a plurality of images of a scene into which a structured light pattern is projected by a projector in the structured light imaging device, extracting features in each of the captured images, finding feature matches between a reference image of the plurality of captured images and each of the other images in the plurality of captured images, rectifying each of the other images to align with the reference image, wherein each image of the other images is rectified based on feature matches between the image and the reference image, combining the rectified other images and the reference image using interpolation to generate a high resolution image, and generating a depth image using the high resolution image.

Abstract translation: 提供了一种结构化光成像装置中的图像处理方法，其包括：通过投影仪在结构化光成像装置中拍摄结构化光图案投射到其中的场景的多个图像，提取每个拍摄图像中的特征， 在多个拍摄图像的参考图像与多个拍摄图像中的每个其他图像之间找到特征匹配，对其他图像中的每一个进行校正，以与参考图像对准，其中基于其他图像的每个图像被校正 图像和参考图像之间的特征匹配，使用插值组合校正的其他图像和参考图像以生成高分辨率图像，以及使用高分辨率图像生成深度图像。