Systems and methods for measuring depth using images captured by a camera array including cameras surrounding a central camera
View Patent ↗A camera array, an imaging device and/or a method for capturing image that employ a plurality of imagers fabricated on a substrate is provided. Each imager includes a plurality of pixels. The plurality of imagers include a first imager having a first imaging characteristics and a second imager having a second imaging characteristics. The images generated by the plurality of imagers are processed to obtain an enhanced image compared to images captured by the imagers. Each imager may be associated with an optical element fabricated using a wafer level optics (WLO) technology.
1. A camera array, comprising:
a plurality of cameras configured to capture images of a scene;
an image processor;
wherein one of the plurality of cameras includes a primary camera and the plurality of cameras forms:
at least one camera above the primary camera;
at least one camera below the primary camera; at least one camera to the left of the primary camera; and
at least one camera to the right of the primary camera;
wherein cameras having the same imaging characteristics are located in locations selected from the group consisting of:
locations including above the primary camera and below the primary camera; and
locations including to the left of the primary camera and to the right of the primary camera;
wherein the image processor is configured to measure parallax using images captured by the plurality of cameras by detecting parallax-induced changes that are consistent across the images taking into account the position of the cameras that captured the images; and
wherein the image processor is further configured to generate a depth map using measured parallax.
2. 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
the image processor is further configured to measure parallax using images captured by the plurality of cameras by ignoring pixels in the images captured by the plurality of cameras that are in the occlusion set of the primary camera.
3. The camera array of claim 1 , wherein each camera in the plurality of cameras 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.
4. The camera array of claim 1 , wherein the image processor is further configured to generate at least one higher resolution image using images captured by the plurality of cameras and parallax measurements to compensate for parallax in the captured images.
5. The camera array of claim 4 , wherein the image processor 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.
6. The camera array of claim 1 , wherein the camera array comprises a 3×3 array of cameras.
7. The camera array of claim 1 , wherein the camera array comprises a 4×4 array of cameras.
8. The camera array of claim 1 , wherein the camera array comprises a 5×5 array of cameras.
9. The camera array of claim 1 , wherein each camera includes a spectral filter configured to pass a specific spectral band of light selected from the group consisting of a Bayer filter, 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 cameras include a Red filter, at least two cameras include a Green filter, and at least two cameras include a Blue filter.
11. The camera array of claim 1 , wherein at least two cameras are near-IR cameras.
12. The camera array of claim 11 , wherein the camera array further comprises a near-IR light source configured to illuminate the scene during image capture.
13. The camera array of claim 12 , wherein:
the at least one camera above the primary camera is a near-IR camera;
the at least one camera below the primary camera is a near-IR camera;
the at least one camera to the left of the primary camera is a near-IR camera; and
the at least one camera to the right of the primary camera is a near-IR camera.
14. The camera array of claim 1 , wherein:
the plurality of cameras comprises cameras having different imaging characteristics; and
control circuitry that configures the cameras having different imaging characteristics to operate with at least one difference in operating parameters.
15. The camera array of claim 14 , 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.
16. The camera array of claim 14 , 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.
17. 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 for each camera are formed.
18. The camera array of claim 1 , wherein the plurality of cameras is formed on separate semiconductor substrates.
19. 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 comprising a parallax confirmation and measurement module;
wherein one of the plurality of cameras includes a primary camera and the plurality of cameras forms:
at least one camera above the primary camera;
at least one camera below the primary camera;
at least one camera to the left of the primary camera; and
at least one camera to the right of the primary camera;
wherein cameras having the same imaging characteristics are located in locations selected from the group consisting of:
locations including above the primary camera and below the primary camera; and
locations including to the left of the primary camera and to the right of the primary cameral;
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;
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 all of the images taking into account the position of the cameras that captured the images; and
wherein the parallax confirmation and measurement module is further configured to generate a depth map using measured parallax.
20. The camera array of claim 19 , wherein the parallax confirmation and measurement module is further configured to ignore pixels in the images captured by the plurality of cameras that are in the occlusion set of the primary camera.
21. 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 comprising a parallax confirmation and measurement module;
a near-IR light source configured to illuminate the scene during image capture;
wherein one of the plurality of cameras includes a primary camera and the plurality of cameras includes at least two near-IR cameras;
wherein the two near-IR cameras are located in locations selected from the group consisting of:
locations including above the primary camera and below the primary camera; and
locations including to the left of the primary camera and to the right of the primary cameral;
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 all of the images taking into account the position of the cameras that captured the images; and
wherein the parallax confirmation and measurement module is further configured to generate a depth map using measured parallax.
22. The camera array of claim 21 , wherein the parallax confirmation and measurement module is further configured to ignore pixels in the images captured by the plurality of cameras that are in the occlusion set of the primary camera.