US 12,333,746 B2
Method for estimating depth, electronic device, and storage medium
Yu-Hsuan Chien, New Taipei (TW); and Chin-Pin Kuo, New Taipei (TW)
Assigned to HON HAI PRECISION INDUSTRY CO., LTD., New Taipei (TW)
Filed by HON HAI PRECISION INDUSTRY CO., LTD., New Taipei (TW)
Filed on Sep. 29, 2022, as Appl. No. 17/955,884.
Claims priority of application No. 202210624024.9 (CN), filed on Jun. 2, 2022.
Prior Publication US 2023/0394692 A1, Dec. 7, 2023
Int. Cl. G06T 7/521 (2017.01); G01S 13/08 (2006.01); G01S 13/86 (2006.01); G01S 13/89 (2006.01)
CPC G06T 7/521 (2017.01) [G01S 13/08 (2013.01); G01S 13/867 (2013.01); G01S 13/89 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/20081 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/30261 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A method for estimating depth implemented in an electronic device comprising:
obtaining a first image;
inputting the first image into a depth estimation model, and obtaining a first depth image;
obtaining a depth scale factor, the depth scale factor indicating a relationship between a relative depth and a depth of each pixel in the first depth image;
obtaining external parameters between a camera device and a radar;
obtaining a second image captured by the camera device and a three-dimensional point cloud image obtained by the radar;
converting the three-dimensional point cloud image into a two-dimensional image according to the external parameters;
inputting the second image into the depth estimation model, and outputting a second depth image;
calculating a depth scale relationship according to the two-dimensional image and the second depth image; and
calculating the depth scale factor according to the depth scale relationship; and
obtaining depth information of the first depth image according to the first depth image and the depth scale factor.