Patent Grant
9633442
The present invention relates to array cameras and particularly to array cameras including an array camera module with a separate camera.
An array camera includes a plurality of individual cameras (i.e., cameras) that can capture images of a scene where the image obtained by each camera is from a slightly different viewpoint. The individual images from each of the cameras are used to generate a single image having a higher resolution than the resolution of each of the individual cameras in the array. The use of an array camera to generate real-time video can be problematic because of the high computational load involved in synthesizing a single frame of video from the individual images captured by the cameras in the frame every frame interval. This is especially true in a mobile device where high computational load can require a large amount of processing time and/or expend a significant amount of power. For example, an array camera may include 16 individual cameras in the area, where each camera includes 1000×750 pixels. A common output for video data is either 720p (1280×720 pixels) or 1080p (1920×1080 pixels). However, the resolution of the individual cameras (1000×750 pixels) is lower than either of these desired output resolutions. As such, the video images derived from the array camera must undergo a cropping process to convert to a 16:9 format (960×540 pixels) and correspondence (parallax) estimation process to determine a correspondence between the images and a super-resolution processing process (2×) to output video in the desired format. Each of these processes increases the power requirement on a mobile telephone over the existing solution of capturing video using a conventional camera. In a conventional camera, the video is captured in the desired resolution and may be processed using hardware in the sensor. As such, the video from a conventional camera is likely to require less of a computational load and draw less power than an array camera.
The above and other problems are solved and an advance in the art is made by array cameras including an array camera module augmented with a separate camera in accordance with some embodiments of this invention. In accordance with some embodiments of the invention, an array camera includes an array camera module, a separate camera, a processor and memory storing software for directing the processor. The array camera module includes multiple cameras that capture images of a scene from different viewpoints. The separate camera is located a fixed baseline distance from the array camera module and captures an image of the scene from a different viewpoint to the viewpoints of the cameras in the array camera module. The processor reads the software from the memory.
The software directs the processor to perform in the following manner. A set of images captured from different viewpoints is obtained using the cameras in the array camera module and the separate camera. The images in the set of images are captured from different viewpoints. A reference viewpoint relative to the viewpoints of the set of images captured from different viewpoints is selected. Depth estimates for pixel locations in an image from the reference viewpoint are determined using the images in the set of images captured by the array camera module.
The depth estimate for a given pixel location in the image from the reference may be determined in the following manner. Pixels in the images captured by the array camera module that correspond to the given pixel location in the image from the reference viewpoint based upon expected disparity at a different depths are identified. The similarity of the corresponding pixels identified at each of the plurality of depths are compared and the depth is selected from the different depths at which the identified corresponding pixels have the highest degree of similarity as a depth estimate for the given pixel location in the image from the reference viewpoint.
The software further directs the processor to generate a depth map for an image in the set of images captured by the separate camera using the depth estimates for pixel locations in an image from the reference viewpoint in the following manner. The pixels in an image captured by the separate camera corresponding to pixels in the image from the reference viewpoint for which depth estimates were determined using images in the set of images captured by the cameras in the array camera module identified and depth estimates determined using images in the set of images captured by the array camera module to the corresponding pixels in the image captured by the separate camera are applied.
In accordance with some embodiments, the array camera module and the separate camera are set farther apart than the cameras in the array camera module. In accordance with many embodiments, the array camera module and the separate camera are located a fixed baseline distance apart.
In accordance with some embodiments, the cameras in the array camera module and the separate camera have the same resolution. In accordance with some embodiments, the separate camera has a higher resolution than the cameras in the array camera module. In accordance with many embodiments, the separate camera and the cameras in the array camera module capture image data in multiple color channels. In various embodiments, the separate camera is a Bayer camera and the array camera module includes cameras selected from the group consisting of Bayer cameras, and monochrome cameras.
In accordance with some embodiments, the baseline distance between the array camera module and the separate camera is variable. In many embodiments, the array camera includes internal sensors including gyroscopes and accelerometers and the software further directs the processor to estimate the baseline distance between the array camera module and the separate camera from extrinsics determined from matching features in the images captured by the array camera module and the separate cameras in combination with information from the gyroscopes and accelerometers.
In accordance with some embodiments, the array camera module forms an M×N array of cameras.
In accordance with many embodiments, the software further directs the processor to operate in the following manner. The processor determines whether a depth estimate for pixel locations in an image from the reference viewpoint determined using the images in the set of images captured by the array camera module corresponds to an observed disparity below a predetermined threshold. When the depth estimate corresponds to an observed disparity below the predetermined threshold, the depth estimate is refined using at least one image in the set of images captured by the separate camera. In accordance with a number of embodiments, the software further directs the processor to refine a depth estimate using images in the set of images captured by the separate cameras in the following manner. Pixels in images captured by the array camera module and by the separate camera that correspond to the given pixel location in the image from the reference viewpoint based upon expected disparity at different depths are identified. The similarity of the corresponding pixels identified at each of the plurality of depths is compared. The depth from the different depths at which the identified corresponding pixels have the highest degree of similarity as a depth estimate for the given pixel location in the image from the reference viewpoint is selected. In accordance with several embodiments, the software directs the processor to refine a depth estimate using images in the set of images captured by the array camera module and the separate camera by selecting the different depths based upon the depth estimate initially determined using the images in the set of images captured by the array camera module.
In accordance with some embodiments, the software further directs the processor to generate a depth map using the depth estimates for pixel locations in an image from the reference viewpoint, where the depth map indicates distances of surfaces of scene objects from the reference viewpoint. In accordance with many embodiments, the software further directs the processor to generate a depth map by identifying pixels in an image captured by the array camera module and the separate camera corresponding to pixels for which depth estimates were determined using images in the set of images captured by the array camera module and applying depth estimates determined using images from the set of images captured by the array camera module to the corresponding pixels.
