Time-of-flight depth imaging

摘要

Techniques are provided for determining depth to objects. A depth image may be determined based on two light intensity images. This technique may compensate for differences in reflectivity of objects in the field of view. However, there may be some misalignment between pixels in the two light intensity images. An iterative process may be used to relax a requirement for an exact match between the light intensity images. The iterative process may involve modifying one of the light intensity images based on a smoothed version of a depth image that is generated from the two light intensity images. Then, new values may be determined for the depth image based on the modified image and the other light intensity image. Thus, pixel misalignment between the two light intensity images may be compensated.

主权项

1. A method, comprising:
calculating, by a depth camera system, a depth image based on a first light intensity image and a second light intensity image, the first and second light intensity images contain pixel values for the same scene; smoothing the depth image by the depth camera system; modifying the first light intensity image by the depth camera system; calculating new values for the depth image based on the modified first light intensity image and the second light intensity image by the depth camera system; repeating, by the depth camera system, the smoothing the depth image, the modifying the first light intensity image, and the calculating new values for the depth image until it is determined that processing the depth image is complete.