US 11,758,247 B2
Depth acquisition device and depth acquisition method
Takeo Azuma, Kyoto (JP); Satoshi Sato, Kyoto (JP); Nobuhiko Wakai, Tokyo (JP); Kohsuke Yoshioka, Osaka (JP); Noritaka Shimizu, Osaka (JP); Yoshinao Kawai, Kyoto (JP); Takaaki Amada, Kyoto (JP); Yoko Kawai, Osaka (JP); Takeshi Murai, Kyoto (JP); and Hiroki Takeuchi, Osaka (JP)
Filed by Panasonic Intellectual Property Management Co., Ltd., Osaka (JP)
Filed on Jan. 21, 2021, as Appl. No. 17/154,533.
Application 17/154,533 is a continuation of application No. PCT/JP2019/035781, filed on Sep. 11, 2019.
Claims priority of application No. 2018-184472 (JP), filed on Sep. 28, 2018.
Prior Publication US 2021/0144314 A1, May 13, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 7/521 (2017.01); H04N 23/11 (2023.01); H04N 13/271 (2018.01); G01S 17/10 (2020.01); G01S 17/89 (2020.01)
CPC H04N 23/11 (2023.01) [G01S 17/10 (2013.01); G01S 17/89 (2013.01); G06T 7/521 (2017.01); H04N 13/271 (2018.05); G06T 2207/10028 (2013.01)] 8 Claims
OG exemplary drawing
1. A depth acquisition device, comprising:
a memory; and
a processor, wherein
the processor performs:
acquiring intensities of infrared light which are stored in the memory, the intensities being measured by imaging performed by receiving the infrared light reflected on a subject by respective pixels in an imaging element, the infrared light having been emitted from a light source;
generating a depth image, by calculating a distance to the subject as a depth for each of the respective pixels in the imaging element, based on an intensity received by the pixel among the intensities of the infrared light;
acquiring a visible light image stored in the memory, the visible light image being generated by imaging a substantially same scene as a scene of an infrared light image, with visible light from a substantially same viewpoint as a viewpoint of imaging the infrared light image at a substantially same timing as a timing of imaging the infrared light image, the infrared light image being generated by the imaging based on the intensities of the infrared light received by the respective pixels in the imaging element;
extracting, from the visible light image, only a boundary lying along a direction perpendicular to a direction of movement of the visible light image, among boundaries between two regions having mutually different luminances, to detect a light dark boundary region which is a region including the boundary extracted; and
correcting a depth of a target region to be corrected in the depth image, the target region corresponding to the light-dark boundary region.