SUPER-RESOLVING DEPTH MAP BY MOVING PATTERN PROJECTOR

摘要

The subject disclosure is directed towards active depth sensing based upon moving a projector or projector component to project a moving light pattern into a scene. Via the moving light pattern captured over a set of frames, e.g., by a stereo camera system, and estimating light intensity at sub-pixel locations in each stereo frame, higher resolution depth information at a sub-pixel level may be computed than is captured by the native camera resolution.

主权项

1. A method, comprising, computing a depth map having a higher resolution than a resolution of each sensor of a sensor set comprising one or more sensors, including projecting a moving pattern of light into a scene, capturing a plurality of images at different times via the sensor set, processing at least some of the images to obtain computed depth data for sub-pixels based upon which sub-pixel locations were in a path corresponding to the moving pattern of light, estimating depth data for any sub-pixels for which computed depth data is not obtained, and outputting a depth map comprising depth data for each sub-pixel.