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1. 发明授权

US09159135B2 Systems, methods, and computer program products for low-latency warping of a depth map 有权
标题翻译：用于深度图低延迟翘曲的系统，方法和计算机程序产品
公开(公告)号：US09159135B2
公开(公告)日：2015-10-13
申请号：US13995736
申请日：2013-03-15
申请人： Intel Corporation
发明人： Etienne G. Grossmann , John I. Woodfill , Gaile Gordon
IPC分类号： G06K9/00 , G06T7/00 , G06T3/00
CPC分类号： G06T7/0051 , G06T3/0093
摘要： Methods, systems, and computer program products to warp a depth map into alignment with an image, where the image sensor (e.g., camera) responsible for the image and depth sensor responsible for an original depth map are separated in space. In an embodiment, the warping of the depth map may be started before the original depth map has been completely read. Moreover, data from the warped depth map may be made available to an application before the entire warped depth map has been completely generated. Such a method and system may improve the speed of the overall process and/or reduce memory requirements.
摘要翻译：方法，系统和计算机程序产品，以将深度图变形成与图像对准，其中负责对原始深度图的图像和深度传感器负责的图像传感器（例如，相机）在空间中分离。在一个实施例中，深度图的翘曲可以在原始深度图已被完全读取之前开始。此外，在整个翘曲深度图已经完全生成之前，可以向应用提供来自翘曲深度图的数据。这种方法和系统可以提高整个过程的速度和/或减少存储器要求。

2. 发明申请

US20140125771A1 SYSTEMS, METHODS, AND COMPUTER PROGRAM PRODUCTS FOR RUNTIME ADJUSTMENT OF IMAGE WARPING PARAMETERS IN A MULTI-CAMERA SYSTEM 有权
标题翻译：系统，方法和计算机程序产品用于多摄像机系统中图像修正参数的运行调整
公开(公告)号：US20140125771A1
公开(公告)日：2014-05-08
申请号：US13995861
申请日：2013-03-29
申请人： INTEL CORPORATION
发明人： Etienne G. Grossmann , Gaile Gordon , John I. Woodfill
IPC分类号： H04N13/02
CPC分类号： H04N13/246 , G06T5/006 , G06T7/85 , G06T2207/10012 , G06T2207/10021
摘要： Methods, systems, and computer program products for determining, without interrupting a video processing pipeline, whether currently used warping parameters are appropriate for a multi-camera system. New warping parameters may be determined, where these parameters cause the images rectified with these new parameters to have the desired geometric properties. This determination may be made without interrupting the video processing pipeline. Warping parameters may be determined, for example, such that the epipolar lines of the two cameras are horizontal and properly aligned, as defined below, and the metric 3D position of a point observed by both cameras can be determined and is accurate.
摘要翻译：用于在不中断视频处理流水线的情况下确定当前使用的翘曲参数是否适用于多摄像机系统的方法，系统和计算机程序产品。可以确定新的翘曲参数，其中这些参数导致用这些新参数校正的图像具有期望的几何性质。可以在不中断视频处理流水线的情况下进行该确定。例如，可以确定翘曲参数，使得两个照相机的核线是水平的并且如下定义的正确对准，并且可以确定两个照相机观察到的点的度量3D位置并且是准确的。

3. 发明授权

US09183461B2 Systems and methods for row causal scan-order optimization stereo matching 有权
标题翻译：行因果扫描顺序优化立体匹配的系统和方法
公开(公告)号：US09183461B2
公开(公告)日：2015-11-10
申请号：US13976794
申请日：2013-05-09
申请人： Intel Corporation
发明人： John I. Woodfill , Etienne G. Grossmann , Gaile Gordon
IPC分类号： G06K9/62 , G06T7/00 , G06K9/00 , H04N13/02 , G06T1/20 , H04N13/00
CPC分类号： G06K9/6202 , G06K9/00201 , G06T1/20 , G06T7/579 , G06T7/593 , H04N13/204 , H04N2013/0081
摘要： Systems and methods to determine a disparity map using row causal scanline optimization stereo matching are presented. A method includes, for each corresponding pixel P between a pair of input stereo images, and for each considered disparity, determining a basic match cost and a match cost for each of a set of given orientations including an east orientation and one or more other orientations, determining an overall match cost for each pixel at each considered disparity based on a sum of the determined match costs for all considered orientations for each pixel and disparity pair, and determining a resulting disparity for each pixel based on a minimum of the determined overall match costs, where a subset of the determined resulting disparities becomes available prior to completion of the input images being read in, and where the resulting disparities for all pixels are determined in a single pass through the input images.
摘要翻译：介绍了使用行因果扫描线优化立体匹配来确定视差图的系统和方法。一种方法包括对于一对输入立体图像之间的每个对应像素P以及针对每个所考虑的视差的方法，确定一组给定取向中的每一个的基本匹配成本和匹配成本，所述给定取向包括东方向和一个或多个其它取向基于所确定的针对每个像素和视差对的所有考虑的取向的匹配成本的总和，确定每个所考虑的视差处的每个像素的总体匹配成本，以及基于所确定的总体匹配的最小值来确定所得到的每个像素的视差成本，其中所确定的所得差异的子集在读入输入图像的完成之前变得可用，并且其中在单次通过输入图像中确定所得到的所有像素的所得差异。

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