Structured Stereo Depth Mapping Using Asymmetric Component Placement
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Solution Overview
Problem
Existing stereo imaging systems face challenges in generating accurate depth maps, particularly in uniform regions and at distances greater than one meter, due to contradicting effects of optical distance and reduced disparity accuracy.
Innovation Solution
The use of asymmetrically placed components in structured stereo systems, combining active stereo and structured light techniques to overcome optical distance issues and enhance depth map accuracy, with emitters and sensors positioned to achieve high-resolution and robust depth maps.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If active stereo techniques are used to improve depth map quality in uniform regions, then depth map robustness and resolution are improved, but disparity and depth accuracy decrease with distance
Solution Approach 1:
The system segments the depth mapping process into two distinct techniques: active stereo for robust depth map generation in uniform regions, and structured light for accurate disparity measurement. Each technique is applied in scenarios where it performs optimally, resolving the contradiction between robustness and accuracy.
Solution Approach 2:
The patent combines active stereo and structured light techniques into a hybrid system that leverages the strengths of both methods. Active stereo provides robustness and resolution, while structured light compensates for accuracy losses at distance, achieving both reliability and measurement precision simultaneously.
2Measurement precision
If structured light techniques are used to ensure accuracy in depth maps, then depth accuracy is improved, but the system cannot achieve high output resolution and robustness compared to active stereo
Solution Approach 1:
The hybrid system merges structured light's accuracy advantage with active stereo's robustness and resolution capabilities. By integrating both techniques, the system achieves high depth accuracy from structured light while maintaining the robustness and high output resolution provided by active stereo.
Solution Approach 2:
The system applies different quality characteristics to different parts of the depth mapping process: structured light provides high accuracy for disparity measurement, while active stereo provides high resolution and robustness for overall depth map generation. Each technique's unique quality is utilized where most beneficial.
3Device complexity
If symmetric placement of emitters and sensors is used, then system design is simplified, but optical distance contradictions reduce depth map accuracy
Solution Approach 1:
The patent employs asymmetric placement of emitters and sensors to eliminate optical distance contradictions that plague symmetric configurations. This asymmetric arrangement optimizes the baseline distances between components, thereby improving depth map accuracy while maintaining manageable system design complexity.
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
This approach results in accurate and dense depth maps that are more robust to environmental conditions and have higher output resolution, effectively addressing the limitations of passive and active stereo systems by eliminating optical distance contradictions and improving depth accuracy across varying distances.
Implementation Method 1
infrared emitters to project the non-uniform texture
Implementation Method 2
sensors used in active stereo are infrared cut sensors
Data Source
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AI summary
An apparatus, system, and method are described herein. The apparatus includes an emitter and a plurality of sensors. The emitter and the sensors are asymmetrically placed in the system with respect to the emitter. Data from the emitter and sensors is used to generate a high accuracy depth map and a dense depth map. A high resolution and dense depth map is calculated using the high accuracy depth map and the dense depth map.