In accordance with some embodiments, the software further directs the processor to synthesize a higher resolution image from the set of images captured by the array camera module using the depth map. In many embodiments, the software further directs the processor to synthesize a higher resolution image from the set of images captured by the array camera module and the separate cameras using the depth map. In accordance with a number of embodiments, the cameras in the array camera module form a π filter group. In accordance with several of these embodiments, the separate camera is a Bayer camera.
In accordance with some embodiments, an array camera includes an array camera module comprising multiple cameras that capture images of a scene from different viewpoints, a separate camera located a fixed baseline distance from the array camera module, where the separate camera captures an image of the scene from a different viewpoint to the viewpoints of the cameras in the array camera module, a processor and memory in communication with the processor storing software. The software directs the processor to operate in the following manner. An instruction to capture one of a still image and video images is received. Image data is synthesized using image data captured by the multiple cameras in the array camera module in response to an instruction to capture a still image. Video images are captured using image data from the separate camera in response to an instruction to capture video images.
Turning now to the drawings, array cameras including an array camera module augmented with a separate camera in accordance with various embodiments of this invention are disclosed. In accordance with some embodiments of this invention, the array camera includes an array camera module positioned a known distance from a conventional camera. The term conventional camera is referred herein to describe a camera implemented using a single sensor and associated optics including a single aperture that forms a single image of a scene on the sensor, where the capture of image data by the sensor and read out of image data from the sensor can be directly performed by an external device. In several embodiments, the conventional camera has a sufficiently high resolution to capture video sequences according to the requirements of specific video capture applications. Array camera modules included in array cameras in accordance with embodiments of the invention can be utilized to capture image data from different viewpoints as disclosed in U.S. Patent Publication No. 2011/0069189, entitled “Capturing and Processing of Images using Monolithic Camera Array with Heterogeneous Images”, to Venkataraman et al., the relevant disclosure from which is incorporated by reference herein in its entirety. As disclosed in U.S. Patent Publication No. 2011/0069189, an array camera typically contains two or more cameras that capture image data from multiple viewpoints that can be used in depth estimation and super-resolution processing. The combination of an array camera module and a separate camera where the resolution of the cameras in the array camera module and the resolution of the separate camera can be considered a special case of the class of non-grid array cameras disclosed in U.S. Patent Publication No. 2011/0069189. Array cameras in accordance with various embodiments of this invention utilize the presence of different types of cameras in a non-grid array camera to vary the cameras and/or image data captured based upon the requirements of specific applications. In this way, the power efficiency of video capture using a single camera can be harnessed in combination with the ability to estimate depth and perform super-resolution processing afforded by capturing image data from different viewpoints.
In accordance with some embodiments of the invention, the conventional camera is used to capture video images when video is desired and the array camera module is used to capture still images when still images are required. In accordance with many embodiments, the conventional camera may be used to provide preview images for use in capturing still images with the cameras in the array camera module. In accordance with a number of embodiments, the preview images are modified to indicate the scene that may be captured using the array camera module. In a number of embodiments, the image capture parameters for the conventional camera is detected while preview images are captured and the image capture parameters from the conventional camera is used to adjust the image capture parameters for the cameras in the array camera module.
In accordance with some embodiments, the conventional camera and the cameras in the array camera module capture still images when a still image is desired. The image data from the conventional camera and the cameras in the array camera module may then be used to generation depth information in accordance with many of embodiments. In a number of embodiments, the depth information includes a depth map for the image. In accordance with several of these embodiments, the still image is generated from the image data captured by the conventional camera. In accordance with still other embodiments, the still image is generated from image data captured by the cameras in the array camera module.
In accordance with some embodiments, the conventional camera and the cameras in the array camera module capture video images when video images are desired. The video image data from the conventional camera and the cameras in the array camera module may then be used to generation depth information for the images in accordance with many of embodiments. In a number of embodiments, the depth information includes a depth map for the video images. In accordance with several of these embodiments, the video image is generated from the video image data captured by the conventional camera. In accordance with still other embodiments, the video image is generated from image data captured by the cameras in the array camera module.
In accordance with some embodiments of the invention, the conventional camera and/or the array camera module are activated to capture image data based upon a desired task to be performed. In many embodiments, the array camera module is activated when depth-enabled features are activated and a conventional camera is activated when variable resolution features are activated. Array cameras including an array camera module and a separate camera in accordance with various embodiments of the invention are discussed below.
Array Camera Architecture
An array camera architecture that can be used in a variety of array camera configurations in accordance with embodiments of the invention is illustrated in
The array camera module 102 is connected to the processor 106. The processor is also configured to communicate with one or more different types of memory 108 that can be utilized to store an image processing pipeline application 110, image data 112 captured by the array camera module 102, a video encoder 114 and encoded video 116. The image processing pipeline application 110 is typically non-transitory machine readable instructions utilized to direct the processor to perform processes including (but not limited to) the various processes described below.
