公开(公告)号：US11190746B2

公开(公告)日：2021-11-30

申请号：US16710655

申请日：2019-12-11

Applicant: GOOGLE LLC

Inventor： Daniel Goldman ,  Harris Nover ,  Supreeth Achar

IPC: H04N13/106 ,  H04N13/254 ,  G06T7/593 ,  G06T7/11 ,  G06T5/00 ,  G06T7/174 ,  H04N13/00

Abstract: According to an aspect, a real-time active stereo system includes a capture system configured to capture stereo image data, where the image data includes a plurality of pairs of a reference image and a secondary image, and each pair of the plurality of pairs relates a different temporal window. The real-time active stereo system includes a depth sensing computing system including at least one processor and a non-transitory computer-readable medium having executable instructions that when executed by the at least one processor are configured to execute a local stereo reconstruction algorithm configured to compute spacetime descriptors from the plurality of pairs of the stereo image data and generate depth maps based on the spacetime descriptors.

公开(公告)号：US20230319424A1

公开(公告)日：2023-10-05

申请号：US18246609

申请日：2021-11-09

Applicant: Google LLC

Inventor： Jason Lawrence ,  Supreeth Achar ,  Zhihao Xia

IPC: H04N23/84 ,  H04N23/11 ,  H04N23/56 ,  G06T5/00

CPC classification number: H04N23/84 ,  H04N23/11 ,  H04N23/56 ,  G06T5/002 ,  G06T2207/10024 ,  G06T2207/10048 ,  G06T2207/20084 ,  G06T2207/20081 ,  G06T2207/10012

Abstract: Techniques of estimating surface normals and reflectance from poorly-lit images includes using, in addition to an RGB image of a subject of a set of subjects, an image illuminated with near-infrared (NIR) radiation to determine albedo and surface normal maps for performing an image relighting, the image being captured with the NIR radiation from essentially the same perspective from which the RGB image was captured. In some implementations, a prediction engine takes as input a single RGB image and a single NIR image and estimates surface normals and reflectance from the subject.

公开(公告)号：US12026914B2

公开(公告)日：2024-07-02

申请号：US17597428

申请日：2021-01-19

Applicant: Google LLC

Inventor： Supreeth Achar ,  Daniel Goldman

IPC: G06T7/80 ,  G06T7/73 ,  G06V10/48 ,  G06V10/60 ,  G06V10/75 ,  H04N13/246 ,  H04N23/56 ,  G06V10/774

CPC classification number: G06T7/80 ,  G06T7/74 ,  G06V10/48 ,  G06V10/60 ,  G06V10/751 ,  H04N13/246 ,  H04N23/56 ,  G06T2207/10012 ,  G06T2207/10048 ,  G06T2207/20081 ,  G06T2207/20084 ,  G06T2207/30244 ,  G06V10/774

Abstract: A method including capturing a first image of a real-world scene by a first camera sensitive to a first spectrum of light, the first camera having a first light source, capturing a second image of the real-world scene by a second camera sensitive to a second spectrum of light, the second camera having a second light source, identifying at least one feature in the first image, identifying, using a machine learning (ML) model, at least one feature in the second image that matches the at least one feature identified in the first image, mapping pixels in the first image and the second image to rays in a three-dimensional (3D) space based on the matched at least one feature, and calibrating the first camera and the second camera based on the mapping.

公开(公告)号：US20240153121A1

公开(公告)日：2024-05-09

申请号：US18548779

申请日：2021-03-03

Applicant: Google LLC

Inventor： Harris Nover ,  Supreeth Achar ,  Kira Prabhu ,  Vineet Bhatawadekar

IPC: G06T7/593 ,  G06T5/20 ,  G06V10/75

CPC classification number: G06T7/593 ,  G06T5/20 ,  G06V10/751 ,  G06T2207/10012 ,  G06T2207/20228

Abstract: According to an aspect, a real-time active stereo system includes a capture system configured to capture stereo image data, the stereo image data including reference images and secondary images, and a depth sensing computing system configured to generate a depth map, the depth sensing computing system configured to compute descriptors based on the reference images and the secondary images compute a stability penalty based on pixel change information and disparity change information. evaluate a plurality of plane hypotheses for a group of pixels using the descriptors, including compute matching cost between the descriptors associated with each plane hypothesis, update the matching cost with the stability penalty, and select a plane hypothesis from the plurality of plane hypotheses for the group of pixels based on the updated matching cost.

公开(公告)号：US20220277485A1

公开(公告)日：2022-09-01

申请号：US17597428

申请日：2021-01-19

Applicant: Google LLC

Inventor： Supreeth Achar ,  Daniel Goldman

IPC: G06T7/80 ,  H04N5/225 ,  G06V10/48 ,  G06V10/60 ,  G06V10/75 ,  H04N13/246 ,  G06T7/73

Abstract: A method including capturing a first image of a real-world scene by a first camera sensitive to a first spectrum of light, the first camera having a first light source, capturing a second image of the real-world scene by a second camera sensitive to a second spectrum of light, the second camera having a second light source, identifying at least one feature in the first image, identifying, using a machine learning (ML) model, at least one feature in the second image that matches the at least one feature identified in the first image, mapping pixels in the first image and the second image to rays in a three-dimensional (3D) space based on the matched at least one feature, and calibrating the first camera and the second camera based on the mapping.

公开(公告)号：US20230088801A1

公开(公告)日：2023-03-23

申请号：US17754626

申请日：2021-04-08

Applicant: GOOGLE LLC

Inventor： Jason Lawrence ,  Supreeth Achar ,  Zhihao Xia

IPC: H04N23/72 ,  H04N23/74 ,  H04N23/76 ,  H04N9/64 ,  G06T5/50

Abstract: An imaging system includes a processor, a memory, a visible light camera configured to record a first image of a scene, and an infrared camera configured to record a second image of the scene. The processor configured to execute instructions stored in the memory to input the first image and the second image into a neural network. The neural network relights the first image, based on characteristics of the second image, to correspond to an image of the scene under canonical illumination conditions.