Method and apparatus for enhancing the dynamic range of stereo vision system
AssigneeTRW Automotive U.S. LLC
InventorsJon Wallace, Yun Luo
Life of this patent
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Abstract
Systems and methods are provided for producing a stereo disparity map representing an imaged subject. A plurality of sensors (102 and 104) are operative to produce a plurality of images. Each image has an associated exposure according to an exposure level of an associated sensor. A system control (106) determines exposure levels for the plurality of sensors according to an exposure selection algorithm. A disparity processing component (112) is operative to generate a stereo disparity map from a plurality of images. An image merger (110) is operative to merge a plurality of images to produce a composite image having an increased dynamic range.
Claims20
A system for producing a stereo disparity map representing an imaged subject, the system comprising:
- a plurality of sensors operative to produce a plurality of images, each image having an associated exposure according to an exposure level of an associated sensor;
- a system control that determines exposure levels for the plurality of sensors according to an exposure selection algorithm;
- a disparity processing component that is operative to generate a stereo disparity map from a plurality of images;
- and
- an image merger that is operative to merge a plurality of images to produce a composite image having an increased dynamic range.
A method for producing a stereo disparity map having an enhanced dynamic range, comprising:
- determining a first exposure level for a first image set according to an exposure selection algorithm;
- generating the first image set at the determined first exposure level;
- generating a first stereo disparity map from the first image set, the first stereo disparity map having an associated dynamic range;
- determining a second exposure level for a second image set according to the exposure selection algorithm;
- generating the second image set at the determined second exposure level;
- generating a second stereo disparity map from the second image set, the second stereo disparity map having an associated dynamic range;
- and
- merging the first stereo disparity map and the second stereo disparity map as to produce a composite stereo disparity map having an effective dynamic range greater than either of the associated dynamic ranges of the first disparity map and the second disparity map.
A method for generating a stereo disparity map having an enhanced dynamic range, comprising:
- determining a desired exposure level for each of a plurality of images, the plurality of images including a first set of images and a second set of images;
- generating each of the plurality of images at the desired level of exposure;
- merging the first set of images to produce a first composite image;
- merging the second set of images to produce a second composite image;
- and
- generating a stereo disparity map from the first composite image and the second composite image.
Dependencies are inferred from the claim text.