Combination of stereo and structured-light processing

摘要

Methods and systems for determining depth information using a combination of stereo and structured-light processing are provided. An example method involves receiving a plurality of images captured with at least two optical sensors, and determining a first depth estimate for at least one surface based on corresponding features between a first image and a second image. Further, the method involves causing a texture projector to project a known texture pattern, and determining, based on the first depth estimate, at least one region of at least one image of the plurality of images within which to search for a particular portion of the known texture pattern. And the method involves determining points corresponding to the particular portion of the known texture pattern within the at least one region, and determining a second depth estimate for the at least one surface based on the determined points corresponding to the known texture pattern.

主权项

1. A method comprising:
causing, by a computing device, a texture projector to project a known texture pattern onto an environment; receiving, by the computing device, a plurality of images captured with at least two optical sensors, wherein the plurality of images comprises a first image of the environment as perceived from a first viewpoint of a first optical sensor and a second image of the environment as perceived from a second viewpoint of a second optical sensor; determining, by the computing device, a first depth estimate for at least one surface in the environment based on corresponding features between the first image and the second image; determining, by the computing device and based on the first depth estimate, at least one region of at least one image of the plurality of images within which to search for a particular portion of the known texture pattern, wherein the at least one image is indicative of the environment and the known texture pattern projected onto the environment; determining, by the computing device, points corresponding to the particular portion of the known texture pattern within the at least one region of the at least one image; and determining, by the computing device, a second depth estimate for the at least one surface in the environment based on the determined points corresponding to the particular portion of the known texture pattern within the at least one region of the at least one image.