Capturing and processing of images including occlusions captured by arrays of luma and chroma cameras
View Patent ↗Systems and methods for implementing array cameras configured to perform super-resolution processing to generate higher resolution super-resolved images using a plurality of captured images and lens stack arrays that can be utilized in array cameras are disclosed. An imaging device in accordance with one embodiment of the invention includes at least one imager array, and each imager in the array comprises a plurality of light sensing elements and a lens stack including at least one lens surface, where the lens stack is configured to form an image on the light sensing elements, control circuitry configured to capture images formed on the light sensing elements of each of the imagers, and a super-resolution processing module configured to generate at least one higher resolution super-resolved image using a plurality of the captured images.
1. A camera array, comprising:
a plurality of imagers, where each imager comprises:
optics comprising at least one lens element and at least one aperture that form an optical channel; and
an 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 imagers; and
an image processing pipeline module configured to process multiple images captured by the plurality of imagers;
wherein the plurality of imagers are configured to capture different images of the same scene and includes at least one imager dedicated to sampling luma and at least one imager dedicated to sampling chroma;
wherein the images captured by the plurality of imagers include different occlusions sets, where the occlusion set of a given imager is the portion of a scene visible to a baseline imager in the plurality of imagers that is occluded from the view of the given imager;
wherein the plurality of imagers includes a first imager that captures pixels around an edge of a foreground object that is visible to the baseline imager and is in the occlusion set of a second of the plurality of imagers that has the same imaging characteristics as the first imager; and
wherein the image processing pipeline module is configured to:
measure parallax using images captured by the plurality of imagers to produce a depth map; and
fuse at least the images captured by the baseline imager, and the first and second of the plurality of imagers having the same imaging characteristics to produce an image; and
wherein the image processing pipeline module is configured to reconstruct color information around the edge of the foreground object that is visible to the baseline imager and in the occlusion set of the second of the plurality of imagers using the pixels captured by the first imager.
2. The camera array of claim 1 , wherein the baseline imager is selected from the group consisting of; a monochromatic imager including a Green spectral filter; a near-IR imager; and a polychromatic imager.
3. The camera array of claim 1 , wherein the first and second imagers are dedicated to sampling chroma and are arranged symmetrically around the baseline camera to address occlusion due to parallax.
4. The camera array of claim 1 , wherein the camera array comprises a monolithic array assembly comprising:
a lens stack array comprising an array of optical channels that form the optics of each imager; and
a single semiconductor substrate on which all of the pixels and control circuitry for each imager are formed.
5. The camera array of claim 1 , wherein the plurality of imagers are formed on separate semiconductor substrates.
6. The camera array of claim 1 , wherein the plurality of imagers are mounted to a motherboard.
7. The camera array of claim 1 , wherein the plurality of imagers each have the same resolution.
8. The camera array of claim 1 , wherein the plurality of imagers comprises imagers having different resolutions.
9. The camera array of claim 1 , wherein an imager dedicated to sampling luma has greater resolution than an imager dedicated to sampling chroma.
10. The camera array of claim 1 , wherein an imager dedicated to sampling chrome includes at least one spectral filter configured to pass a specific spectral band of light selected from the group consisting of Red and Blue spectral filters.
11. The camera array of claim 1 , wherein an imager dedicated to sampling chrome includes a Bayer filter.
12. The camera array of claim 11 , wherein the Bayer filter comprises Red, Green, and Blue spectral filters.
13. The camera array of claim 11 , wherein the Bayer filter comprises Cyan, Magenta, and Yellow spectral filters.
14. The camera array of claim 11 , wherein the spectral filters in the Bayer filter provide full spectral data for the visible light spectrum.
15. The camera array of claim 1 , wherein the control circuitry of the at least one imager dedicated to luma sampling and the at least one imager dedicated to chrome sampling configure the imagers to operate with at least one difference in operating parameters.
16. The camera array of claim 15 , 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.
17. The camera array of claim 1 , wherein the plurality of imagers includes imagers having apertures of different sizes.
18. The camera array of claim 17 , wherein an imager dedicated to luma sampling has a larger aperture than an imager dedicated to sampling chroma.