Processors 108 in accordance with many embodiments of the invention can be implemented using a microprocessor, a coprocessor, an application specific integrated circuit and/or an appropriately configured field programmable gate array that is directed using appropriate software to control various operating parameters of the array camera module 102 and/or conventional camera 103. The processor 104 can also function to process the images captured by array camera module 102 to produce a synthesized higher resolution image using super-resolution processes, or transfer the images to other hardware, software, firmware or a combination thereof to process the images. The processor 104 may also process the images captured by conventional camera 103 to provide a final image or transfer the images to other hardware, software, firmware or a combination thereof to process the images. The array camera system 100 can also include memory 108 in communication with the processor 104 for storing images. In a variety of embodiments, the memory 108 includes circuitry such as, but not limited to, memory cells constructed using transistors, that are configured to store instructions. Similarly, the processor 104 can include logic gates formed from transistors (or any other device) that are configured to dynamically perform actions based on the instructions stored in the memory. In several embodiments, the instructions are embodied in a configuration of logic gates within the processor to implement and/or perform actions described by the instructions. In this way, the systems and methods described herein can be performed utilizing both general-purpose computing hardware and by single-purpose devices.
Array camera modules 102 in accordance with many embodiments of the invention can be constructed from an array camera module or sensor including an array of focal planes and an optic array including a lens stack for each focal plane in the array camera module. Sensors including multiple focal planes and the operation of such sensors are discussed in U.S. Patent Publication No. 2012/0013748 entitled “Architectures for System on Chip Array Cameras”, to Pain et al., the relevant disclosure from which is incorporated herein by reference in its entirety. A sensor including a single array of pixels on which images are formed by the optics of each camera can also be utilized to capture image data. In several embodiments, each camera includes a separate sensor. In many embodiments, individual lens barrels are utilized to implement the optics of the camera. Array camera modules incorporating cameras implemented using combinations of separate sensors and optic arrays, separate sensors and separate lens barrels and a single sensor and separate lens barrels in accordance with embodiments of the invention are disclosed in U.S. patent application Ser. No. 14/536,537 entitled “Methods of Manufacturing Array Camera Modules Incorporating Independently Aligned Lens Stacks” to Rodda et al. filed Nov. 7, 2014, the relevant disclosure from which is incorporated by reference herein in its entirety. Light filters can be used within each optical channel formed by the optics of a camera in the array camera module to enable different cameras to capture image data with respect to different portions of the electromagnetic spectrum.
In accordance with some embodiments, conventional camera 103 has a wider field of view than array camera module 102 to account for the diverging viewpoints based upon the distance between conventional camera 103 and array camera module 102. In accordance with some embodiments, the cameras in array camera module 102 and the conventional camera 103 have fixed focus lengths so that the blurring profiles of the conventional camera 103 and the array camera module 102 are consistent and fixed over a wide range of scenes. The fixed focal lengths in the conventional camera 103 and the array camera module 102 can also enable the conventional camera 103 and the array camera module 102 to have similar depth of field profiles and reduce potential sources of differences during the image processing of image data captured by the cameras in the array camera module 102 and the conventional camera 103 in accordance with some embodiments.
In accordance with some embodiments, the conventional camera 103 and the array camera module 102 may be synchronized in terms of frame delivery and shutter speed. In accordance with many embodiments, the conventional camera 103 and the array camera module 102 are synchronized using linked clocks and signals indicating an image capture. In a number of embodiments, frame capture by the conventional camera 103 and the cameras in the array camera module 102 are synchronized so that frames from both cameras are captured synchronously and can be compared to each other during subsequent image processing.
In accordance with some embodiments, the individual cameras in array camera module 102 each capture images in a particular spectral channel including but not limited to Red, Green, and Blue. In accordance with a number of embodiments, the individual cameras in the array camera module 102 are Bayer cameras. In accordance with some embodiments, the conventional camera 103 is a Bayer camera. As can readily be appreciated, the specific cameras utilized in an array camera module and/or a separate conventional camera can be any of a variety of cameras that image any portion(s) of the spectral band appropriate to the requirements of a specific application.
In accordance with some embodiments, two or more array camera modules may be placed at known distances on various sides of conventional camera 103 so that each portion of the scene sampled by the conventional camera 103 is visible in at least one camera in the array camera module. Where the array camera module includes multiple types of camera that image different portions of the spectrum, then array cameras in accordance with many embodiments of the invention position the cameras in the array camera module so that one camera of each type views each portion of the scene sampled by the conventional camera. In accordance with various embodiments, the array camera module may be enhanced by synchronized gyroscopes, accelerometers, structured illumination and the like to further enhance the depth map and to keep array camera module 102 synchronous with the vertical sync of conventional camera 103.
Although a specific architecture is illustrated in
Image Capture Processes
In accordance with some embodiments of the invention, a system with an array camera module augmented with a conventional camera captures video images using the convention image sensor and still images using the array camera module. A flow diagram of a process of capturing image data using either the array camera module or the conventional camera in accordance with an embodiment of this invention is shown in
If video images are to be captured, the convention image sensor is activated to capture video image data in a conventional manner. If still images are to be captured, the process 200 can activate the conventional camera to capture preview images (215), display the preview images from the conventional camera (220), receive a request to capture a still image (235), and capture a still image using the array camera module (240).
The conventional camera may have a viewpoint that is different from the array camera module due to space between the conventional camera and the array camera module. To show the scene that may be captured by the array camera module, the conventional camera may have a larger field of view than the fields of view of the cameras in the array camera module. Furthermore, the field of view of the convention camera can include the fields of view of the cameras in the array camera module. In this way, the portion of the scene sampled (or that will be sampled) by the cameras in the array camera module can be determined.
The preview image(s) captured by the conventional camera are displayed to the user (225). In accordance with some embodiments the display includes an indication of the field of view of the array camera module. In many embodiments, the indication may be provided by cropping the preview image(s) to approximate the scene of the field of view of the array camera module. In accordance with a number of embodiments, the indication may be an outline of a box, crosshairs, or some other graphical element super-imposed over the displayed preview image(s). In several embodiments, a depth map for the scene is generated based upon image data generated by the array camera during preview mode and a perspective correction is applied to a portion of the field of view of the images captured by the conventional camera to shift the image into the viewpoint of the array camera.
