# US 10,771,757 B2 · Method and appartus for stereoscopic focus control of stereo camera > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,771,757 B2 - Document ID: US10771757B2 - Status: Granted - Kind: B2 - Application number: 15/902,436 - Filed: 2018-02-22 - Published: 2018-06-28 - Granted: 2020-09-08 - Earliest claimed: 2012-12-10 - Assignees: Mediatek Inc. - Applicants: Mediatek Inc. - Inventors: Chia-Ming Cheng - Web page: https://patentgrep.com/patent/US10771757B2 ## CPC - H04N 13/106: Processing image signals (for multi-view video sequence encoding H04N19/597) - G06V 10/255: {Detecting or recognising potential candidate objects based on visual cues, e.g. shapes} - H04N 13/204: using stereoscopic image cameras (stereoscopic photography G03B35/00) - H04N 13/239: using two two-dimensional [2D] image sensors having a relative position equal to or related to the interocular distance (H04N13/243 takes precedence) - H04N 13/296: Synchronisation thereof; Control thereof - H04N 23/611: where the recognised objects include parts of the human body - H04N 23/673: {based on contrast or high frequency components of image signals, e.g. hill climbing method} - H04N 2013/0081: {Depth or disparity estimation from stereoscopic image signals} - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract A stereoscopic control method includes: establishing a specific mapping relation between a specific disparity value and a specific set of a first focal setting value of a first sensor of a stereo camera and a second focal setting value of a second sensor of the stereo camera; and controlling stereoscopic focus of the stereo camera according to the specific mapping relation. Besides, a stereoscopic control apparatus includes a mapping unit and a focus control unit. The mapping unit is arranged for establishing at least a specific mapping relation between a specific disparity value and a specific set of a first focal setting value of a first sensor of a stereo camera and a second focal setting value of a second sensor of the stereo camera. The focus control unit is arranged for controlling stereoscopic focus of the stereo camera according to the specific mapping relation. ## Claims ### Claim 1 A control apparatus for controlling a camera, the control apparatus comprising: processing circuitry configured to: receive sets of images generated by the camera with corresponding focal setting values, each set of images including a first image and a second image, and each focal setting value including a value for controlling focus of the camera when the corresponding image is taken; establish a mapping relation that associates a disparity value with at least one focal setting value that are paired based on analyzing disparity values of the sets of images and the corresponding focal setting values; and control the focus of the camera according to the established mapping relation. ### Claim 2 (depends on 1) The control apparatus of claim 1, wherein the processing circuitry is configured to: determine an object of interest according to the first image and the second image of a particular set of images and determining a disparity value of the particular set of images corresponding to the object of interest in the first image and the second image; and establish the mapping relation based on the disparity value of the particular set of images and a corresponding focal setting value for controlling focus of the camera when the particular set of images is taken. ### Claim 3 (depends on 2) The control apparatus of claim 2, wherein the processing circuitry is configured to: perform a focus scan operation for determining a lens position index corresponding to an optimal focus value of the camera at a region of interest in the image, where the region of interest corresponds to the object of interest; determine the corresponding focal setting value based on the lens position index; and determine the disparity value of the object of interest in the first image and the second image. ### Claim 4 (depends on 1) The control apparatus of claim 1, wherein the processing circuitry is configured to: perform an active learning process to learn the mapping relation by referring to the disparity values and the focal setting values of the sets of images. ### Claim 5 (depends on 1) The control apparatus of claim 1, wherein the processing circuitry is configured to: receive another set of images generated by the camera, the another set of images including a third image and a fourth image; determine a target disparity value of a target object of interest according to the third image and the fourth image; and determine a target focal setting value for controlling focus of the camera based on the target disparity value and the mapping relation. ### Claim 6 (depends on 5) The control apparatus of claim 5, wherein the processing circuitry is configured to: receive a user input that indicates a target focus region in the another set of images; and determine the target disparity value corresponding to the target focus region. ### Claim 7 (depends on 5) The control apparatus of claim 5, wherein the processing circuitry is configured to: perform auto-convergence for a stereoscopic display of the third image and the fourth image according to an auto-convergence setting corresponding to the target object of interest, wherein the auto-convergence determines disparity information is performed by referring to autofocus sharpness statistics of the third image and the fourth image. ### Claim 8 A method of controlling a camera, comprising: receiving sets of images generated by the camera with corresponding focal setting values, each set of images including a first image and a second image, and each focal setting value including a value for controlling focus of the camera when the corresponding image is taken; establishing a mapping relation that associates a disparity value with at least one focal setting value that are paired based on analyzing disparity values of the sets of images and the corresponding focal setting values; and controlling the focus of the camera according to the established mapping relation. ### Claim 9 (depends on 8) The method of claim 8, wherein the establishing the mapping relation comprises: performing an active learning