19. The camera array of claim 17 , wherein an imager dedicated to luma sampling has a smaller aperture than an imager dedicated to sampling chroma.
20. The camera array of claim 1 , wherein the plurality of imagers includes imagers having different exposure times.
21. The camera array of claim 20 , wherein an imager dedicated to luma sampling has a longer exposure time than an imager dedicated to sampling chroma.
22. The camera array of claim 20 , wherein an imager dedicated to luma sampling has a shorter exposure time than an imager dedicated to sampling chroma.
23. The camera array of claim 1 , wherein the fields of view of the plurality of imagers at least partially overlap.
24. The camera array of claim 1 , wherein the camera array comprises an array of between 2×2 and 6×6 imagers.
25. The camera array of claim 1 , wherein the camera array comprises a linear array of imagers.
26. The camera array of claim 25 , wherein the linear array of imagers comprises at least one selected from the group consisting of: a 1×4 array of imagers; and a 1×10 array of imagers.
27. The camera array of claim 1 , wherein the image processing pipeline module comprises a parallax confirmation and measurement module configured to measure parallax using images captured by the plurality of imagers by:
detecting parallax-induced changes that are consistent across the captured images taking into account the position of the imagers that captured the images; and
ignoring pixels in the captured images that are in the occlusion set of a baseline imager.
28. The camera array of claim 1 , 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.
29. A camera array assembly, comprising:
a monolithic integrated module forming a plurality of imagers, where each imager comprises:
a lens stack array comprising an array of optical channels that form the optics of each imager, where each optical channel comprises at least one lens element and at least one aperture forming a lens stack; and
a single semiconductor substrate on which all of the pixels and control circuitry for each imager are formed;
a controller configured to control operation parameters of the plurality of imagers; and
an image processing pipeline module configured to process multiple images captured by the linear array of imagers;
wherein the imagers in the linear array of imagers are configured to capture different images of the same scene;
wherein the images captured by the linear array of imagers include different occlusions sets, where the occlusion set of a given imager is the portion of a scene visible to a baseline imager that is occluded from the view of the given imager;
wherein the linear array of imagers includes a first imager that captures pixels around an edge of a foreground object that is visible to the baseline imager and is in the occlusion set of a second imager that has the same imaging characteristics as the first imager;
wherein the baseline imager is dedicated to sampling luma;
wherein the first and second imagers are dedicated to sampling chrome and are arranged symmetrically around the baseline imager; and
wherein the image processing pipeline module is configured to:
measure parallax using images captured by the plurality of imagers to produce a depth map; and
fuse at least the images captured by the baseline imager, and the first and second imagers having the same imaging characteristics to produce an image; and
wherein the image processing pipeline module is configured to reconstruct color information around the edge of the foreground object that is visible to the baseline imager and in the occlusion set of the second imager using the pixels captured by the first imager; 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.
30. A camera array, comprising:
a plurality of imagers formed on separate semiconductor substrates and mounted to a motherboard, where each imager comprises:
optics comprising at least one lens element and at least one aperture that form an optical channel; 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 imagers; and
an image processing pipeline module configured to process multiple images captured by the linear array of imagers;
wherein the imagers in the linear array of imagers are configured to capture different images of the same scene;
wherein the images captured by the linear array of imagers include different occlusions sets, where the occlusion set of a given imager is the portion of a scene visible to a baseline imager that is occluded from the view of the given imager;
wherein the linear array of imagers includes a first imager that captures pixels around an edge of a foreground object that is visible to the baseline imager and is in the occlusion set of a second imager that has the same imaging characteristics as the first imager;
wherein the baseline imager is dedicated to sampling luma;
wherein the first and second imagers are dedicated to sampling chroma and are arranged symmetrically around the baseline imager; and
wherein the image processing pipeline module is configured to:
measure parallax using images captured by the plurality of imagers to produce a depth map; and
fuse at least the images captured by the baseline imager, and the first and second imagers having the same imaging characteristics to produce an image; and
wherein the image processing pipeline module is configured to reconstruct color information around the edge of the foreground object that is visible to the baseline imager and in the occlusion set of the second imager using the pixels captured by the first imager; 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.