Method, system and apparatus for determining a depth value of a pixel

Abstract METHOD, SYSTEM AND APPARATUS FOR DETERMINING A DEPTH VALUE OF A PIXEL A method of determining a depth value of a fine structure pixel in a first image of a 5 scene using a second image of the scene is disclosed. A gradient orientation for each of a plurality of fine structure pixels in the first image is determined. Difference images are generated from the second image and a series of blurred images formed from the first image, each difference image corresponding to one of a plurality of depth values. Each of the difference images is smoothed, in accordance with the determined gradient orientations, to 10 generate smoothed difference images having increased coherency of fine structure. For each of a plurality of fine structure pixels in the first image, one of the smoothed difference images is selected. The depth value of the fine structure pixel corresponding to the selected smoothed difference image is determined. QflQ 7QQCui DfnG-f}nQ Cn-i Ae CiI-e| Capture two images of scene Align first a7d second image 730,, Determine local orientation map 740,, Gemerate blur \" f difference images 750 , Apply oriented smoothing Determine the depth value of a pixel End_ Fig. 7