Systems and Methods for Estimating Depth Using Ad Hoc Stereo Array Cameras

摘要

Systems and methods for stereo imaging with camera arrays in accordance with embodiments of the invention are disclosed. In one embodiment, a method of generating depth information for an object using two or more array cameras that each include a plurality of imagers includes obtaining a first set of image data captured from a first set of viewpoints, identifying an object in the first set of image data, determining a first depth measurement, determining whether the first depth measurement is above a threshold, and when the depth is above the threshold: obtaining a second set of image data of the same scene from a second set of viewpoints located known distances from one viewpoint in the first set of viewpoints, identifying the object in the second set of image data, and determining a second depth measurement using the first set of image data and the second set of image data.

主权项

1. An array camera, comprising:
a camera array comprising a plurality of cameras that capture images of a scene from different viewpoints; a gyroscope and accelerometers; a processor; and memory in communication with the processor; wherein software directs the processor to:
obtain a first set of images captured from different viewpoints at a first time using the camera array;obtain a second set of images captured from different viewpoints at a second time using the camera array;estimate extrinsic parameters for the camera array at the first time and at the second time based upon a combination of matching features in the first and second set of images and information from the gyroscope and accelerometers;select a reference viewpoint;determine depth estimates for pixel locations in an image from the reference viewpoint using the first set of images, wherein generating a depth estimate for a given pixel location in the image from the reference viewpoint comprises:
identifying pixels in the first set of images that correspond to the given pixel location in the image from the reference viewpoint based upon expected disparity at a plurality of depths;comparing the similarity of the corresponding pixels identified at each of the plurality of depths; andselecting the depth from the plurality of depths at which the identified corresponding pixels have the highest degree of similarity as a depth estimate for the given pixel location in the image from the reference viewpoint;determine whether a depth estimate for pixel locations in an image from the reference viewpoint determined using the first set of images corresponds to an observed disparity below a threshold; andwhen the depth estimate corresponds to an observed disparity is below the threshold, refining the depth estimate using images in the second set of images.