US 12,094,137 B2
Accelerated alignment of high-resolution image and depth map for low-bit-width floating-point representation
Sicong Lyu, Shanghai (CN); Liangliang Wang, Shanghai (CN); and Bo Yu, Shanghai (CN)
Assigned to Ambarella International LP, Santa Clara, CA (US)
Filed by Ambarella International LP, Santa Clara, CA (US)
Filed on Jan. 5, 2022, as Appl. No. 17/568,843.
Claims priority of application No. 202111612321.3 (CN), filed on Dec. 27, 2021.
Prior Publication US 2023/0206476 A1, Jun. 29, 2023
Int. Cl. G06T 7/30 (2017.01); G06T 7/55 (2017.01); G06T 7/80 (2017.01)
CPC G06T 7/30 (2017.01) [G06T 7/55 (2017.01); G06T 7/80 (2017.01); G06T 2207/10016 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/20021 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An apparatus comprising:
an interface configured to receive pixel data; and
a processor configured to (i) process the pixel data arranged as video frames, (ii) decompose each of said video frames comprising a high-resolution two-dimensional (2D) image into a plurality of 2D sub-images using a decomposition offset, (iii) decompose each of said video frames comprising a high-resolution depth map image into a plurality of depth map sub-images using the decomposition offset, (iv) calculate a respective alignment matrix for each of the plurality of 2D sub-images and a corresponding one of the plurality of depth map sub-images using the decomposition offset, (v) perform matrix operations on the plurality of 2D sub-images and the plurality of depth map sub-images using the respective alignment matrices to obtain a plurality of aligned 2D sub-images and a plurality of aligned depth map sub-images, (vi) determine projection coordinates and depth values of the plurality of aligned 2D sub-images and the plurality of aligned depth map sub-images based on the high-resolution 2D image, and (vii) generate an aligned high-resolution depth map using the projection coordinates and the depth values, wherein
(a) said video frames have a pixel coordinate value greater than a number of bits supported by a floating-point operator of said processor, and
(b) a size of said plurality of 2D sub-images and said plurality of depth map sub-images is determined based on said floating-point operator of said processor.