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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.
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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.
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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
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.
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