Capturing and processing of images captured by arrays including polychromatic cameras

1. A camera array, comprising:

a plurality of cameras configured to capture images of a scene, where each camera comprises:

optics comprising at least one lens element and at least one aperture; and

a sensor comprising a two dimensional array of pixels and control circuitry for controlling imaging parameters;

a controller configured to control operation parameters of the plurality of cameras; and

an image processing pipeline module;

wherein the plurality of cameras comprises a plurality of different types of camera, where cameras of a given type share the same imaging characteristics and different types of cameras have different imaging characteristics;

wherein the plurality of cameras includes at least one polychromatic camera having sensitivity across the entire visible spectrum and near-IR spectrum;

wherein the plurality of cameras includes at least one camera configured to capture a visible light image, where a camera configured to capture a visible light image includes at least one spectral filter configured to pass a specific spectral band of visible light;

wherein the image processing pipeline module is configured to:

measure parallax using images captured by the plurality of cameras to produce a depth map; and

fuse images captured by the polychromatic camera and at least one camera configured to capture a visible light image to produce an image.

2. The camera array of claim 1 , wherein the image processing pipeline module is configured to interpolate the polychromatic image to grid points that correspond to the grid points of a visible light image.

3. The camera array of claim 1 , wherein the image processing pipeline module is configured to fuse images captured by the polychromatic camera and at least one camera configured to capture a visible light image to produce an image by denoising a visible light image using the polychromatic image.

4. The camera array of claim 1 , wherein the image processing pipeline module is configured to fuse images captured by the polychromatic camera and at least one camera configured to capture a visible light image to produce an image by transferring details to a visible light image using a dual bilateral filter.

5. The camera array of claim 1 , wherein a polychromatic camera forms a central camera.

6. The camera array of claim 5 , wherein the cameras configured to capture visible light images include at least one spectral filter selected from the group consisting of: a Red filter, a Green filter, a Blue filter, and a Bayer filter.

7. The camera array of claim 5 , wherein the plurality of cameras forms:

at least one row of cameras above the central camera;

at least one row of cameras below the central camera;

at least one column of cameras to the left of the central camera; and

at least one column of cameras to the right of the central camera;

wherein cameras having the same imaging characteristics are located in locations selected from the group consisting of:

locations including at least one row in the camera array above the central camera and at least one row in the camera array below the central camera; and

locations including at least one column in the camera array to the left of the central camera and at least one column in the camera array to the right of the central camera.

8. The camera array of claim 7 , wherein the camera array comprises a 3×3 array of cameras.

9. The camera array of claim 7 , wherein the camera array comprises a 4×4 array of cameras.

10. The camera array of claim 7 , wherein the camera array comprises a 5×5 array of cameras.

11. The camera array of claim 5 , wherein the plurality of cameras forms a linear array of cameras.

12. The camera array of claim 11 , wherein the linear array of cameras comprises at least one selected from the group consisting of: a 1×4 array of cameras; and a 1×10 array of cameras.

13. The camera array of claim 1 , wherein the control circuitry of the different types of cameras configures the cameras to operate with at least one difference in operating parameters.

14. The camera array of claim 13 , wherein the at least one difference in operating parameters includes at least one imaging parameter selected from the group consisting of exposure time, gain, and black level offset.

15. The camera array of claim 1 , wherein the plurality of cameras comprises a distribution of cameras selected from the group consisting of: a symmetric distribution of cameras of different types; and an irregular distribution of cameras of different types.

16. The camera array of claim 1 , wherein the camera array is a monolithic camera array assembly comprising:

a lens element array forming the optics of each camera; and

a single semiconductor substrate on which all of the pixels and control circuitry for each camera are formed.

17. The camera array of claim 1 , wherein the plurality of cameras are formed on separate semiconductor substrates.

18. The camera array of claim 1 , wherein

images captured by the plurality of cameras include different occlusions sets, where the occlusion set of a first camera is the portion of a scene visible to a second camera in the plurality of cameras that is occluded from the view of the first camera; and

wherein the image processing pipeline module comprises a parallax confirmation and measurement module configured to measure parallax using images captured by the plurality of cameras by:

detecting parallax-induced changes that are consistent across the captured images taking into account the position of the cameras that captured the images; and

ignoring pixels in the images captured by the plurality of cameras that are in the occlusion set of the central camera.

19. The camera array of claim 18 , wherein the parallax confirmation and measurement module is further configured to estimate distance to an object in images captured by the plurality of cameras.

20. The camera array of claim 18 , wherein the parallax confirmation and measurement module is further configured to generate a depth map using images captured by the plurality of cameras.

21. The camera array of claim 18 , wherein the image processing pipeline module further comprises a super-resolution processing module configured to generate at least one higher resolution image using images captured by the plurality of cameras and parallax measurements from the parallax confirmation and measurement module to compensate for parallax in the captured images.

22. The camera array of claim 21 , wherein the parallax information includes a depth map.

23. The camera array of claim 21 , wherein the super-resolution processing module is configured to select at least one distance as a focal plane and to apply blurring to pixels in at least one higher resolution image with depths in the depth map that are not proximate a focal plane.

24. A camera array, comprising:

a monolithic integrated module forming a plurality of cameras, where the monolithic integrated module comprises:

a lens element array forming the optics of each of the plurality of cameras, where the optics of each camera comprises at least one lens element and at least one aperture; and

a single semiconductor substrate on which all of the pixels and control circuitry for each camera are formed;

a controller configured to control operation parameters of the linear array of cameras; and

an image processing pipeline module;

wherein the plurality of cameras comprises a plurality of different types of camera, where cameras of a given type share the same imaging characteristics and different types of cameras have different imaging characteristics;

wherein the plurality of cameras includes at least one polychromatic camera having sensitivity across the entire visible spectrum and near- 1 R spectrum;

wherein the plurality of cameras includes at least one camera configured to capture a visible light image, where a camera configured to capture a visible light image includes at least one spectral filter configured to pass a specific spectral band of visible light;

wherein the image processing pipeline module is configured to:

measure parallax using images captured by the plurality of cameras to produce a depth map; and

fuse images captured by the polychromatic camera and at least one camera configured to capture a visible light image to produce an image; and

wherein the image processing pipeline module is configured to select at least one distance as an “in best focus” distance and blur the produced image based upon the depth map.

25. A camera array, comprising:

a plurality of cameras formed on separate semiconductor substrates and mounted to a motherboard, where each camera comprises:

optics comprising at least one lens element and at least one aperture; and

a sensor comprising a two dimensional array of pixels and control circuitry for controlling imaging parameters;

a controller configured to control operation parameters of the linear array of cameras; and

an image processing pipeline module;

wherein the plurality of cameras comprises a plurality of different types of camera, where cameras of a given type share the same imaging characteristics and different types of cameras have different imaging characteristics;

wherein the plurality of cameras includes at least one polychromatic camera having sensitivity across the entire visible spectrum and near- 1 R spectrum;

wherein the plurality of cameras includes at least one camera configured to capture a visible light image, where a camera configured to capture a visible light image includes at least one spectral filter located within the camera configured to pass a specific spectral band of visible light;

wherein the image processing pipeline module is configured to:

measure parallax using images captured by the linear array of cameras to produce a depth map; and

fuse images captured by the polychromatic camera and at least one camera configured to capture a visible light image to produce an image; and

wherein the image processing pipeline module is configured to select at least one distance as an “in best focus” distance and blur the produced image based upon the depth map.