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    Apparatus and method for adjusting stereoscopic image parallax and stereo camera
    2.
    发明授权
    Apparatus and method for adjusting stereoscopic image parallax and stereo camera 有权

    公开(公告)号：US09912936B2

    公开(公告)日：2018-03-06

    申请号：US14726607

    申请日：2015-06-01

    申请人： SHENZHEN MERCURY OPTOELECTRONICS RESEARCH INSTITUTE

    发明人： Chunhui Cui ,  Lei Song ,  Ning Liu

    IPC分类号： H04N13/02 ,  G06T7/00 ,  H04N13/00

    CPC分类号： H04N13/271 ,  G06T7/0075 ,  G06T7/593 ,  H04N13/128 ,  H04N13/246

    摘要： The present invention provides a method and apparatus for adjusting stereoscopic image parallax and a stereo camera. The parallax adjusting method includes obtaining a depth range of a current scene. A preset parallax range may also be obtained according to a current viewing condition. Expected camera parameters of the current scene are calculated according to the depth range of the current scene and the preset parallax range. The stereo camera is adjusted according to the expected camera parameters and used to capture preprocessed stereoscopic images. Further, the captured preprocessed stereoscopic images are processed according to the expected camera parameters to make the preprocessed stereoscopic images suitable for being viewed under the current viewing condition. The disclosed method and apparatus can jointly adjust parameters of the stereo camera and captured stereo images to obtain images or videos with a maximum parallax as well as desired display effect under a specified condition.

    Accounting for perspective effects in images
    4.
    发明授权
    Accounting for perspective effects in images 有权

    公开(公告)号：US09813693B1

    公开(公告)日：2017-11-07

    申请号：US14317889

    申请日：2014-06-27

    申请人： Amazon Technologies, Inc.

    发明人： Leo Benedict Baldwin

    IPC分类号： H04N13/02 ,  G06T7/00 ,  G06T7/60 ,  H04N5/232

    CPC分类号： H04N13/271 ,  G06T7/0075 ,  G06T7/60 ,  G06T7/62 ,  G06T2207/10016 ,  G06T2207/30201 ,  H04N5/23296 ,  H04N13/239 ,  H04N2013/0081

    摘要： Images captured at short distances, such as “selfies,” can be improved by addressing magnification and perspective effects present in the images. Distance information, such as a three-dimensional depth map, can be determined for an object using stereoscopic imaging or another distance measuring approach. Based on a magnification function determined for a camera lens, magnification levels for different regions of the captured images can be determined. At least some of these regions then can be adjusted or transformed in order to provide for a more consistent magnification levels across those regions, thereby reducing anamorphic effects. Where appropriate, gaps in the image can also be filled to enhance the image. At least some control over the amount of adjustment may be provided to users for aesthetic control.

    METHOD AND APPARATUS FOR MERGING DEPTH MAPS IN A DEPTH CAMERA SYSTEM
    5.
    发明申请
    METHOD AND APPARATUS FOR MERGING DEPTH MAPS IN A DEPTH CAMERA SYSTEM 审中-公开

    公开(公告)号：US20170302910A1

    公开(公告)日：2017-10-19

    申请号：US15133092

    申请日：2016-04-19

    申请人： Motorola Mobility LLC

    发明人： By-Her W. Richards

    IPC分类号： H04N13/02

    CPC分类号： G06T7/0075 ,  G06K9/00 ,  G06T7/13 ,  G06T7/593 ,  G06T2207/10012 ,  G06T2207/20221 ,  H04N13/128 ,  H04N13/239 ,  H04N13/243 ,  H04N13/257 ,  H04N13/271 ,  H04N2013/0081

    摘要： A method and apparatus merge depth maps in a depth camera system. According to a possible embodiment, a first image of a scene can be received. The first image can include first image coordinates. A second image of the scene can be received. A third image of the scene can be received. An x-axis depth map of the first image coordinates can be generated based on the first and second images. A y-axis depth map of the first image coordinates can be generated based on the first and third images. The y-axis can be perpendicular to the x-axis. Edge detection can be performed on the first image to detect edges in the first image. A confidence score map can be generated for each depth map. A higher confidence score on the confidence score map of the x-axis depth map can be set for a pixel on an edge at an angle closer to the y-axis than the x-axis for the pixel on the x-axis depth map. A lower confidence score on the confidence score map of the y-axis depth map can be set for a corresponding pixel on the y-axis depth map. A depth value of a pixel on a fusion depth map can be selected based on the confidence score maps and the depth maps.

