Depth Camera Image Transformation via EDIT Processing Order
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Solution Overview
Problem
The integration of depth camera and color camera data in augmented reality systems is hindered by parallax effects, leading to occlusions and errors when depth information from a separate depth camera is mapped to a color camera coordinate system, requiring inefficient occlusion testing and processing.
Innovation Solution
The Efficient Depth Map Transformation (EDIT) method transforms depth camera images into the color camera coordinate system by determining a processing order based on the physical offset between the cameras, allowing for occlusion handling without explicit pixel presence and distance testing, thereby improving processing speed and accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If depth camera and color camera are positioned separately to capture images, then depth information can be obtained for 3D mapping in augmented reality, but parallax effects cause occlusion errors when mapping depth data to color camera coordinate system
Solution Approach 1:
The patent applies preliminary action by determining the processing order of depth pixels before performing the depth-to-color coordinate transformation. The system calculates the relative position between depth and color cameras, then establishes a processing sequence that anticipates occlusion relationships. This pre-determined processing order ensures that when multiple depth pixels map to the same color pixel, the correct occlusion hierarchy is already established, eliminating the need for runtime occlusion testing and preventing occlusion errors.
2Productivity
If traditional raster order processing is used for depth map transformation, then implementation is simple, but occlusion errors occur and processing efficiency is reduced due to required occlusion testing
Solution Approach 1:
The patent performs preliminary calculation of the processing order based on camera relative positioning before the actual depth transformation. By pre-determining which depth pixels should be processed first based on their spatial relationship to the color camera, the system eliminates the need for runtime occlusion testing. This preliminary arrangement of processing sequence directly improves both processing speed and transformation accuracy simultaneously.
Solution Approach 2:
Instead of using the conventional raster scan order (left-to-right, top-to-bottom) and then testing for occlusions, the patent inverts the approach by first determining the correct processing order that inherently handles occlusions, then processing pixels in that order. This inversion eliminates the harmful occlusion testing step while maintaining correct depth mapping accuracy.
3Ease of operation
If depth pixels are processed without considering processing order, then implementation is straightforward, but occlusion handling requires explicit pixel presence and distance testing which increases complexity
Solution Approach 1:
The patent resolves the complexity issue by performing the occlusion handling logic in advance. The processing order is determined before the actual pixel transformation, based on the relative camera positions. This preliminary step encodes the occlusion resolution strategy into the processing sequence itself, so that during the actual transformation, no additional occlusion testing is needed. The complexity is paid once during order determination, not repeatedly during pixel processing.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
EDIT enables efficient and accurate transformation of depth camera images into the color camera coordinate system, reducing processing time and errors associated with occlusions, enhancing the integration of depth data in augmented reality applications.
Implementation Method 1
Because of the parallax effect, the depth map of the depth camera may have a depth value for two points at two different depths where, from the perspective of the color camera, the closer of the two points occludes the further
Data Source
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AI summary
Disclosed are a system, apparatus, and method for depth camera image re-mapping. A depth camera image from a depth camera may be received and a depth camera's physical position may be determined. The depth camera's physical position may be determined relative to an other physical position, such as the physical position of a color camera. The depth camera image may be transformed according to a processing order associated with the other physical position.