US 12,407,802 B2
Method for retrieving disparity information from a stereo image pair
Matthew John Alvarado, Pittsburgh, PA (US); John Paul Thomas Atkinson, Pittsburgh, PA (US); and David Larose, Pittsburgh, PA (US)
Assigned to CARNEGIE ROBOTICS, LLC, Pittsburgh, PA (US)
Filed by Carnegie Robotics, LLC, Pittsburgh, PA (US)
Filed on Jan. 4, 2024, as Appl. No. 18/404,184.
Prior Publication US 2025/0227215 A1, Jul. 10, 2025
Int. Cl. H04N 13/128 (2018.01); H04N 13/111 (2018.01); H04N 13/239 (2018.01); H04N 13/00 (2018.01)
CPC H04N 13/128 (2018.05) [H04N 13/111 (2018.05); H04N 13/239 (2018.05); H04N 2013/0081 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A method for retrieving disparity information from a stereo image pair, the method comprising the steps of:
obtaining a stereo image pair comprising a first image obtained by a first camera and a second image obtained by a second camera,
providing the first image and the second image of the stereo image pair to a conventional disparity algorithm,
providing the first image and the second image of the stereo image pair to an artificial intelligence (AI) driven disparity algorithm,
using the conventional disparity algorithm, deriving first disparity information from the stereo image pair and associating a confidence score function to the derived first disparity information,
using the AI driven disparity algorithm, deriving second disparity information from at least part of the stereo image pair, and
fusing the first disparity information and the second disparity information by giving priority to the first disparity information in regions of the stereo image pair with high confidence score and giving priority to the second disparity information in regions of the stereo image pair with low confidence score, thereby obtaining resultant disparity information.