Object reconstruction in disparity maps using displaced shadow outlines

A method of reconstructing an object boundary in a disparity map, comprising:

• projecting codewords with an image projecting device;
• sensing the projected codewords reflected from an object with a receiver device including a sensor;
• generating a disparity map of the object;
• storing the disparity map with a memory device;
• detecting a first boundary of the object in the disparity map;
• identifying a shadow region in the disparity map adjoining the first boundary, the shadow region including pixels with codeword outages;
• determining a boundary of the shadow region;
• determining a width of the shadow region;
• and
• changing a shape of the object in the disparity map.

A structured light system, comprising:

• means for projecting codewords;
• means for sensing the projected codewords reflected from an object;
• means for generating a disparity map of the object;
• means for storing the disparity map;
• means for detecting a first boundary of the object in the disparity map;
• means for identifying a shadow region in the disparity map adjoining the first boundary, the shadow region including pixels with codeword outages;
• means for determining a boundary of the shadow region;
• means for determining a width of the shadow region and
• means for changing a shape of the object in the disparity map.

A non-transitory computer-readable medium storing instructions that when executed cause a processor to perform a method of reconstructing an object boundary in a disparity map, the method comprising:

• projecting codewords with an image projecting device;
• sensing the projected codewords reflected from an object with a receiver device including a sensor;
• generating a disparity map of the object;
• storing the disparity map with a memory device;
• detecting a first boundary of the object in the disparity map;
• identifying a shadow region in the disparity map adjoining the first boundary, the shadow region including pixels with codeword outages;
• determining a boundary of the shadow region;
• determining a width of the shadow region;
• and
• changing a shape of the object in the disparity map.