Systems and methods for estimating depth using stereo array cameras

An array camera, comprising:

• a first array camera comprising a plurality of cameras that capture images of a scene from different viewpoints;
• a second array camera comprising a plurality of cameras that capture images of a scene from different viewpoints, where the second array camera captures at least one image of a scene from a different viewpoint to the viewpoints of the cameras in the first array camera;
• a processor;
• and
• memory in communication with the processor;
• wherein software directs the processor to:
• obtain a first set of image data from the first array camera comprising image data of a scene captured from a first set of different viewpoints;
• obtain a second set of image data from the second array camera comprising image data of the same scene from a viewpoint different from the first set of viewpoints;
• identifying an object of interest in the first and second sets of image data;
• and
• determining a depth measurement for the object of interest using at least a portion of the first set of image data;
• and
• determining whether the depth measurement for the object of interest using at least a portion of the first set of image data corresponds to an observed disparity below a threshold;
• and
• when the depth measurement corresponds to an observed disparity below the threshold, refining the depth measurement using at least a portion of the second set of image data.