CPC G01B 11/2513 (2013.01) [G01B 11/22 (2013.01); G02B 27/0172 (2013.01); G06T 7/11 (2017.01); G06T 7/174 (2017.01); G06T 7/521 (2017.01); G06T 7/529 (2017.01); G06T 7/55 (2017.01); G06T 7/593 (2017.01); G06T 7/90 (2017.01); G06T 7/97 (2017.01); G06V 10/145 (2022.01); G06V 10/22 (2022.01); H04N 13/106 (2018.05); H04N 13/128 (2018.05); H04N 13/204 (2018.05); H04N 13/239 (2018.05); H04N 13/271 (2018.05); H04N 23/56 (2023.01); G02B 2027/014 (2013.01); G02B 2027/0138 (2013.01); G02B 2027/0178 (2013.01); G06T 2207/10028 (2013.01); H04N 2013/0081 (2013.01)] | 20 Claims |
1. A method comprising:
capturing, via a first camera, a first image that includes a plurality of light channels;
capturing, via a second camera, a second image that includes the plurality of light channels;
selecting a scan direction from a plurality of scan directions in association with the first image and the second image;
along each of a plurality of scanlines in the selected scan direction, comparing pixels from the first image to pixels from the second image based on calculating a census transform for each pixel in the first image and a census transform for each pixel in the second image;
determining a stereo correspondence between the pixels in the first image and the pixels in the second image based on the comparing; and
generating a depth map based on the stereo correspondence.
|