CPC G06T 7/593 (2017.01) [G06T 3/0093 (2013.01); G06T 3/40 (2013.01); G06T 5/30 (2013.01); H04N 13/20 (2018.05); G06T 2207/20016 (2013.01); G06T 2207/20084 (2013.01); H04N 2013/0081 (2013.01)] | 21 Claims |
1. A real-time active stereo system comprising:
a capture system configured to capture stereo data, the stereo data including a first input image and a second input image; and
a depth sensing computing system configured to predict a depth map, the depth sensing computing system including:
a feature extractor configured to extract features from the first and second input images at a plurality of resolutions;
an initialization engine configured to generate a plurality of depth estimations, each of the plurality of depth estimations corresponding to a different resolution and including a three-dimensional (3D) slanted plane hypothesis for a region of a respective depth estimation, the 3D slanted plane hypothesis including a disparity value and a location of a slanted plane; and
a propagation engine configured to iteratively refine the plurality of depth estimations based on image warping and spatial propagation.
|