Multi-channel depth estimation using census transforms

A non-transitory computer-readable storage medium storing instructions that, when executed by a processor, cause the processor to perform steps of:

• capturing, via a first camera, a first image that includes a plurality of light channels;
• capturing, via a second camera, a second image that includes the plurality of light channels;
• selecting a scan direction from a plurality of scan directions in association with the first image and the second image;
• along each of a plurality of scanlines in the selected scan direction, comparing pixels from the first image to pixels from the second image based on calculating a census transform for each pixel in the first image and a census transform for each pixel in the second image;
• determining a stereo correspondence between the pixels in the first image and the pixels in the second image based on the comparing;
• and
• generating a depth map based on the stereo correspondence.

A depth estimation system comprising:

• a first camera configured to capture images in a plurality of light channels;
• a second camera configured to capture images in the plurality of light channels;
• and
• a controller configured to perform operations comprising:
• selecting a scan direction from a plurality of scan directions in association with a first image captured by the first camera and a second image captured by the second camera;
• along each of a plurality of scanlines in the selected scan direction, comparing pixels from the first image to pixels from the second image based on calculating a census transform for each pixel in the first image and a census transform for each pixel in the second image;
• determining a stereo correspondence between the pixels in the first image and the pixels in the second image based on the comparing;
• and
• generating a depth map based on the stereo correspondence