US 12,437,432 B2
Systems and methods for estimating depth and visibility from a reference viewpoint for pixels in a set of images captured from different viewpoints
Florian Ciurea, Campbell, CA (US); Kartik Venkataraman, San Jose, CA (US); Gabriel Molina, Grass Valley, CA (US); and Dan Lelescu, Morgan Hill, CA (US)
Assigned to Adeia Imaging LLC, San Jose, CA (US)
Filed by Adeia Imaging LLC, San Jose, CA (US)
Filed on Feb. 6, 2024, as Appl. No. 18/434,684.
Application 18/434,684 is a continuation of application No. 17/162,542, filed on Jan. 29, 2021, granted, now 12,002,233.
Application 17/162,542 is a continuation of application No. 16/537,369, filed on Aug. 9, 2019, granted, now 10,909,707, issued on Feb. 2, 2021.
Application 16/537,369 is a continuation of application No. 15/858,974, filed on Dec. 29, 2017, granted, now 10,380,752, issued on Aug. 13, 2019.
Application 15/858,974 is a continuation of application No. 14/988,680, filed on Jan. 5, 2016, granted, now 9,858,673, issued on Jan. 2, 2018.
Application 14/988,680 is a continuation of application No. 14/526,392, filed on Oct. 28, 2014, granted, now 9,235,900, issued on Jan. 12, 2016.
Application 14/526,392 is a continuation of application No. 14/329,754, filed on Jul. 11, 2014, granted, now 9,240,049, issued on Jan. 19, 2016.
Application 14/329,754 is a continuation of application No. 14/144,458, filed on Dec. 30, 2013, granted, now 8,780,113, issued on Jul. 15, 2014.
Prior Publication US 2024/0331181 A1, Oct. 3, 2024
Int. Cl. G06T 7/593 (2017.01); G02B 27/00 (2006.01); G06T 7/557 (2017.01); G06T 7/80 (2017.01); G06T 15/20 (2011.01); H04N 13/128 (2018.01); H04N 13/232 (2018.01); H04N 13/243 (2018.01); H04N 23/16 (2023.01); H04N 13/00 (2018.01)
CPC G06T 7/593 (2017.01) [G02B 27/0075 (2013.01); G06T 7/557 (2017.01); G06T 7/85 (2017.01); G06T 15/20 (2013.01); H04N 13/128 (2018.05); H04N 13/232 (2018.05); H04N 13/243 (2018.05); H04N 23/16 (2023.01); G06T 2200/21 (2013.01); G06T 2207/10012 (2013.01); G06T 2207/10024 (2013.01); G06T 2207/10052 (2013.01); H04N 2013/0081 (2013.01); H04N 2013/0088 (2013.01)] 22 Claims
OG exemplary drawing
 
1. An imaging system, comprising:
a plurality of imagers;
a processor; and
a memory containing an image processing application that configures the processing system to:
obtain a plurality of images of a scene comprising a right image and a left image from the plurality of imagers;
rectify the plurality of images;
compute disparities between pixels in the right image and pixels in the left image;
select a reference image from among the right image and the left image;
identify occluded pixels in the reference image; and
generate a confidence map for the computed disparities associated with the reference image, where the confidence map comprises a confidence metric for pixels in the reference image based on the computed disparities, and where the confidence metric for occluded pixels encodes a confidence factor indicating detection of an occlusion.