Detection of shadow regions in image depth data caused by multiple image sensors

Shadow regions in image depth data that are caused by multiple image sensors are detected. In one example a region of a row of pixel depth data in a row of pixels from a depth image is identified. A first valid pixel on a first side of the identified region is un-projected into a three-dimensional s...

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1. Verfasser: LERNER ALON
Format: Patent
Sprache:eng
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Zusammenfassung:Shadow regions in image depth data that are caused by multiple image sensors are detected. In one example a region of a row of pixel depth data in a row of pixels from a depth image is identified. A first valid pixel on a first side of the identified region is un-projected into a three-dimensional space to determine first point P1. A first vector is determined from the position C2 of the second camera to the first point. A second valid pixel on a second side of the identified region is un-projected into a three-dimensional space to determine second point P2. A second vector is determined from the position C2 of the second camera to the second point. An angle is determined between the first vector and the second vector and compared to a threshold. The missing region is classified as a shadow region if the angle is less than the threshold.