Apparatus and method for depth unfolding based on multiple depth images

An apparatus for unfolding a depth image, the apparatus comprising:

• a processor to control one or more processor-executable units:
• an input unit to receive inputted multiple depth images and amplitude images with respect to a same scene, the multiple depth images and amplitude images being photographed while changing a location of a photographing device;
• a location and direction estimator to generate multiple corrected amplitude images based on the multiple depth images and amplitude images, and to estimate, based on similar 3D feature points located in the multiple corrected amplitude images, a location and direction of the photographing device corresponding to the multiple corrected amplitude images;
• a depth fold estimator to estimate a number of depth folds based on a distance between a 3D point of a pixel generated based on the estimated location and direction of the photographing device and a 3D point of a pixel for which the number of depth folds is to be estimated;
• and
• an output unit to output the multiple depth images from which depth folds are removed based on the estimated number of depth folds.

A method of unfolding a depth image, the method comprising:

• receiving inputted multiple depth images with respect to a same scene, each of the multiple depth images being photographed based on different modulation frequencies of a fixed photographing device;
• estimating a number of depth folds based on a distance between multiple 3D points of multiple pixels indicating the same location of the scene in the multiple depth images;
• and
• outputting, by way of a processor, the multiple depth images from which one or more depth folds have been removed based on the estimated number of depth folds,
• wherein each of the multiple depth images being photographed comprises a different maximum depth value as measured by the fixed photographing device.

A method of unfolding a depth image, the method comprising:

• receiving inputted multiple depth images and amplitude images with respect to a same scene, and the multiple depth images and amplitude images are photographed while changing a location of a photographing device;
• generating multiple corrected amplitude images based on the multiple depth images and amplitude images, and estimating, based on similar 3D feature points located in the multiple corrected amplitude images, a location and direction of the photographing device corresponding to the multiple corrected amplitude images;
• estimating a number of depth folds based on a distance between a 3D point of a pixel generated based on the estimated location and direction of the photographing device and a 3D point of a pixel for which the number of depth folds is to be estimated;
• and
• outputting, by way of a processor, the multiple depth images from which depth folds are removed based on the estimated number of depth folds.

An apparatus for unfolding a depth image using multiple depth images of a particular scene where each depth image of the scene is photographed using a different camera modulation frequency, the apparatus comprising:

• a processor to control one or more processor-executable units:
• a depth fold estimating unit to estimate a number of depth folds based on a distance between multiple three-dimensional (3D) points of multiple pixels indicating an identical location of the scene in the multiple depth images;
• and
• an output unit to output multiple depth images from which depth folds have been removed based on the estimated number of depth folds,
• wherein each depth image of the scene being photographed comprises a different maximum depth value as measured by the camera.