Generating a depth map

摘要

Methods and systems for generating a depth map are provided. The method includes projecting an infrared (IR) dot pattern onto a scene. The method also includes capturing stereo images from each of two or more synchronized IR cameras, detecting a number of dots within the stereo images, computing a number of feature descriptors for the dots in the stereo images, and computing a disparity map between the stereo images. The method further includes generating a depth map for the scene using the disparity map.

主权项

1. A method performed at least in part by a hardware processor, the method comprising:
projecting a random infrared dot pattern onto a scene; genlocking a first infrared camera and a second infrared camera; capturing a first infrared image of the random infrared dot pattern using the first infrared camera and a second infrared image of the random infrared dot pattern using the second infrared camera, wherein the genlocking causes the first infrared image to be temporally coherent with the second infrared image; detecting a first plurality of first dots within the first infrared image captured using the first infrared camera; detecting a second plurality of second dots within the second infrared image captured using the second infrared camera; computing a first feature descriptor for an individual first dot in the first infrared image based on a corresponding first location of a neighboring first dot in the first infrared image that neighbors the individual first dot in the first infrared image; computing a second feature descriptor for an individual second dot in the second infrared image based on a corresponding second location of a neighboring second dot in the second infrared image that neighbors the individual second dot in the second infrared image; matching the individual first dot to the individual second dot based on similarity of the first feature descriptor to the second feature descriptor; computing a disparity map reflecting pixel shifts across matched dots of the first infrared image and the second infrared image, the matched dots including the individual first dot and the individual second dot; and generating a depth map for the scene using the disparity map.