公开(公告)号：US20210264632A1

公开(公告)日：2021-08-26

申请号：US17249095

申请日：2021-02-19

申请人： GOOGLE LLC

发明人： Vladimir Tankovich ,  Christian Haene ,  Sean Rayn Francesco Fanello ,  Yinda Zhang ,  Shahram Izadi ,  Sofien Bouaziz ,  Adarsh Prakash Murthy Kowdle ,  Sameh Khamis

IPC分类号： G06T7/593 ,  G06T3/00 ,  G06T3/40 ,  G06T5/30 ,  H04N13/20

摘要： According to an aspect, a real-time active stereo system includes a capture system configured to capture stereo data, where the stereo data includes a first input image and a second input image, and a depth sensing computing system configured to predict a depth map. The depth sensing computing system includes a feature extractor configured to extract features from the first and second images at a plurality of resolutions, an initialization engine configured to generate a plurality of depth estimations, where each of the plurality of depth estimations corresponds to a different resolution, and a propagation engine configured to iteratively refine the plurality of depth estimations based on image warping and spatial propagation.