Depth calculation device, imaging apparatus, and depth calculation method
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G06K-009/00
G06T-007/00
출원번호
US-0446414
(2014-07-30)
등록번호
US-9299151
(2016-03-29)
우선권정보
JP-2013-165119 (2013-08-08)
발명자
/ 주소
Ishihara, Keiichiro
출원인 / 주소
Canon Kabushiki Kaisha
대리인 / 주소
Fitzpatrick, Cella, Harper & Scinto
인용정보
피인용 횟수 :
1인용 특허 :
1
초록▼
A depth calculation device for calculating depth information on an object from captured first image and second image with different blur, the depth calculation device comprising: an extraction unit configured to extract a first frequency component and a second frequency component from each of the fi
A depth calculation device for calculating depth information on an object from captured first image and second image with different blur, the depth calculation device comprising: an extraction unit configured to extract a first frequency component and a second frequency component from each of the first image and the second image, the first frequency component being a component of a first frequency band, the second frequency component being a component of a second frequency band, the second frequency band being lower than the first frequency band; and a depth calculation unit configured to calculate the depth information from the frequency components extracted by the extraction unit.
대표청구항▼
1. A depth calculation device for calculating depth information on an object from a captured first image and second image with different blur, the depth calculation device comprising: an extraction unit configured to extract a first frequency component and a second frequency component from each of t
1. A depth calculation device for calculating depth information on an object from a captured first image and second image with different blur, the depth calculation device comprising: an extraction unit configured to extract a first frequency component and a second frequency component from each of the first image and the second image, the first frequency component being a component of a first frequency band, the second frequency component being a component of a second frequency band, the second frequency band being lower than the first frequency band; anda depth calculation unit configured to calculate the depth information from the frequency components extracted by the extraction unit, wherein the depth calculation unit includes: a first depth-dependent value calculation unit configured to calculate a first depth-dependent value from a difference in blur between the first frequency component of the first image and the first frequency component of the second image;a second depth-dependent value calculation unit configured to calculate a second depth-dependent value from a difference in blur between the second frequency component of the first image and the second frequency component of the second image; anda depth information calculation unit configured to calculate the depth information on the basis of the first depth-dependent value and the second depth-dependent value. 2. The depth calculation device according to claim 1, wherein the depth calculation unit further includes a determination unit configured to determine whether or not depth measurements can be performed with respect to each region included in the first image on the basis of the first frequency component according to whether or not the second depth-dependent value of the respective region is within a predetermined range, and wherein the depth information calculation unit is further configured to take the depth information on a region, for which depth measurements based on the first frequency component are determined to be impossible, as a value indicating a range outside the depth measurement range. 3. The depth calculation device according to claim 1, wherein the depth calculation unit further includes a determination unit configured to determine whether or not depth measurements can be performed with respect to each region included in the first image on the basis of the first frequency component according to whether or not the second depth-dependent value of the respective region is within a predetermined range, and wherein the depth information calculation unit is further configured to calculate the depth information from the first depth-dependent value or from the first depth-dependent value and the second depth-dependent value in a region in which depth measurements based on the first frequency component are determined to be possible, and to calculate the depth information from the second depth-dependent value in a region in which depth measurements based on the first frequency component are determined to be impossible. 4. The depth calculation device according to claim 2, wherein the determination unit is further configured to determine whether or not depth measurements based on the first frequency component are possible in a region by taking into account a magnitude relationship between the first depth-dependent value and the second depth-dependent value of the region. 5. The depth calculation device according to claim 1, wherein the depth information calculation unit is further configured to calculate as final depth information an average value obtained from depth information determined from the first depth-dependent value and depth information determined from the second depth-dependent value. 6. The depth calculation device according to claim 1, wherein the depth information calculation unit is further configured to calculate the depth information from an average value obtained by weighting depth information determined from the first depth-dependent value and depth information determined from the second depth-dependent value with weights corresponding to confidence coefficients of the first depth-dependent value and the second depth-dependent value, wherein the confidence coefficient of the first depth-dependent value is determined on the basis of a sum total of amplitudes of the first frequency components, and a first frequency band, andwherein the confidence coefficient of the second depth-dependent value is determined on the basis of a sum total of amplitudes of the second frequency components, and a second frequency band. 7. The depth calculation device according to claim 1, wherein the first depth-dependent value calculation unit is further configured to calculate the first depth-dependent value by taking into account a magnitude relationship between the first frequency component extracted from the first image and the first frequency component extracted from the second image, and wherein the second depth-dependent value calculation unit is configured to calculate the second depth-dependent value by taking into account a magnitude relationship between the second frequency component extracted from the first image and the second frequency component extracted from the second image. 