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.