Apparatus and method for disparity map generation
AssigneeEdge 3 Technologies, Inc.
InventorsTarek El Dokor, Jordan Cluster, Joshua King, James Edward Holmes
Life of this patent
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Abstract
A method and system for generating a disparity map. The method comprises the steps of generating a first disparity map based upon a first image and a second image acquired at a first time, acquiring at least a third image and a fourth image at a second time, and determining one or more portions comprising a difference between one of the first and second images and a corresponding one of the third and fourth images. A disparity map update is generated for the one or more determined portions, and a disparity map is generated based upon the third image and the fourth image by combining the disparity map update and the first disparity map.
Claims14
A method for generating a disparity map, comprising the steps of:
- generating a first disparity map for images acquired at a first time;
- determining one or more objects or portions of objects that change position between the images acquired at the first time and images acquired at a second time;
- generating disparity map update segments corresponding to the objects or portions of objects, wherein a determination of disparity between the images acquired at the second time is performed only on portions thereof that have changed from one or more of the images acquired at the first time;
- and
- combining the first disparity map and the disparity map update segments.
A system for generating a disparity map, comprising the steps of:
- a stereo camera for acquiring a first image and a second image at a first time and a third image and a fourth image at a second time;
- a processor for generating a first disparity map based upon the first image and the second image acquired at the first time, determining one or more portions comprising a difference between one of the first and second images and a corresponding one of the third and fourth images, generating a disparity map update for the one or more determined portions, wherein a determination of disparity between the third image and the fourth image acquired at the second time is performed only on portions thereof that have changed from the first and second images acquired at the first time, and generating a disparity map by combining the disparity map update and the first disparity map.
A computer program stored on a non-transient storage medium, the computer program, when implemented in accordance with a processor, causes the processor to perform the steps of:
- generating a first disparity map based upon a first image and a second image acquired at a first time;
- acquiring at least a third image and a fourth image at a second time;
- determining one or more portions comprising a difference between one of the first and second images and a corresponding one of the third and fourth images;
- generating a disparity map update for the one or more determined portions, wherein a determination of disparity between the third and fourth images acquired at the second time is performed only on portions thereof that have changed from the first and second images acquired at the first time;
- and
- generating a disparity map based upon the third image and the fourth image by combining the disparity map update and the first disparity map.
A computer program stored on a non-transient storage medium, the computer program, when implemented in accordance with a processor, causes the processor to perform the steps of:
- generating a first disparity map for images acquired at a first time;
- determining one or more objects that change position between the images acquired at the first time and images acquired at a second time;
- generating disparity map update segments corresponding to the determined one or more objects, wherein a determination of disparity between the images acquired at the second time is performed only on portions thereof that have changed from the images acquired at the first time;
- and
- combining the first disparity map and the disparity map update segments.
Dependencies are inferred from the claim text.