8. A depth calculation device that calculates depth information on an object from a captured first image and second image with different blur, the depth calculation device comprising: an extraction unit configured to extract frequency components of n frequency bands from each of the first image and the second image, wherein n is an integer equal or greater than 2; anda depth calculation unit configured to calculate the depth information from the frequency components extracted by the extraction unit, wherein the depth calculation unit includes:a depth-dependent value calculation unit configured to calculate a depth-dependent value with respect to each of the n frequency components on the basis of the frequency components extracted from the first image and the second image;a determination unit configured to determine whether or not depth measurements can be performed with respect to each region included in the first image on the basis of an i-th high frequency component, wherein i is the integer from 1 to n−1, the determination being made from a depth-dependent value corresponding to an (i+1)-th high frequency component of the respective region; anda depth information calculation unit configured to calculate the depth information with respect to each region included in the first image on the basis of the depth-dependent value corresponding to the highest frequency component among the frequency components with which depth measurements for the regions are possible. 9. The depth calculation device according to claim 8, wherein the determination unit is configured to determine whether or not depth measurements can be performed on the basis of the i-th high frequency component according to whether or not the depth-dependent value corresponding to the (i+1)-th high frequency component is within a predetermined range. 10. The depth calculation device according to claim 9, wherein the determination unit is further configured to determine whether or not depth measurements can be performed on the basis of the i-th high frequency component by also taking into account a relationship between the depth-dependent value corresponding to the i-th high frequency component and the depth-dependent value corresponding to the (i+1)-th high frequency component. 11. The depth calculation device according to claim 8, wherein the depth information calculation unit is further configured to take depth information on a region, for which the determination unit has determined that depth measurements based on the (n−1)-th high frequency component are impossible, as a value indicating a range outside the depth measurement range. 12. An imaging apparatus comprising: an image capturing unit; andthe depth calculation device according to claim 1, wherein the depth calculation device is configured to calculate depth information on an object from a plurality of images with different blur that have been captured using different image capturing parameters by means of the image capturing unit. 13. A depth calculation method for calculating depth information on an object from a captured first image and second image with different blur, the depth calculation method comprising: an extraction step for extracting a first frequency component and a second frequency component from each of the first image and the second image, the first frequency component being a component of a first frequency band, the second frequency component being a component of a second frequency band, the second frequency band being lower than the first frequency band; anda depth calculation step for calculating the depth information from the frequency components extracted in the extraction step, wherein the depth calculation step includes:a first depth-dependent value calculation step for calculating a first depth-dependent value from a difference in blur between the first frequency component of the first image and the first frequency component of the second image;a second depth-dependent value calculation step for calculating a second depth-dependent value from a difference in blur between the second frequency component of the first image and the second frequency component of the second image; anda depth information calculation step for calculating the depth information on the basis of the first depth-dependent value and the second depth-dependent value. 14. The depth calculation method according to claim 13, wherein the depth calculation step further includes a determination step for determining whether or not depth measurements can be performed with respect to each region included in the first image on the basis of the first frequency component, according to whether or not the second depth-dependent value of the respective region is within a predetermined range, and wherein in the depth information calculation step, the depth information on a region, for which depth measurements based on the first frequency component are determined to be impossible, is taken as a value indicating a range outside the depth measurement range. 15. The depth calculation method according to claim 13, wherein the depth calculation step further includes a determination step for determining whether or not depth measurements can be performed with respect to each region included in the first image on the basis of the first frequency component according to whether or not the second depth-dependent value of the respective region is within a predetermined range, and wherein in the depth information calculation step, the depth information is calculated from the first depth-dependent value or from the first depth-dependent value and the second depth-dependent value in a region in which depth measurements based on the first frequency component are determined to be possible, and the depth information is calculated from the second depth-dependent value in a region in which depth measurements based on the first frequency component are determined to be impossible. 16. The depth calculation method according to claim 14, wherein in the determination step, whether or not depth measurements based on the first frequency component are possible in a region is determined by also taking into account a magnitude relationship between the first depth-dependent value and the second depth-dependent value in the region. 17. The depth calculation method according to claim 13, wherein in the depth information calculation step, an average value obtained from depth information determined from the first depth-dependent value and depth information determined from the second depth-dependent value is calculated as final depth information. 18. The depth calculation method according to claim 13, wherein in the depth information calculation step, the depth information is calculated from an average value obtained by weighting depth information determined from the first depth-dependent value and depth information determined from the second depth-dependent value with weights corresponding to confidence coefficients of the first depth-dependent value and the second depth-dependent value,wherein the confidence coefficient of the first depth-dependent value is determined on the basis of a sum total of amplitudes of the first frequency components, and a first frequency band, andwherein the confidence coefficient of the second depth-dependent value is determined on the basis of a sum total of amplitudes of the second frequency components, and a second frequency band. 19. The depth calculation method according to claim 13, wherein in the first depth-dependent value calculation step, the first depth-dependent value is calculated by taking into account a magnitude relationship between the first frequency component extracted from the first image and the first frequency component extracted from the second image, andwherein in the second depth-dependent value calculation step, the second depth-dependent value is calculated by taking into account a magnitude relationship between the second frequency component extracted from the first image and the second frequency component extracted from the second image.
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이 특허에 인용된 특허 (1)
Subbarao Muralidhara (Port Jefferson Station NY), Method and apparatus for determining the distances between surface-patches of a three-dimensional spatial scene and a ca.
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