In accordance with some embodiments, process 200 optionally includes the determining of the image settings for the conventional camera (230) and the providing of image settings for the array camera module based upon the image settings of the sensor in the convention camera (235). In accordance with some embodiments, an auto-exposure loop of the conventional camera converges to a particular desired gain and exposure and/or other image settings for a scene being captured. In some embodiments, the image setting of the conventional camera is provided to the array camera module to adjust the image settings of the cameras in the array camera module. However, the array camera module may have different properties in terms of various image settings including (but not limited to) transmissivity, pixel sensitivity, available gain, and/or exposure range. Thus, a controller, circuit, or software process may convert the image settings of the conventional camera to terms for use in the array camera in accordance with many embodiments. In a number of embodiments, the conversion includes (but is not limited to) gain settings, exposure settings, color balance corrections and tone curve.
The array camera module is configured to capture an image of a scene that is indicated in the preview image(s). A request or snap is then detected (240) and the array camera module capture image data for the desired image. The image data may then be used to render an image using image processing techniques similar to those described the applications incorporated by reference above.
Although processes for capturing image data using either the array camera module or the conventional camera are described above with reference to
In accordance with some embodiments, the conventional camera may be leveraged to improve depth accuracy in image processing of images from the array camera module for still images. Likewise, array camera module may be used to improve depth accuracy in video data obtained using the convention image sensor. In particular, the conventional camera can implement both the still and video mode in some embodiments. In these embodiments, the array camera module is utilized as a depth sensor. The array camera module captures lower resolution and/or lower quality stills that contain depth enabled features including, but not limited to, matting and segmentation. A process for using the conventional camera and/or array camera module to improve depth accuracy for image processing in accordance with an embodiment of this invention is shown in
In accordance with some embodiments, the capturing of the preview image(s) involves capturing video image data using the conventional camera (315). The conventional camera may have a viewpoint that is different from the array camera module due to space between the conventional camera and the array camera module. To show the scene that may be captured by the array camera module, the conventional camera may have a larger field of view than the fields of view of the cameras in the array camera module. Furthermore, the field of view of the convention camera can include the fields of view of the cameras in the array camera module. In this way, the portion of the scene sampled (or that will be sampled) by the cameras in the array camera module can be determined.
The preview image(s) captured by the conventional camera are displayed to the user (320). In some embodiments, the display may also provide an indication of depth and the preview may only show the portion of the field of view of the conventional camera for which depth information is available from image data captured by the cameras in the array camera module.
An indication to capture an image is received (325). In some embodiments, the indication may be an input by a user. In accordance with many embodiments, the indication may be a signal received by another process using the array camera to capture an image. Image data is captured by the cameras in the array camera module (330) and the conventional camera (340) In accordance with some embodiments and the capture of the image data is synchronized to occur over a common image capture time interval. In accordance with some embodiments, the determination of image setting information discussed with respect to process 200 above may be performed prior to image capture with the array camera.
Depth information can be determined using image data captured by the cameras in the array camera module and conventional camera (350). In accordance with some embodiments, disparity searches along epipolar lines can be performed to identify correspondences between pixels in images captured by one or more cameras in the array camera module and pixels in the image from the conventional camera. These disparity searches can be utilized in combination with information concerning the baseline between the various cameras to perform depth estimation. The determined depth estimates can improve depth estimates determined with only image data from the cameras in the array camera module, because depth error typically increases quadratically as the baseline (distance between the cameras capturing the compared images) gets smaller. Thus, depth estimation error can be reduced in array cameras in which the baseline (distance) between the conventional camera and one or more cameras in the array camera module is larger than the baseline between the cameras in the array camera module.
In accordance with some embodiments, the individual cameras in the array camera module capture an individual spectral channel. In these embodiments, the image data captured by a camera in the array camera module within a specific spectral channel may be compared against image data captured by other cameras from within the array camera module that capture image data within the same spectral channel and/or image data captured by the conventional camera in the same spectral channel. For example, a red pixel in image data captured by a camera in the array camera module can be compared to the red channel of the image data from the conventional camera. In accordance with a number of embodiments, the individual cameras in the array camera module are Bayer cameras (capturing Red (R), Green (G), and Blue (B) spectral channels).
In accordance with some embodiments, the process may determine whether to determine the depth information only using image data from the cameras in the array camera module when the objects at very near distances because the small baselines between cameras reduces the disparity range that needs to be searched. However, the image data from the conventional camera and one or more cameras from the array camera module are used when the objects are at far distances to provide better measurements of disparity.
In many embodiments, the conventional camera may have different physical characteristics from the individual cameras within the array camera module. As such, normalizations are enacted to reduce the apparent dissimilarity between the raw image data captured by the conventional camera and the individual cameras from the array camera module to enable the correspondence searches. The normalizations may include, but are not limited to, measurement and correction of differential or absolute distortion between images captured by the conventional camera and images captured by the individual cameras in the array camera module prior to the correspondence search; measurement and correction of different photometric properties of the respective lenses in the cameras from the array camera module and/or the conventional camera; measurement and correction of different spectral properties or color biases in the respective lenses or pixels and color filters involved in the different cameras; measurement and correction or normalization of blur differences between different lenses (for example, in one embodiment blurring images from both the array camera module and the conventional camera to a common lower resolution, or blurring whichever image is captured at a higher resolution to match the frequency response of the other camera as much as possible); and measurement and correction of varying fields of view between the conventional camera and cameras in array camera module. In accordance with a number of embodiments, the images captured at a higher resolution will be appropriately filtered and downsampled to match both the pixel count and blur of the lower resolution images so that the similarity of corresponding pixels can be determined. Additionally, in some embodiments, differential responses (e.g. noise characteristics, pixel sensitivities, etc.) of pixels in the respective cameras may be characterized in order to normalize the responses prior to correspondence search.
