公开(公告)号：US20200099920A1

公开(公告)日：2020-03-26

申请号：US16580802

申请日：2019-09-24

Applicant: Google LLC

Inventor： Sameh KHAMIS ,  Yinda ZHANG ,  Christoph RHEMANN ,  Julien VALENTIN ,  Adarsh KOWDLE ,  Vladimir TANKOVICH ,  Michael SCHOENBERG ,  Shahram IZADI ,  Thomas FUNKHOUSER ,  Sean FANELLO

IPC: H04N13/271 ,  G06T7/90 ,  G06T7/521 ,  H04N5/33 ,  H04N13/239

Abstract: An electronic device estimates a depth map of an environment based on matching reduced-resolution stereo depth images captured by depth cameras to generate a coarse disparity (depth) map. The electronic device downsamples depth images captured by the depth cameras and matches sections of the reduced-resolution images to each other to generate a coarse depth map. The electronic device upsamples the coarse depth map to a higher resolution and refines the upsampled depth map to generate a high-resolution depth map to support location-based functionality.

公开(公告)号：US20230209036A1

公开(公告)日：2023-06-29

申请号：US18111292

申请日：2023-02-17

Applicant: GOOGLE LLC

Inventor： Sameh KHAMIS ,  Yinda ZHANG ,  Christoph RHEMANN ,  Julien VALENTIN ,  Adarsh KOWDLE ,  Vladimir TANKOVICH ,  Michael SCHOENBERG ,  Shahram IZADI ,  Thomas FUNKHOUSER ,  Sean FANELLO

IPC: H04N13/271 ,  G06T7/90 ,  G06T7/521 ,  H04N5/33 ,  H04N13/239

CPC classification number: H04N13/271 ,  G06T7/90 ,  G06T7/521 ,  H04N5/33 ,  H04N13/239 ,  G06T2207/10024 ,  G06T2207/10028

Abstract: An electronic device estimates a depth map of an environment based on matching reduced-resolution stereo depth images captured by depth cameras to generate a coarse disparity (depth) map. The electronic device downsamples depth images captured by the depth cameras and matches sections of the reduced-resolution images to each other to generate a coarse depth map. The electronic device upsamples the coarse depth map to a higher resolution and refines the upsampled depth map to generate a high-resolution depth map to support location-based functionality.

公开(公告)号：US20190287259A1

公开(公告)日：2019-09-19

申请号：US16158676

申请日：2018-10-12

Applicant: Google LLC

Inventor： Vladimir TANKOVICH ,  Michael SCHOENBERG ,  Sean Ryan Francesco FANELLO ,  Julien VALENTIN

IPC: G06T7/593 ,  G06K9/62 ,  H04N13/204

Abstract: A method includes capturing a first image and a second image of a scene using at least one imaging camera of an imaging system. The first image and the second image form a stereo image pair and each comprises a plurality of pixels. Each of the plurality of pixels in the second image is initialized with a disparity hypothesis. Matching costs of the disparity hypothesis for each of the plurality of pixels in the second image are recursively determined, from an image tile of a smaller pixel size to an image tile of a larger pixel size, to generate an initial tiled disparity map including a plurality of image tiles. After refining the disparity value estimate of each image tile and including a slant hypothesis, a final disparity estimate for each pixel of the image is generated.