公开(公告)号：US11450018B1

公开(公告)日：2022-09-20

申请号：US16726771

申请日：2019-12-24

Applicant: X Development LLC

Inventor： Guy Satat ,  Michael Quinlan ,  Sean Kirmani ,  Anelia Angelova ,  Ariel Gordon

IPC: G06T7/593 ,  H04N13/128 ,  G06T3/20 ,  G05D1/02 ,  B25J13/08 ,  H04N13/00

Abstract: A method includes receiving a first depth map that includes a plurality of first pixel depths and a second depth map that includes a plurality of second pixel depths. The first depth map corresponds to a reference depth scale and the second depth map corresponds to a relative depth scale. The method includes aligning the second pixel depths with the first pixel depths. The method includes transforming the aligned region of the second pixel depths such that transformed second edge pixel depths of the aligned region are coextensive with first edge pixel depths surrounding the corresponding region of the first pixel depths. The method includes generating a third depth map. The third depth map includes a first region corresponding to the first pixel depths and a second region corresponding to the transformed and aligned region of the second pixel depths.

公开(公告)号：US20220366590A1

公开(公告)日：2022-11-17

申请号：US17878535

申请日：2022-08-01

Applicant: X Development LLC

Inventor： Guy Satat ,  Michael Quinlan ,  Sean Kirmani ,  Anelia Angelova ,  Ariel Gordon

IPC: G06T7/593 ,  G06T3/20 ,  H04N13/128 ,  B25J13/08 ,  G05D1/02

Abstract: A method includes receiving a first depth map that includes a plurality of first pixel depths and a second depth map that includes a plurality of second pixel depths. The first depth map corresponds to a reference depth scale and the second depth map corresponds to a relative depth scale. The method includes aligning the second pixel depths with the first pixel depths. The method includes transforming the aligned region of the second pixel depths such that transformed second edge pixel depths of the aligned region are coextensive with first edge pixel depths surrounding the corresponding region of the first pixel depths. The method includes generating a third depth map. The third depth map includes a first region corresponding to the first pixel depths and a second region corresponding to the transformed and aligned region of the second pixel depths.