Multi-image color refinement with application to disparity estimation

An electronic device, comprising:

• a first lens assembly;
• a second lens assembly;
• a memory operatively coupled to the first and second lens assemblies;
• one or more processors operatively coupled to the first and second lens assemblies and the memory, the one or more processors configured to execute instructions stored in the memory to cause the one or more processors to:
• obtain first and second input images of a scene, each input image comprising pixels, each pixel comprising a color value, each pixel in the first input image having a corresponding pixel in the second input image, wherein the first and second input images are captured at substantially the same time;
• find a disparity map between the first and second input images;
• register the first and second input images based on the disparity map;
• adjust one or more pixel color values in the first input image, based on corresponding pixel color values in the second input image, to generate a color-refined image, each pixel in the color-refined image having a corresponding pixel in the second input image;
• repeat a combination of finding, registering, and adjusting a plurality of additional times using the color-refined image and the second input image as the first and second input images respectively, wherein—
• each of the additional times results in a new disparity map and a new color-refined image, and
• each successive repetition of the combination of finding, registering, and adjusting uses the new color-refined image and the second input image as the first and second input images respectively;
• and
• store, in the memory, at least one of the new disparity map and the new color-refined image resulting from the repetition of the combination of finding, registering, and adjusting the plurality of additional times,
• wherein the repetition of the combination of finding, registering, and adjusting is terminated when a specified threshold value has been met.

A non-transitory program storage device comprising instructions stored thereon to cause one or more processors to:

• obtain first and second input images of a scene, each input image comprising pixels, each pixel comprising a color value, each pixel in the first input image having a corresponding pixel in the second input image, wherein the first and second input images are captured at substantially the same time;
• find a disparity map between the first and second input images;
• register the first and second input images based on the disparity map;
• adjust one or more pixel color values in the first input image, based on corresponding pixel color values in the second input image, to generate a color-refined image, each pixel in the color-refined image having a corresponding pixel in the second input image;
• repeat a combination of finding, registering, and adjusting a plurality of additional times using the color-refined image and the second input image as the first and second input images respectively, wherein—
• each of the additional times result in a new disparity map and a new color-refined image, and
• each successive repetition of the combination of finding, registering, and adjusting uses the new color-refined image and the second input image as the first and second input images respectively;
• and
• store, in a memory, at least one of the new disparity map and the new color-refined image resulting from the repetition of the combination of finding, registering, and adjusting the plurality of additional times,
• wherein the repetition of the combination of finding, registering, and adjusting is terminated when a specified threshold value has been met.