Multiple camera system with flash for depth map generation
An example operation of depth map generation includes one or more of, simultaneously capturing a main-off camera image and an auxiliary-off camera image with an unpowered flash, sparse depth mapping an object based on the main-off camera image and the auxiliary-off camera image, capturing a main-on camera image with a powered flash, foreground probability mapping the object based on the main-off camera image and the main-on camera image and dense depth mapping the object based on the sparse depth map and the foreground probability map.
1. A method of depth map generation, comprising:
simultaneously capturing a main-off camera image and an auxiliary-off camera image with an unpowered flash;
sparse depth mapping an object based on the main-off camera image and the auxiliary-off camera image;
capturing a main-on camera image with a powered flash;
foreground probability napping the object based on the main-oil camera image and the main-on camera image; and
dense depth mapping the object based on the sparse depth map and the foreground probability map.
2. The method of depth map generation of claim 1 , wherein the sparse depth mapping is based on a corner mapping.
3. The method of depth map generation of claim 1 , wherein the foreground probability map is based on a confidence extraction.
4. The method of depth map generation of claim 1 , wherein the dense depth map is based on a high confidence corner propagation.
5. The method of depth map generation of claim 1 , wherein the main-on camera image is captured utilizing a set of similar control parameters to the simultaneous capture.
6. The method of depth map generation of claim 1 , wherein the powered flash is set to a preset flash strength.
7. The method of depth map generation of claim 1 , wherein the foreground probability mapping is based on a set of pixel differences between the main-off camera image and the main-on camera image.
8. The method of depth map generation of claim 1 , wherein the main-off camera image and the auxiliary-off camera image are captured by RGB cameras.
9. The method of depth map generation of claim 1 , wherein the main-off camera image and the auxiliary-off camera image are captured by RGBIr cameras.
10. The method of depth map generation of claim 1 , wherein the powered flash is one of a visible light flash and an infrared flash.
11. A non-transitory computer readable medium comprising instructions, that when read by a processor, cause the processor to perform:
simultaneously capturing a main-off camera image and an auxiliary-off camera image with an unpowered flash;
sparse depth mapping an object based on the main-off camera image and the auxiliary-off camera image;
capturing a main-on camera image with a powered flash;
foreground probability napping the object based on the main-off camera image and the main-on camera image; and
dense depth mapping the object based on the sparse depth map and the foreground probability map.
12. The non-transitory computer readable medium of claim 11 , wherein the sparse depth mapping is based on a corner mapping.
13. The non-transitory computer readable medium of claim 11 , wherein the foreground probability map is based on a confidence extraction.
14. The non-transitory computer readable medium of claim 11 , wherein the dense depth imp is based on a high confidence corner propagation.
15. The non-transitory computer readable medium of claim 11 , wherein the main-on camera image is captured utilizing a set of similar control parameters to the simultaneous capture.
16. The non-transitory computer readable medium of claim 11 , wherein the powered flash is set to a preset flash strength.
17. The non-transitory computer readable medium, of claim 11 , wherein the foreground probability mapping is based on a set of pixel differences between the main-off camera image and the main-on camera image.
18. The transitory computer readable medium of claim 11 , wherein the main-off camera image and the auxiliary-off camera image are captured by RGB cameras.
19. The non-transitory computer readable medium of claim 11 , wherein the main-off camera image and the auxiliary-off camera image are captured by RGBIr cameras.
20. The non-transitory computer readable medium of claim 11 , wherein the powered flash is one of a visible light flash and an infrared flash.