A more complete discussion of processes for determining depth information is provided below with respect to
Turning back to process 300, if it is determined that video images are to be captured (310), video image data is captured with the conventional camera (350) and the array camera module (355). The video image data from the conventional camera and the array camera module are then used to generate depth information for the frames in the video sequence (360) using techniques similar to those discussed above with respect to still images.
Although specific processes for using a conventional camera and/or an array camera module to improve depth estimation accuracy during image and/or video capture are discussed above with reference to
In accordance with some embodiments, the user may be provided an option to activate the array camera module for particular desired tasks. For example, the user may be provided a choice in the camera application that allows them to indicate a desire to capture a refocusable image for a particular image. In this scenario, during the capture of the image, the array camera module is activated and image data captured by the cameras in the array camera module is at least used for depth estimation and/or synthesis of an image in accordance with some embodiments. In many embodiments, the user may be provided an option to maximize resolution, but perhaps at the expense of depth-enabled features. In such a scenario the conventional camera captures the still image provided the physical characteristics of the conventional camera enable the sensor to provide at least as high a resolution output as the array camera module. In accordance with many embodiments, the live still preview perspective is selected to match the camera selected for the particular mode of capture. For example, if the user selected a ‘refocusable’ image, the array camera module might activate a preview capability of the array camera module for the sake of framing the scene in order to ensure that the viewpoint of the still preview reflects as closely as possible the viewpoint of the eventual captured image.
In accordance with a number of embodiments, a real-time video and/or depth mode in the array camera module may be activated upon the request of a user or application. The real-time video and/or depth mods may provide different resolutions and/or frame rates than the video mode provided by the conventional camera but could be used to additional capabilities such as augmented reality. In such a case, a higher level process in a software library or performed by a controller may manage which of the conventional camera and/or array camera is active depending on high-level options provided to users.
A process for activating either the conventional camera and/or the array camera module depending on the function being performed in accordance with an embodiment of the invention is shown in
Although an embodiment of a process for activating one of either the conventional camera and/or the array camera module based on the image capture function to be performed is described above, other processes for activating one of either the conventional camera and/or the array camera module based on the image capture function to be performed may be utilized in accordance with other embodiments of this invention.
Depth Measurement Processes
In many embodiments of the invention, a conventional camera and an array camera module are mounted a fixed distance apart and form a pair of stereo array cameras. In many embodiments, the distance between the array camera module and conventional camera is known with reference to one or more locations on the array. In addition, the locations of each camera within array camera module are known. Therefore, the baseline (distance between any two cameras) between any camera in the array camera module and conventional camera is known or can be determined.
Distance Measurement Using an Array Camera Module and Conventional Camera
Images of a scene captured by different cameras in an array camera have differences due to the different points of view resulting from the different locations of the cameras, an effect known as parallax. These differences, referred to as disparity, provide information that can be used to measure depth of objects within a scene. Systems and methods for detecting disparity and calculating depth maps for an image are discussed in U.S. Pat. No. 8,619,082 entitled “Systems and Methods for Parallax Detection and Correction in Images Captured Using Array Cameras” to Venkataraman et al., filed Aug. 21, 2012, the disclosure of which is incorporated by reference herein in its entirety.
Parallax in a two camera system is illustrated in
U.S. Pat. No. 8,619,082 incorporated above discusses depth measurement using the following relationship between disparity and depth with respect to
From the above equation and figure, it can be seen that disparity between images captured by the different cameras is along a vector in the direction of the baseline of the two cameras, which can be referred to as the epipolar line between the two cameras. Furthermore, the magnitude of the disparity is directly proportional to the baseline separation of the two cameras and the back focal length of the cameras and is inversely proportional to the distance from the camera to an object appearing in the scene. The distance (or depth) from the two cameras to the foreground object can be obtained by determining the disparity of the foreground object in the two captured images.
One method of determining depth of a pixel or object using images captured by an array camera module involves selecting an initial hypothesized depth or distance for a selected pixel from an image captured from a reference viewpoint/camera, and searching pixel locations in other images along the epipolar line between the reference viewpoint/camera and the camera capturing each of the other images for similar/matching pixels. This process is discussed in the patent incorporated by reference above, and can be modified to utilize an array camera module and conventional camera set farther apart than the cameras in a single array camera module to determine depth to a higher precision as will be discussed further below.
Techniques such as those disclosed in the patent application incorporated above are typically used to generate a depth map from a reference viewpoint. The reference viewpoint can be from the viewpoint of one of the cameras in an array camera module. Alternatively, the reference viewpoint can be an arbitrary virtual viewpoint. A depth map indicates the distance of the surfaces of scene objects from a reference viewpoint. Although a process for calculating depth using disparity is discussed above, any of a variety of techniques for calculating depth can be utilized in accordance with embodiments of the invention. Processes for depth measurement using a stereo system including an array camera module and a conventional camera are discussed below.
Enhanced Distance Measurement Using a Stereo System Including an Array Camera Module and a Conventional Camera
The closer that an object is to an array camera module, the larger the disparity that will be observed in the object's location in different images captured by different cameras in the array. A representative graph of object distance with observed disparity is illustrated in
The further a camera is from the reference viewpoint, the larger the disparity that will be observed. Typically larger shifts enable depth to be determined with greater precision. Increasing the baseline (distance between cameras) increases the observed disparity accordingly. Therefore, using a camera that captures an image from a reference viewpoint and the cameras that are further away from that camera to determine depth information can improve precision.
