US 11,748,936 B2
Using epipolar reprojection for virtual view perspective change
Michael Slutsky, Kfar Saba (IL); and Albert Shalumov, Petah Tikva (IL)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Mar. 2, 2021, as Appl. No. 17/189,877.
Prior Publication US 2022/0284660 A1, Sep. 8, 2022
Int. Cl. G06T 15/20 (2011.01); G06T 7/70 (2017.01); H04N 7/18 (2006.01); G06T 7/50 (2017.01)
CPC G06T 15/20 (2013.01) [G06T 7/50 (2017.01); G06T 7/70 (2017.01); H04N 7/183 (2013.01); G06T 2207/30244 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for generating a virtual view of a virtual camera based on an input scene, the method comprising:
capturing, by a capturing device, input scene data, wherein the capturing device comprises a physical camera and a depth sensor that is spatially separated from the physical camera, wherein the input scene data includes an input image and depth data related to the input image;
determining, by a controller, an actual pose of the physical camera and the depth sensor;
determining, by the controller, a desired pose of the virtual camera for showing the virtual view;
defining, by the controller, an epipolar geometry between the actual pose of the the depth sensor and the desired pose of the virtual camera;
generating, by the controller, an output image for the virtual camera based on an epipolar relation between the actual pose of the the depth sensor, the input scene data, and the desired pose of the virtual camera.