Apparatus and method for dynamic multi-camera rectification using depth camera

An electronic device comprising:

• first and second image sensors configured to generate first and second images of a scene, respectively;
• an image depth sensor configured to generate a third image and a first depth map of the scene, the first depth map having a resolution lower than a resolution of the first and second images;
• and
• at least one processing device configured to:
• undistort the first and second images using the third image and the first depth map;
• rectify the first and second images using the third image and the first depth map;
• generate a disparity map using the first and second images which have been undistorted and rectified;
• and
• generate a second depth map using the disparity map and the first depth map, the second depth map having a resolution that is higher than the resolution of the first depth map.

A non-transitory machine-readable medium containing instructions that when executed cause at least one processor of an electronic device to:

• obtain first and second images of a scene that are captured using first and second image sensors, respectively, of the electronic device;
• obtain a third image and a first depth map of the scene that are captured using an image depth sensor of the electronic device, the first depth map having a resolution lower than a resolution of the first and second images;
• undistort the first and second images using the third image and the first depth map;
• rectify the first and second images using the third image and the first depth map;
• generate a disparity map using the first and second images which have been undistorted and rectified;
• and
• generate a second depth map using the disparity map and the first depth map, the second depth map having a resolution that is higher than the resolution of the first depth map.