In many embodiments of the invention, an array camera module and a conventional camera are set apart at a known distance in a stereo camera configuration and image data from the array camera module and the conventional camera are used to generate depth information for an object observed. A process for measuring depth using a stereo system including an array camera module and a conventional camera in accordance with embodiments of the invention is illustrated in
A first set of image data is captured (820) using the array camera module. Typically, each individual camera collects image data that can be used to form an image from the point of view of the individual camera. In array camera modules, often one camera is designated a reference camera and the image data captured by that camera is referred to as being captured from a reference viewpoint. In many embodiments of the invention, image data that is captured includes image data from a reference camera. In several embodiments, the active cameras capturing the image data are configured with color filters or other mechanisms to limit the spectral band of light captured. The spectral band can be (but is not limited to) red, blue, green, infrared, or extended color. Extended color is a band that includes at least a portion of at the band of wavelengths of least two colors. Systems and methods for capturing and utilizing extended color are disclosed in U.S. Patent Application Nos. 61/798,602 and U.S. Patent Publication No. 2014/0267762, entitled “Extended Color Processing on Pelican Array Cameras” to Mullis et al., hereby incorporated by reference.
An object of interest is identified (825) in the first set of image data. The identification can be based upon a variety of techniques that include, but are not limited to: user input (e.g., selection on a screen), motion activation, shape recognition, and region(s) of interest. The identification can be made in an image generated from the first set of image data from the cameras in the array camera module. For example, the object of interest can be indicated in a preview image generated from the first set of image data or in a reference image from a reference viewpoint that corresponds to a reference camera in the array camera module. The identification can include selection of a pixel or set of pixels within the image associated with the object.
Using the first set of image data, a depth is determined (830) for the object. Techniques for determining the depth of the object can include those disclosed in U.S. Pat. No. 8,619,082 incorporated by reference and discussed further above. The effects of noise can be reduced by binning or averaging corresponding pixels across images captured by different cameras utilizing techniques such as, but not limited to, those disclosed in U.S. Patent Application Ser. No. 61/783,441, filed Mar. 14, 2013, entitled “Systems and Methods for Reducing Motion Blur in Images or Video in Ultra Low Light with Array Cameras” to Molina and P.C.T. Patent Publication No. WO 2014/159779, filed Mar. 12, 2014, entitled “Systems and Methods for Reducing Motion Blur in Images or Video in Ultra Low Light with Array Cameras” to Molina, the disclosures of which are hereby incorporated in their entirety. In several embodiments of the invention, intermediate images can be formed with pixel values in locations in each image where the pixel values are binned or averaged from corresponding pixels in different images. The intermediate images, which have noise components “averaged out” can then be used in depth calculation.
If the disparity of the object is above a predetermined threshold (440), i.e. is within a predetermined distance from the array camera module, the depth calculated above (830) is accepted as the depth of the object (850). A confidence measure can be given that is based on factors such as lens calibration and/or pixel resolution (the width that a pixel represents based on distance from the camera). The confidence measure can also incorporate information from a confidence map that indicates the reliability of depth measurements for specific pixels as disclosed in U.S. Pat. No. 8,619,082 incorporated by reference above.
If the disparity of the object is below the predetermined threshold (840), then the depth measurement of the object can be refined using a second set of image data from the conventional camera. As discussed further above, a longer baseline between a camera in the array camera module and the conventional camera can provide increased precision, because of increased disparity, when estimating depth to objects further away from the array camera.
A second set of image data is captured (855) using the conventional camera. The object of interest is identified (870) in the second set of image data based upon a variety of techniques that can include those discussed above with respect to identifying the object in the first set of image data or other tracking techniques known in the art. If the system does not assume that the object of interest is visible to the conventional camera, the process can first determine (860) if the object is visible to at least one camera in the second array. Visibility can be determined, for example, by searching for similar pixels as discussed with respect to FIG. 9 in U.S. Pat. No. 8,619,082 incorporated by reference above.
A depth measurement is performed (880) on the object using at least a portion of the first set of image data and at least a portion of the second set of image data. The measurement can include determining the disparity between pixel(s) associated with the object of interest in images captured by one or more cameras in the array camera module and corresponding pixel(s) in the image(s) captured by the conventional camera.
Although specific processes are described above for obtaining depth measurements using multiple array cameras, any of a variety of combinations of two or more array cameras can be utilized to obtain depth measurements based upon the disparity observed between image data captured by cameras within the two array cameras can be utilized as appropriate to specific applications in accordance with embodiments of the invention.
A stereo array configuration can be formed in an ad hoc manner using one array camera and changing the position of the array camera module. In many embodiments of the invention, an ad hoc stereo array camera module includes an array camera module capturing an image of a scene in one position, moving the array camera module to a second position, and capturing a second image with the array camera module in the second position. The two sets of images captured in this way can form an ad hoc stereo pair of sets of images. By correlating the features from the two sets of images with each other and internal sensors such as a gyroscope and/or accelerometer in combination with the matched features, the camera extrinsics (such as camera center of projection and camera viewing direction) can be determined. In several embodiments, additional image data can be captured by a conventional camera to provide a combination of stereo image capture and ad hoc stereo.
