Capturing and processing of images including occlusions captured by camera arrays
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;
wherein the plurality of imagers are configured to capture different images of the same scene;
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; and
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.
2. The camera array of claim 1 , wherein the imager array further comprises an image processing module 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.
3. The camera array of claim 1 , wherein the camera array comprises an array of between 2×2 and 6×6 imagers.
4. The camera array of claim 3 , wherein the camera array comprises a 3×3 array of imagers.
5. The camera array of claim 3 , wherein the camera array comprises a 4×4 array of imagers.
6. The camera array of claim 3 , wherein the camera array comprises a 5×5 array of imagers.
7. The camera array of claim 1 , wherein the camera array comprises a one-dimensional array of imagers.
8. The camera array of claim 7 , wherein the camera array comprises at least one selected from the group consisting of: a 1×4 array of imagers; and a 1×10 array of imagers.
9. The camera array of claim 1 , wherein each imager includes a spectral filter configured to pass a specific spectral band of light selected from the group consisting of a Bayer filler, one or more Blue filters, one or more Green filters, one or more Red filters, one or more shifted spectral filters, one or more near-IR filters, and one or more hyper-spectral filters.
10. The camera array of claim 1 , wherein at least two imagers include a Red filter, at least two imagers include a Green filter, and at least two imagers include a Blue filter.
11. The camera array of claim 10 , wherein at least two imagers include a near-IR filter.
12. The camera array of claim 1 , wherein at least one imager is selected from the group consisting of: a polychromatic imager; and a near-IR imager.
13. The camera array of claim 1 , wherein the camera array is a monolithic camera array assembly comprising:
a lens stack array comprising an array of optical channels that form the optics of each imager, where each optical channel comprises the at least one lens element and the at least one aperture forming the lens stack of an imager; and
a single semiconductor substrate on which all of the pixels and control circuitry for each imager are formed.
14. The camera array of claim 1 , wherein the plurality of imagers are formed on separate semiconductor substrates.
15. The camera array of claim 1 , wherein the plurality of imagers comprises at least one imager of a first type that includes a spectral filter configured to pass a first spectral band of light and at least one imager of a second type that includes a spectral filter configured to pass a second spectral band of light.
16. The camera array of claim 15 , wherein the control circuitry of the imagers that include different types of filters configure the imagers to operate with at least one difference in operating parameters.
17. The camera array of claim 16 , 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.
18. The camera array of claim 15 , wherein the plurality of imagers comprises a distribution of imagers selected from the group consisting of: a symmetric distribution of imagers of different types; and an irregular distribution of imagers of different types.
19. 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;
a single semiconductor substrate on which all of the pixels and control circuitry for each imager are formed; and
at least one spectral filter located within each imager, where each spectral filter is configured to pass a specific spectral band of light;
wherein the plurality of imagers are configured to capture different images of the same scene;
wherein the plurality of imagers comprises at least one imager of a first type that includes a spectral filter configured to pass a first spectral band of light and at least one imager of a second type that includes a spectral filter configured to pass a second spectral band of light;
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 first of the plurality of imagers that is occluded from the view of the given imager; and
wherein the plurality of imagers includes at least one imager of the first type that captures pixels around an edge of a foreground object that is visible to the first of the plurality of imagers and is in the occlusion set of another of the plurality of imagers of the first type.
20. A camera array, comprising:
a plurality of imagers formed on separate semiconductor substrates, where each imager comprises:
optics comprising at least one lens element and at least one aperture that form an optical channel;
a sensor comprising a two dimensional array of pixels and control circuitry for controlling imaging parameters; and
at least one spectral filter located within the imager, where each spectral filter is configured to pass a specific spectral band of light;
wherein the plurality of imagers are configured to capture different images of the same scene;
wherein the plurality of imagers comprises at least one imager of a first type that includes a spectral filter configured to pass a first spectral band of light and at least one imager of a second type that includes a spectral filter configured to pass a second spectral band of light;
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; and
wherein the plurality of imagers includes at least one imager of the first type that captures pixels around an edge of a foreground object that is visible to the first of the plurality of imagers and is in the occlusion set of another of the plurality of imagers of the first type.