Full depth map acquisition

1. Method for acquiring a substantially complete depth map from a 3-D scene with the steps of:

a) acquiring an image of said 3-D scene using less than three cameras,

b) acquiring partial depth map from said image,

c) acquiring derivates of depth information from said image,

d) extending said partial depth map by adding non-relevant information to said partial depth map, creating a pixel dense full depth map being spatially consistent with both said partial depth map and said derivates of depth information.

2. Method according to claim 1 , characterized in that said non-relevant information extending said depth map is calculated by maximizing a probability function containing said non-relevant information, said partial depth map and said derivates of said depth map.

3. Method according to claim 1 , characterized in that said partial depth information and said derivates of depth information is acquired by quantitative image processing.

4. Method according to claim 1 , characterized in that said partial depth information is acquired by detecting a local amount of image texture, and determining depth from spatially high textured areas.

5. Method according to claim 1 , characterized in that said partial depth information and said derivates of depth information is acquired by qualitative image processing.

6. Method according to claim 1 , characterized in that said partial depth information is acquired by object segmentation to determine objects within said at least one image and by detecting the ordering of objects.

7. Method according to claim 1 , characterized in that human depth perception is modeled by depth sensors and that said pixel dense full depth map is calculated based on properties of said depth sensors.

8. Method according to claim 1 , characterized in that said pixel dense full depth map is calculated by perturbating pixel values not defined by said partial depth map and said derivates of said depth map and minimizing said probability function.

9. Integrated circuit providing image processing of said at least one image according to claim 1 .

10. Use of a method according to claim 1 in consumer electronics, television and computer vision products.

11. Method according to claim 1 , wherein the less than three cameras and said scene are stationary relative to each other.)

12. Method according to claim 1 , wherein the non-relevant depth information is obtained by comparing the pixel dense depth map with different non-relevant depth information with the partial depth information, the depth derivates and a perception model of human depth perception.

13. System for acquiring a substantially complete depth map from a 3-D scene, the system comprising:

a) less than three cameras for acquiring an image of said 3-D scene; and,

b) an integrated circuit for providing image processing of said one image, said integrated circuit comprising:

c) acquiring partial depth map from said at image,

d) acquiring derivates of depth information from said image, and

e) extending said partial depth map by adding non-relevant information to said partial depth map, creating a pixel dense full depth map being spatially consistent with both said partial depth map and said derivates of depth information.

14. Method for acquiring a substantially complete depth map from a 3-D scene with the steps of:

acquiring an image of said 3-D scene using less than three cameras;

acquiring partial depth map from said at least one image, said partial depth map having depth data, an uncertainty range, and discontinuities;

acquiring derivates of depth information from said one image; and

extending said partial depth map by adding non-relevant information to said partial depth map, creating a pixel dense full depth map with a smooth depth profile being spatially consistent with both said partial depth map and said derivates of depth information.