Unified Parallax Computation
A stereo system provides additional optimization possibilities in computing parallax disparities as compared to a single array camera. Parallax calculations can be performed using processes such as those disclosed in U.S. Pat. No. 8,619,082 incorporated by reference above. As discussed above with respect to certain embodiments of the invention, parallax calculations can be performed to compute depths using the cameras in an array camera module. In many embodiments, information calculated using the array camera module can be used to accelerate calculation of depths with the conventional camera. For example, in many processes for calculating depth, images are sampled for similar pixels to determine disparity as discussed in U.S. Pat. No. 8,619,082. When pixels and/or objects have a depth that was already calculated by an array camera module, the search for similar pixels in the image captured by the conventional camera can use the depth information for the same pixel/object as a starting point and/or to limit the search to the “expected” portions of the image as predicted by the existing depth information. In several embodiments, the pixel/object can be correspondingly identified in images captured by the second array such that the existing depths can be applied to the proper pixel/object, even when the corresponding pixel/object is not in the same location within the image(s). In many embodiments, correspondence of pixels/objects is not necessarily determined for part or all of an image, but the depths of each pixel in the first image are used for calculating the depth of the pixel in the same location in the second image.
A process for reusing depth information in accordance with embodiments of the invention is illustrated in
High Resolution Image Synthesis
The image data in low resolution images captured by an array camera module can be used to synthesize a high resolution image using super-resolution processes such as those described in U.S. patent application Ser. No. 12/967,807 entitled “Systems and Methods for Synthesizing High Resolution Images Using Super-Resolution Processes” to Lelescu et al. The disclosure of U.S. Patent Publication No. 2012-0147205 is hereby incorporated by reference in its entirety. A super-resolution (SR) process can be utilized to synthesize a higher resolution (HR) 2D image or a stereo pair of higher resolution 2D images from the lower resolution (LR) images captured by an array camera module. The terms high or higher resolution (HR) and low or lower resolution (LR) are used here in a relative sense and not to indicate the specific resolutions of the images captured by the array camera.
A stereo array camera configuration can also be used to create a HR image by using the cameras from both arrays. While the relatively large baseline between the array camera module and the conventional camera would result in relatively larger occlusion zones (where parallax effects block some content that is captured in one camera from being captured in another camera), in other visible areas from the array camera module and the conventional camera would enhance the final achieved solution. Preferably, each of the array camera module and the conventional camera is complete in its spectral sampling. In several embodiments, the array camera module utilizes a it color filter pattern so that the image that is synthesized using the cameras in array camera module is devoid of parallax artifacts in occlusion zones. In several embodiments, color filters in individual cameras can be used to pattern the cameras in the array camera module with π filter groups as further discussed in U.S. Provisional Patent Application No. 61/641,165 entitled “Camera Modules Patterned with pi Filter Groups”, to Nisenzon et al. filed May 1, 2012, the disclosure of which is incorporated by reference herein in its entirety.
High resolution (HR) images can be used to enhance depth measurement using an array camera module and a conventional camera in processes such as those described further above. In several embodiments of the invention, HR images are generated from image data captured by the array camera module and/or the conventional camera. Each HR image can be generated using images captured by cameras in the array or images captured by the array camera module and the conventional camera. The HR images can then be used as image data in processes for generating depth measurement such as those described above. Measurement can be more robust using HR images because it is typically less sensitive to noise. Creating high resolution depth maps in accordance with embodiments of the invention is discussed below.
High Resolution Depth Map
The image data captured by a stereo system can be used to generate a high resolution depth map whose accuracy is determined by the baseline separation between the array camera module and the conventional camera rather than the baselines of the individual cameras within the array camera module. Depth maps can be generated by any of a variety of processes including those disclosed in U.S. Pat. No. 8,619,082 incorporated by reference above. As discussed further above, the accuracy of depth measurement by an array camera module is reduced at further distances from the array. By using images captured by the cameras in the array camera module in a stereo configuration with one or more images captured by the conventional camera, the baseline between the two cameras is significantly increased over the baseline between two cameras in a single array. Accordingly, depth estimation precision with respect to objects observed at distances from the array camera can be increased relative depth estimates made with images captured by the array camera module alone.
Speed Measurement Using Array Cameras
Motion of an object across the field of view of a digital camera can generally be translated into an angular measurement (or angular velocity with elapsed time information) if the pixel size and back focal length are known, within the tolerance of one pixel and the corresponding angular measure of one pixel. At any given distance d from the camera, the angular measure of one pixel uniquely corresponds to a linear measure. Therefore, given a starting and ending location of an object in two dimensional images captured by a digital camera and the starting and ending distance of the object from the camera, the relative starting and ending locations of the object can be determined in three dimensional space. Provided the time elapsed between the images, the speed (or velocity) of the object can also be calculated. Given one start location and one end location, this can be represented as a linear velocity. Given multiple locations over time, the distance between each pair of consecutive locations (i.e. segment) can be determined and the distances of the segments combined to give a total distance. Additionally, a total average speed can be found by dividing the total distance over the time elapsed or by averaging the speed in each segment (distance divided by time elapsed in that segment) over the total time elapsed.
Conventional digital cameras typically capture two dimensional images without the capability of depth/distance measurement and are thus limited to angular measurement of motion. As discussed further above, array camera modules can be used to determine depth by observing the disparity between multiple images that are captured by different cameras in the array. Formulas and techniques for determining distance relative to pixel disparity as in U.S. Pat. No. 8,619,082 incorporated by reference above can also be used to determine the linear measure that the width of one pixel corresponds to at a given distance from the camera. In addition, one can calculate the time elapsed between the starting and ending frames simply by counting the number of frames between them and observing the frame rate of video capture of the camera.
