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公开(公告)号：US10557705B2
公开(公告)日：2020-02-11
申请号：US16278769
申请日：2019-02-19
Applicant: Massachusetts Institute of Technology
Inventor： Achuta Kadambi , Vage Taamazyan , Boxin Shi , Ramesh Raskar
Abstract: A 3D imaging system uses a depth sensor to produce a coarse depth map, and then uses the coarse depth map as a constraint in order to correct ambiguous surface normals computed from polarization cues. The imaging system outputs an enhanced depth map that has a greater depth resolution than the coarse depth map. The enhanced depth map is also much more accurate than could be obtained from the depth sensor alone. In many cases, the imaging system extracts the polarization cues from three polarized images. Thus, in many implementations, the system takes only three extra images—in addition to data used to generate the coarse depth map—in order to dramatically enhance the coarse depth map.
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Patent Agency Ranking
公开(公告)号：US10191154B2
公开(公告)日：2019-01-29
申请号：US15431713
申请日：2017-02-13
Applicant: Massachusetts Institute of Technology
Inventor： Achuta Kadambi , James Schiel , Ayush Bhandari , Ramesh Raskar , Vage Taamazyan
Abstract: In some implementations, scene depth is extracted from dual frequency of a cross-correlation signal. A camera may illuminate a scene with amplitude-modulated light, sweeping the modulation frequency. For each modulation frequency in the sweep, each camera pixel may measure a cross-correlation of incident light and of a reference electrical signal. Each pixel may output a vector of cross-correlation measurements acquired by the pixel during a sweep. A computer may perform an FFT on this vector, identify a dual frequency at the second largest peak in the resulting power spectrum, and calculate scene depth as equal to a fraction, where the numerator is the speed of light times this dual frequency and the denominator is four times pi. In some cases, the two signals being cross-correlated have the same phase as each other during each cross-correlation measurement.
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公开(公告)号：US20190186901A1
公开(公告)日：2019-06-20
申请号：US16278769
申请日：2019-02-19
Applicant: Massachusetts Institute of Technology
Inventor： Achuta Kadambi , Vage Taamazyan , Boxin Shi , Ramesh Raskar
CPC classification number: G01B11/24 , G06T7/507 , G06T7/514 , G06T2207/10028 , G06T2207/10141
Abstract: A 3D imaging system uses a depth sensor to produce a coarse depth map, and then uses the coarse depth map as a constraint in order to correct ambiguous surface normals computed from polarization cues. The imaging system outputs an enhanced depth map that has a greater depth resolution than the coarse depth map. The enhanced depth map is also much more accurate than could be obtained from the depth sensor alone. In many cases, the imaging system extracts the polarization cues from three polarized images. Thus, in many implementations, the system takes only three extra images—in addition to data used to generate the coarse depth map—in order to dramatically enhance the coarse depth map.
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公开(公告)号：US20170234985A1
公开(公告)日：2017-08-17
申请号：US15431713
申请日：2017-02-13
Applicant: Massachusetts Institute of Technology
Inventor： Achuta Kadambi , James Schiel , Ayush Bhandari , Ramesh Raskar , Vage Taamazyan
CPC classification number: G01S17/89 , G01S7/4915 , G01S17/10 , G01S17/32 , G01S17/325
Abstract: In some implementations, scene depth is extracted from dual frequency of a cross-correlation signal. A camera may illuminate a scene with amplitude-modulated light, sweeping the modulation frequency. For each modulation frequency in the sweep, each camera pixel may measure a cross-correlation of incident light and of a reference electrical signal. Each pixel may output a vector of cross-correlation measurements acquired by the pixel during a sweep. A computer may perform an FFT on this vector, identify a dual frequency at the second largest peak in the resulting power spectrum, and calculate scene depth as equal to a fraction, where the numerator is the speed of light times this dual frequency and the denominator is four times pi. In some cases, the two signals being cross-correlated have the same phase as each other during each cross-correlation measurement.
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公开(公告)号：US10260866B2
公开(公告)日：2019-04-16
申请号：US14979433
申请日：2015-12-27
Applicant: Massachusetts Institute of Technology
Inventor： Achuta Kadambi , Vage Taamazyan , Boxin Shi , Ramesh Raskar
Abstract: A 3D imaging system uses a depth sensor to produce a coarse depth map, and then uses the coarse depth map as a constraint in order to correct ambiguous surface normals computed from polarization cues. The imaging system outputs an enhanced depth map that has a greater depth resolution than the coarse depth map. The enhanced depth map is also much more accurate than could be obtained from the depth sensor alone. In many cases, the imaging system extracts the polarization cues from three polarized images. Thus, in many implementations, the system takes only three extra images—in addition to data used to generate the coarse depth map—in order to dramatically enhance the coarse depth map.
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6.发明申请公开(公告)号：US20160261844A1
公开(公告)日：2016-09-08
申请号：US14979433
申请日：2015-12-27
Applicant: Massachusetts Institute of Technology
Inventor： Achuta Kadambi , Vage Taamazyan , Boxin Shi , Ramesh Raskar
CPC classification number: G01B11/24 , G06T7/507 , G06T7/514 , G06T2207/10028 , G06T2207/10141
Abstract: A 3D imaging system uses a depth sensor to produce a coarse depth map, and then uses the coarse depth map as a constraint in order to correct ambiguous surface normals computed from polarization cues. The imaging system outputs an enhanced depth map that has a greater depth resolution than the coarse depth map. The enhanced depth map is also much more accurate than could be obtained from the depth sensor alone. In many cases, the imaging system extracts the polarization cues from three polarized images. Thus, in many implementations, the system takes only three extra images—in addition to data used to generate the coarse depth map—in order to dramatically enhance the coarse depth map.
Abstract translation: 3D成像系统使用深度传感器来产生粗糙深度图，然后使用粗略深度图作为约束，以便校正从偏振线索计算的不明确的表面法线。 成像系统输出比粗糙深度图具有更大深度分辨率的增强深度图。 增强的深度图也比仅从深度传感器获得的精度更准确。 在许多情况下，成像系统从三个偏振图像提取偏振线索。 因此，在许多实现中，除了用于生成粗略深度图的数据之外，系统仅需要三个额外的图像，以便显着增强粗略的深度图。
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