process to learn the mapping relation by referring to the disparity values and the focal setting values of the sets of images. ### Claim 10 (depends on 8) The method of claim 8, wherein the controlling the focus of the camera comprises: receiving another set of images generated by the camera, the another set of images including a third image and a fourth image; determining a target disparity value of a target object of interest according to the third image and the fourth image; and determining a target focal setting value for controlling focus of the camera based on the target disparity value and the mapping relation. ### Claim 11 A control apparatus for controlling focus for a plurality of sensors, the control apparatus comprising: processing circuitry configured to: receive sets of images generated by the plurality of sensors with corresponding sets of focal setting values, each set of images including a first image taken by a first sensor and a second image taken by a second sensor, and each set of focal setting values including a first focal setting value for controlling the focus for the first sensor when a corresponding first image is taken and a second focal setting value for controlling the focus for the second sensor when a corresponding second image is taken; establish a mapping relation that associates a disparity value with a set of focal setting values that are paired based on analyzing disparity values of the sets of images and the corresponding sets of focal setting values; and control the focus for the plurality of sensors according to the established mapping relation. ### Claim 12 (depends on 11) The control apparatus of claim 11, wherein the processing circuitry is configured to: determine an object of interest according to the first image and the second image and determining the disparity value corresponding to the object of interest in the first image and the second image; and establish the mapping relation based on the disparity value corresponding to the object of interest in the first image and the second image and the set of focal setting values for controlling the focus for the plurality of sensors when the images are taken. ### Claim 13 (depends on 11) The control apparatus of claim 11, wherein the processing circuitry is configured to: perform a first focus scan operation for determining a first lens position index corresponding to a first optimal focus value for the first sensor at a first region of interest in the first image, where the first region of interest corresponds to the object of interest; determine the first focal setting value based on the first lens position index; perform a second focus scan operation for determining a second lens position index corresponding to a second optimal focus value for the second sensor at a second region of interest in the second image, where the second region of interest corresponds to the object of interest; determine the second focal setting value based on the second lens position index; and determine the disparity value of the object of interest in the first image and the second image. ### Claim 14 (depends on 11) The control apparatus of claim 11, wherein the processing circuitry is configured to: perform an active learning process to learn the mapping relation by referring to the disparity value and the set of focal setting values of the images. ### Claim 15 (depends on 11) The control apparatus of claim 11, wherein the processing circuitry is configured to: receive a third image generated by the first sensor and a fourth image generated by the second sensor; determine a target disparity value of a target object of interest according to the third image and the fourth image; and determine a set of target focal setting values for controlling focus of the sensors based on the target disparity value and the mapping relation. ### Claim 16 (depends on 15) The control apparatus of claim 15, wherein the processing circuitry is configured to: receive a user input that indicates a target focus region in the third image or the fourth image; and determine the target disparity value corresponding to the target focus region. ### Claim 17 (depends on 15) The control apparatus of claim 15, wherein the processing circuitry is configured to: perform auto-convergence for a stereoscopic display of the third image and the fourth image according to an auto-convergence setting corresponding to the target object of interest, wherein the auto-convergence determines disparity information is performed by referring to autofocus sharpness statistics of the third image and the fourth image. ### Claim 18 A method of controlling focus for a plurality of sensors, comprising: receiving sets of images generated by the plurality of sensors with corresponding sets of focal setting values, each set of images including a first image taken by a first sensor and a second image taken by a second sensor, and each set of focal setting values including a first focal setting value for controlling the focus for the first sensor when a corresponding first image is taken and a second focal setting value for controlling the focus for the second sensor when a corresponding second image is taken; establishing a mapping relation that associates a disparity value with a set of focal setting values that are paired based on analyzing disparity values of the sets of images and the corresponding sets of focal setting values; and controlling the focus for the plurality of sensors according to the established mapping relation. ### Claim 19 (depends on 18) The method of claim 18, wherein the establishing the mapping relation comprises: performing an active learning process to learn the mapping relation by referring to the disparity value and the set of focal setting values of the images. ### Claim 20 (depends on 18) The method of claim 18, wherein the controlling the focus of the sensors comprises: receiving a third image generated by the first sensor and a fourth image generated by the second sensor; determining a target disparity value of a target object of interest according to the third image and the fourth image; and determining a set of target focal setting values for controlling focus of the sensors based on the target disparity value and the mapping relation.