Generating categorical depth maps using passive defocus sensing

Details Generating categorical depth maps using passive defocus sensing Generating categorical depth maps using passive defocus sensing

1995-12-29

1998-08-11

Boudreau, Leo H.

Image analysis

Image enhancement or restoration

Image filter

348139, 348348, 348355, 356 2, 356376, 382106, 382107, 382153, 382154, 382255, 382262, G06K 900, G06K 940

Patent

active

057939004

ABSTRACT:
A method is disclosed for generating a categorical depth map of a scene using passive defocus sensing. In a preferred embodiment three synchronized CCD cameras focused at different distances detect three images of the same scene. An image processor partitions the images into an array of regions and calculates a sharpness value for each region. The sharpness value for a region is calculated by summing over all pixels (x,y) in the region the absolute difference in the intensity value of a pixel (x,y)( with pixel (x-k,y-l), where k and l are constants. The image processor then constructs a depth map of the scene by determining for each region the image with the greatest sharpness in that region. An application of the invention to a mobile robot control system is described in detail. Among other applications, the method may be used for collision avoidance, object detection, and speed measurement.

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patent: 5227973 (1993-07-01), Marcantonio
patent: 5231443 (1993-07-01), Subbarao
patent: 5365597 (1994-11-01), Hoieva
patent: 5550602 (1996-08-01), Braeuning

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