US 11,941,787 B2
Denoising depth data of low-signal pixels
Sergio Ortiz Egea, San Jose, CA (US); and Augustine Cha, Honolulu, HI (US)
Assigned to Microsoft Technology Licensing, LLC, Redmond, WA (US)
Filed by Microsoft Technology Licensing, LLC, Redmond, WA (US)
Filed on Aug. 23, 2021, as Appl. No. 17/445,659.
Prior Publication US 2023/0074482 A1, Mar. 9, 2023
Int. Cl. G06T 5/00 (2006.01); G01S 17/894 (2020.01); G06T 5/20 (2006.01); G06T 7/521 (2017.01)
CPC G06T 5/002 (2013.01) [G01S 17/894 (2020.01); G06T 5/20 (2013.01); G06T 7/521 (2017.01)] 20 Claims
OG exemplary drawing
 
10. A computing system comprising:
a logic machine; and
a storage machine holding instructions executable by the logic machine to:
receive coarse depth image data and active brightness image data corresponding to a depth image acquired by a time-of-flight image sensor,
based on the coarse depth image data and the active brightness image data, reconstruct phase data,
apply a spatial denoising filter to the phase data,
perform phase unwrapping on the phase data after applying the spatial denoising filter to obtain a depth image, and
output the depth image.