In many embodiments of the invention, depth information for an object is combined with an angular measure of the object's position to provide a three-dimensional location for the object. In various embodiments of the invention, depth can be calculated using an array camera module and a conventional camera in a stereo configuration as discussed further above. The three-dimension location of an object in two or more images can be used to calculate a speed and direction of the object. A process for measuring speed using an array camera in accordance with embodiments of the invention is illustrated in
A first set of image data is captured (1020) using active cameras in the array camera module. Typically, each camera collects image data that can be used to form an image from the point of view of the camera. In array camera modules, often one camera is designated a reference camera and the image data captured by that camera is referred to as being captured from a reference viewpoint. In many embodiments of the invention, depth measurements are made with respect to the viewpoint of the reference camera using at least one other camera (alternate view cameras) within the array.
An object of interest is identified (1030) in the first set of image data. The identification can be based upon a variety of techniques that include, but are not limited to: user input (e.g., selection on a screen), motion activation, shape recognition, and region(s) of interest. The identification can be made in an image generated from the first set of image data from the cameras in the array camera module. For example, the object of interest can be indicated in a preview image generated from the first set of image data or in a reference image from a reference viewpoint that corresponds to a reference camera in the first array. The identification can include selection of a pixel or set of pixels within the image associated with the object.
Using the first set of image data, a first depth measure and a first location are determined (1040) for the object. Techniques for determining the depth of the object can include those disclosed in U.S. Pat. No. 8,619,082 incorporated by reference and discussed further above. Depth can be calculated using image data captured by the array camera module and/or conventional camera in a stereo configuration as discussed further above. Using the two-dimensional location of the object in an image (e.g., a reference image) an angular measure can be determined for the location of the object with respect to the camera. Combining the angular measure with the depth measure gives a three-dimensional location of the object with respect to the array camera. Any of a variety of coordinate systems can be utilized in accordance with embodiments of the invention to represent the calculated location of the object. In several embodiments of the invention, the centerline of a camera is treated as the origin.
At some time t after the capture of the first set of image data, a second set of image data is captured (1050) using the cameras in the array camera module. In many embodiments of the invention, the same set of cameras utilized to capture the first set of image data are used to capture the second set of image data. In other embodiments, a second set with a different combination of cameras is used to capture the second set of image data.
The object of interest is identified (1060) in the second set of image data. Identification can be based upon a variety of techniques that can include those discussed above with respect to identifying the object in the first set of image data or other tracking techniques known in the art.
Using the second set of image data, a second depth measure and a second location are determined for the object (1070). Depth can be calculated using techniques discussed further above using a single array camera module; or an array camera module and a conventional camera in a stereo configuration. Location can be calculated using techniques discussed further above and can incorporate known information about the location of the conventional camera in relation to the array camera module (e.g., removing parallax effects).
In different scenarios, an array camera module used to capture sets of image data for speed measurement may be stationary (e.g., tripod mounted) or may be in motion (e.g., handheld or panning across a scene). It can also include an array camera module using multiple image captures from slightly different points of view to get the advantage of a larger baseline and a more accurate depth. In several embodiments of the invention, an array camera module is assumed to be stationary and need not compensate for motion of the array. In other embodiments of the invention, an array camera module includes sensors that collect camera motion information (1080) on up to six degrees of movement of the camera, including motion along and rotation about three perpendicular axes. These sensors can include, but are not limited to, inertial sensors and MEMS gyroscopes. Camera motion information that is collected can be used to incorporate motion compensation when calculating the speed and/or direction of an object of interest (i.e., using the camera as a frame of reference). Motion compensation may be appropriate for functions such as stabilization (when there is jitter from slight movements of the camera such as by hand movement) or tracking an object (panning the camera to keep a moving object within the camera's field of view). In further embodiments of the invention, an array camera module is configurable to switch between an assumption that it is stationary (no motion compensation) and that it is moving or moveable (apply motion compensation).
The speed of the object of interest is calculated (1090) using the first location and second location of the object. The direction can also be calculated from the location information, as well as a vector representing the speed and direction of the object.
A confidence measure can be given that is based on factors such as lens calibration and/or pixel resolution (the width that a pixel represents based on distance from the camera). The confidence measure can also incorporate information from a confidence map that indicates the reliability of depth measurements for specific pixels as disclosed in U.S. Pat. No. 8,619,082 incorporated by reference above.
Additionally, calculating speed in accordance with embodiments of the invention can involve calculating a refined depth measurement using an array camera module and a conventional camera as discussed further above with respect to
Although the present invention has been described in certain specific aspects, many additional modifications and variations would be apparent to those skilled in the art. It is therefore to be understood that the present invention may be practiced otherwise than specifically described, including various changes in the implementation, without departing from the scope and spirit of the present invention. Thus, embodiments of the present invention should be considered in all respects as illustrative and not restrictive.
The current application is a Continuation-In-Part Application of U.S. patent application Ser. No. 14/216,968, entitled “Systems and Methods for Stereo Imaging With Camera Arrays” in the name of Venkataraman et al. filed Mar. 17, 2014 published as U.S. Patent Publication 2014/0267633 that claims priority to U.S. Provisional Application No. 61/798,673, filed Mar. 15, 2013 and claims priority to U.S. Provisional Application 62/003,015 filed May 26, 2014 entitled “Array Camera Augmented with External Image Senor (Cyclops)” in the name of Venkataraman et al. The disclosures of these applications are hereby incorporated herein by reference in their entirety.
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| Number | Date | Country | |
|---|---|---|---|
| 20150161798 A1 | Jun 2015 | US |
| Number | Date | Country | |
|---|---|---|---|
| 61798673 | Mar 2013 | US | |
| 62003015 | May 2014 | US |
| Number | Date | Country | |
|---|---|---|---|
| Parent | 14216968 | Mar 2014 | US |
| Child | 14593369 | US |