    Obstacle removal using point cloud and depth map data
    6.
    发明授权
    Obstacle removal using point cloud and depth map data 有权

    公开(公告)号：US09684965B1

    公开(公告)日：2017-06-20

    申请号：US14956184

    申请日：2015-12-01

    申请人： SONY CORPORATION

    发明人： Hiroki Takakura

    IPC分类号： G06K9/00 ,  G06T7/00

    CPC分类号： G06T7/55 ,  G06T5/005 ,  G06T5/50 ,  G06T7/004 ,  G06T7/0075 ,  G06T7/557 ,  G06T7/579 ,  G06T7/593 ,  G06T2207/10012 ,  G06T2207/10028 ,  G06T2207/20144

    摘要： A system having a non-transitory storage medium, wherein the non-transitory storage medium contains a first image captured at a first position relative to background subject matter, wherein undesirable structure is interposed between the first position and the background subject matter, and a second image captured at a second position, different from the first position, relative to the background subject matter wherein the undesirable structure is interposed between the second position and the background subject matter; a point cloud generation module coupled to the non-transitory storage medium, wherein the point cloud generation module generates a point cloud in response to the first image and the second image, and wherein the point cloud generation module stores the point cloud in the non-transitory storage medium; an identification module coupled to the non-transitory storage medium for retrieving the point cloud and identifying within the point cloud the undesirable structure and the background subject matter; and an image generation module coupled to the identification module for generating a third image in response to the background subject matter within the point cloud, wherein the image generation module stores the third image in the non-transitory storage medium.

    Method, apparatus and computer program product for disparity estimation of foreground objects in images
    8.
    发明授权
    Method, apparatus and computer program product for disparity estimation of foreground objects in images 有权
    用于图像中前景对象差异估计的方法，装置和计算机程序产品

    公开(公告)号：US09489741B2

    公开(公告)日：2016-11-08

    申请号：US14793043

    申请日：2015-07-07

    申请人： Nokia Technologies Oy

    发明人： Soumik Ukil ,  Veldandi Muninder ,  Krishna Annasagar Govindarao

    IPC分类号： G06K9/00 ,  G06T7/00 ,  H04N13/00 ,  H04N13/02 ,  G06T5/00

    CPC分类号： G06T7/0075 ,  G06T5/006 ,  G06T7/557 ,  G06T7/593 ,  G06T7/97 ,  G06T2207/10012 ,  G06T2207/10024 ,  G06T2207/20228 ,  H04N13/128 ,  H04N13/204 ,  H04N13/239 ,  H04N13/271 ,  H04N2013/0081 ,  H04N2013/0092

    摘要： In an example embodiment, method, apparatus and computer program product are provided. The method includes facilitating receipt of first image (I1) and second image (I2) of a scene. Cost volume between images I1 and I2 for set of foreground labels (FL) and set of background labels (BL) is determined that includes matching costs of pixels in I1 and corresponding pixels in I2 for FL and BL. Reduced cost volume is determined from the cost volume, including matching costs of pixels in I1 and corresponding pixels in I2 for FL and a background label (L1) of BL, where matching cost of an individual pixel in I1 and corresponding pixel of the individual pixel in I2 for L1 includes minimum matching cost from a set of matching costs of the individual pixel for BL. A disparity map is generated by performing cost aggregation of the reduced cost volume in I1 and I2.

    摘要翻译： 在示例实施例中，提供了方法，装置和计算机程序产品。 该方法包括促进接收场景的第一图像（I1）和第二图像（I2）。 确定用于前景标签（FL）和背景标签（BL）组的图像I1和I2之间的成本体积，其包括I1中的像素和用于FL和BL的I2中的对应像素的匹配成本。 降低的成本体积是从成本量确定的，包括I1中的像素的匹配成本和FL中的I2中的相应像素以及BL的背景标签（L1），其中I1中的各个像素和单个像素的相应像素的匹配成本 在I2中，L1包括来自BL的各个像素的一组匹配成本的最小匹配成本。 通过在I1和I2中执行降低成本体积的成本汇总来生成视差图。

    Stereo camera apparatus
    9.
    发明授权
    Stereo camera apparatus 有权
    立体相机装置

    公开(公告)号：US09443313B2

    公开(公告)日：2016-09-13

    申请号：US14692276

    申请日：2015-04-21

    申请人： Hitachi Automotive Systems, Ltd.

    发明人： Shoji Muramatsu ,  Mirai Higuchi ,  Tatsuhiko Monji ,  Soichiro Yokota ,  Morihiko Sakano ,  Takeshi Shima

    IPC分类号： G06T7/00 ,  G01C3/06 ,  G08G1/16 ,  G06K9/00

    CPC分类号： G06T7/0075 ,  G01C3/06 ,  G06K9/00805 ,  G06T7/593 ,  G06T2207/10012 ,  G06T2207/20012 ,  G06T2207/30261 ,  G08G1/166

    摘要： A stereo camera apparatus which carries out distance measuring stably and with high accuracy by making measuring distance resolution variable according to a distance to an object is provided. A stereo camera apparatus 1 takes in two images, changes resolution of a partial area of each image that is taken in, and calculates a distance from a vehicle to an object that is imaged in the partial area, based on disparity of the partial area of each image in which resolution is changed. Thus, even when the object exists at a long distance and is small in size, distance measuring processing can be carried out stably.

    摘要翻译： 提供了一种立体相机装置，其通过根据到物体的距离使测量距离分辨率变化而稳定且高精度地进行距离测量。 立体相机装置1取两个图像，改变被摄取的每个图像的部分区域的分辨率，并且基于部分区域的部分区域的差异来计算从车辆到在该部分区域中成像的对象的距离 其中分辨率改变的每个图像。 因此，即使当物体长距离存在并且尺寸小时，也能够稳定地进行距离测量处理。