US 12,423,849 B2
Systems and methods for hybrid depth regularization
Ankit Jain, Mountain View, CA (US); Priyam Chatterjee, Sunnyvale, CA (US); and Kartik Venkataraman, San Jose, CA (US)
Assigned to Adeia Imaging LLC, San Jose, CA (US)
Filed by Adeia Imaging LLC, San Jose, CA (US)
Filed on Apr. 10, 2024, as Appl. No. 18/632,171.
Application 18/632,171 is a continuation of application No. 18/153,856, filed on Jan. 12, 2023, granted, now 11,983,893.
Application 18/153,856 is a continuation of application No. 17/078,732, filed on Oct. 23, 2020, granted, now 11,562,498, issued on Jan. 24, 2023.
Application 17/078,732 is a continuation of application No. 16/685,881, filed on Nov. 15, 2019, granted, now 10,818,026, issued on Oct. 27, 2020.
Application 16/685,881 is a continuation of application No. 15/682,295, filed on Aug. 21, 2017, granted, now 10,482,618, issued on Nov. 19, 2019.
Prior Publication US 2024/0346675 A1, Oct. 17, 2024
Int. Cl. G06T 7/593 (2017.01); G06T 5/30 (2006.01); G06T 5/50 (2006.01); G06T 7/11 (2017.01); G06T 7/13 (2017.01); G06T 7/136 (2017.01); G06T 7/194 (2017.01); G06T 7/44 (2017.01)
CPC G06T 7/593 (2017.01) [G06T 5/30 (2013.01); G06T 5/50 (2013.01); G06T 7/11 (2017.01); G06T 7/13 (2017.01); G06T 7/136 (2017.01); G06T 7/194 (2017.01); G06T 7/44 (2017.01); G06T 2200/04 (2013.01); G06T 2207/10012 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/20028 (2013.01); G06T 2207/20032 (2013.01); G06T 2207/20036 (2013.01); G06T 2207/20192 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A depth sensing system, comprising:
a plurality of cameras;
a processor;
a memory containing an image processing application;
wherein the image processing application directs the processor to:
obtain image data for a plurality of images from multiple viewpoints using the plurality of cameras, wherein the image data for the plurality of images comprises a reference image and at least one alternate view image;
identify flat regions in the reference image;
generate initial depth estimates for pixels within the flat regions using the image data for the reference image and the image data for the at least one alternate view image using semi-global matching;
generate a confidence map describing reliability of the generated depth estimates; and
generate a regularized depth map by:
generating secondary depth estimates for pixels using the confidence map; and
computing a composite depth map based upon the initial depth estimates and the secondary depth estimates.