Dual-Camera Depth Map Fusion for Empty Pixel Recovery
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Solution Overview
Problem
Existing camera systems for robot automation in environments like warehouses and manufacturing facilities face challenges in generating accurate and complete depth maps due to noise interference and differences in camera properties, leading to incomplete or inaccurate depth information.
Innovation Solution
A method and system that utilizes a combination of two different types of depth-sensing cameras, such as structured light and time-of-flight cameras, to supplement and update depth maps by assigning depth values to empty pixels based on corresponding pixels from the second depth map, enhancing the accuracy and completeness of the depth information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single type of depth-sensing camera is used, then the device complexity is reduced, but the measurement precision and completeness of depth information deteriorates due to noise interference and camera property limitations
Solution Approach 1:
The patent combines two different types of depth-sensing cameras (first and second cameras with different properties) into a unified system. The control circuit merges depth maps from both cameras, using the second depth map to fill empty pixels in the first depth map, thereby achieving more complete and accurate depth information while managing the complexity through integrated processing
2Loss of time
If a single depth map is generated from one camera, then the processing time is reduced, but the reliability and completeness of depth information deteriorates due to empty pixels and noise
Solution Approach 1:
The system performs preliminary depth mapping with the first camera, then uses the second camera to supplement and update the first depth map. By preparing both depth maps and systematically filling empty pixels, the system ensures reliable depth information before final processing, balancing time efficiency with information completeness
Data Source
AI summary
A method and system for processing camera images is presented. The system receives a first depth map generated based on information sensed by a first type of depth-sensing camera, and receives a second depth map generated based on information sensed by a second type of depth-sensing camera. The first depth map includes a first set of pixels that indicate a first set of respective depth values. The second depth map includes a second set of pixels that indicate a second set of respective depth values. The system identifies a third set of pixels of the first depth map that correspond to the second set of pixels of the second depth map, identifies one or more empty pixels from the third set of pixels, and updates the first depth map by assigning to each empty pixel a respective depth value based on the second depth map.