Memory-efficient coded light error correction

摘要

Systems and methods for correcting errors in a depth map generated by a structured light system are disclosed. In one aspect, a method includes receiving valid and invalid codewords, the valid spatial codewords included in a codebook. The method includes detecting the invalid codeword. The method includes retrieving a set of candidate valid codewords a lowest Hamming distance between the invalid codeword and the valid codewords in the codebook. The method includes estimating a median depth of neighboring locations of the invalid codeword. The method includes associating a depth with each candidate codeword and selecting the candidate with an associated depth closest to the depth estimate. The method includes assigning the depth associated with the selected candidate codeword to the location of the invalid codeword.

主权项

1. A method for correcting errors in a depth map generated by a structured light system, the method comprising:
receiving a plurality of valid codewords and at least one invalid codeword, each of the plurality of valid codewords included in a codebook of valid codewords, the codebook not including the at least one invalid codeword, each codeword representing at least one row and at least one column of pixels of a structured light image, and each codeword corresponding to a location in a depth map; detecting the invalid codeword; retrieving, from a memory unit, a set of candidate codewords that are included in the codebook, each candidate codeword a first Hamming distance from the invalid codeword, the first Hamming distance being a lowest Hamming distance between the at least one invalid codeword and the codewords in the codebook; determining a depth estimate for a plurality of locations of the depth map that include at least one location adjacent to the invalid codeword location in the depth map; associating a depth with each of the candidate codewords; selecting the candidate codeword having an associated depth closest to the determined depth estimate; and assigning the depth associated with the selected candidate codeword to the location of the invalid codeword.