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US 9,807,313 B2Granted
Method and system of increasing integer disparity accuracy for camera images with a diagonal layout
AssigneeIntel Corporation
InventorsYi Wu, Yong Jiang, Oscar Nestares, Kalpana Seshadrinathan
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Abstract
A system, article, and method of increasing integer disparity accuracy for camera images with a diagonal layout.
Claims21
A computer-implemented method of increasing integer disparity accuracy for camera images with a diagonal layout, comprising:
- obtaining image data of multiple images of the same scene having at least one diagonally arranged pair of the images including a first image and a second image;
- determining multiple corresponding potential disparity points on the second image to correspond to a first point on a first image, and wherein each potential disparity point is displaced one of a range of integer disparity values away from a position on the second image that corresponds to the location on the first image of the first point, wherein the range of integer disparity values is disposed along a diagonal epipolar line extending from the first point and the position on the second image;
- determining which disparity point of the potential disparity points corresponds to the first point depending on a matching cost of the individual potential disparity points determined by using feature values associated with multiple neighbor points near the individual potential disparity points and by using feature values associated with the first point;
- and
- determining the matching cost based on feature differences between the feature values associated with the first point on the first image and the feature values associated with the individual neighbor points comprising:
- determining a feature difference value for individual neighbor points based on the feature differences of points of the feature values in a support region on the first image and associated with the first point and support regions on the second image each associated with individual neighbor points.
3 more elements
A computer-implemented system of increasing integer disparity accuracy for camera images with a diagonal layout, comprising:
- a display;
- at least one processor communicatively coupled to the display;
- at least one memory communicatively coupled to at least one processor;
- and
- a diagonal disparity unit operated by the processor and to:
- obtain image data of multiple images of the same scene having at least one diagonally arranged pair of the images including a first image and a second image;
- determine multiple corresponding potential disparity points on the second image to correspond to a first point on a first image, and wherein each potential disparity point is displaced one of a range of integer disparity values away from a position on the second image that corresponds to the location on the first image of the first point, wherein the range of integer disparity values is disposed along a diagonal epipolar line extending from the first point and the position on the second image;
- determine which disparity point of the potential disparity points corresponds to the first point depending on a matching cost of the individual potential disparity points determined by using feature values associated with multiple neighbor points near the individual potential disparity points and by using feature values associated with the first point;
- and
- determining the matching cost based on feature differences between the feature values associated with the first point on the first image and the feature values associated with the individual neighbor points comprising:
- determining a feature difference value for individual neighbor points based on the feature differences of points of the feature values in a support region on the first image and associated with the first point and support regions on the second image each associated with individual neighbor points.
8 more elements
A non-transitory computer-readable medium having stored thereon instructions that when executed cause a computing device to:
- obtain image data of multiple images of the same scene having at least one diagonally arranged pair of the images including a first image and a second image;
- determine multiple corresponding potential disparity points on the second image to correspond to a first point on a first image, and wherein each potential disparity point is displaced one of a range of integer disparity values away from a position on the second image that corresponds to the location on the first image of the first point, wherein the range of integer disparity values is disposed along a diagonal epipolar line extending from the first point and the position on the second image;
- determine which disparity point of the potential disparity points corresponds to the first point depending on a matching cost of the individual potential disparity points determined by using feature values associated with multiple neighbor points near the individual potential disparity points and by using feature values associated with the first point;
- and
- determining the matching cost based on feature differences between the feature values associated with the first point on the first image and the feature values associated with the individual neighbor points comprising:
- determining a feature difference value for individual neighbor points based on the feature differences of points of the feature values in a support region on the first image and associated with the first point and support regions on the second image each associated with individual neighbor points.
3 more elements
Dependencies are inferred from the claim text.