Stereo vision with census transform
Systems and techniques are provided for wireless communication. For example, a process can include obtaining a first image of an environment, the first image including a pattern of light. The process can further include determining a pixel window for a pixel of the first image; determining a set of transform pixels based on the pattern of light, wherein the set of transform pixels are a subset of pixels from the pixel window; performing a census transform based on the pixel and the set of transform pixels to obtain census transform information for the first image; and generating depth data based on the census transform information for the first image and census transform information for a second image.
1 . A device for image processing, comprising:
at least one memory;
a light source configured to project a pattern of light into an environment; and
at least one processor coupled to the at least one memory, the at least one processor configured to:
obtain a first image of the environment, the first image including the pattern of light, wherein the first image is captured by a camera;
determine a pixel window for a pixel of the first image, the pixel window comprising a set of pixels around the pixel;
determine a set of transform pixels based on the pattern of light projected by the light source, wherein the set of transform pixels are a subset of pixels from the pixel window;
perform a census transform based on the pixel and the set of transform pixels to obtain census transform information for the first image; and
generate depth data based on the census transform information for the first image.
2 . The device of claim 1 , wherein the pattern of light is in a polygonal pattern.
3 . The device of claim 2 , wherein dots of light of the pattern of light appear in portions of the polygonal pattern for the pixel window.
4 . The device of claim 3 , wherein the dots of light appear at vertices of the polygonal pattern.
5 . The device of claim 4 , wherein the set of transform pixels correspond to the vertices of the polygonal pattern.
6 . The device of claim 4 , wherein the dots of light appear at a subset of all of the vertices of the polygonal pattern.
7 . The device of claim 2 , wherein the polygonal pattern comprises a hexagonal pattern.
8 . The device of claim 1 , wherein an output of the census transform comprises a vector.
9 . The device of claim 8 , wherein a structure of the vector is based on the pattern of light.
10 . The device of claim 1 , wherein the device comprises a mobile device.
11 . The device of claim 1 , wherein the depth data comprises a depth map.
12 . A method for image processing, comprising:
obtaining a first image of an environment, the first image including a pattern of light projected by a light source, wherein the first image is captured by a camera;
determining a pixel window for a pixel of the first image, the pixel window comprising a set of pixels around the pixel;
determining a set of transform pixels based on the pattern of light projected by the light source, wherein the set of transform pixels are a subset of pixels from the pixel window;
performing a census transform based on the pixel and the set of transform pixels to obtain census transform information for the first image; and
generating depth data based on the census transform information for the first image.
13 . The method of claim 12 , wherein the pattern of light is in a polygonal pattern.
14 . The method of claim 13 , wherein dots of light of the pattern of light appear in portions of the polygonal pattern for the pixel window.
15 . The method of claim 14 , wherein the dots of light appear at vertices of the polygonal pattern.
16 . The method of claim 15 , wherein the set of transform pixels correspond to the vertices of the polygonal pattern.
17 . The method of claim 15 , wherein the dots of light appear at a subset of all of the vertices of the polygonal pattern.
18 . The method of claim 13 , wherein the polygonal pattern comprises a hexagonal pattern.
19 . The method of claim 12 , wherein an output of the census transform comprises a vector.
20 . The method of claim 19 , wherein a structure of the vector is based on the pattern of light.
21 . The method of claim 12 , wherein the depth data comprises a depth map.
22 . A non-transitory computer-readable medium having stored thereon instructions that, when executed by a processor, cause the processor to:
obtain a first image of an environment, the first image including a pattern of light projected by a light source, wherein the first image is captured by a camera;
determine a pixel window for a pixel of the first image, the pixel window comprising a set of pixels around the pixel;
determine a set of transform pixels based on the pattern of light projected by the light source, wherein the set of transform pixels are a subset of pixels from the pixel window;
perform a census transform based on the pixel and the set of transform pixels to obtain census transform information for the first image; and
generate depth data based on the census transform information for the first image.
23 . The non-transitory computer-readable medium of claim 22 , wherein the pattern of light is in a polygonal pattern.
24 . The non-transitory computer-readable medium of claim 23 , wherein dots of light of the pattern of light appear in portions of the polygonal pattern for the pixel window.
25 . The non-transitory computer-readable medium of claim 24 , wherein the dots of light appear at vertices of the polygonal pattern.
26 . The non-transitory computer-readable medium of claim 25 , wherein the set of transform pixels correspond to the vertices of the polygonal pattern.
27 . The non-transitory computer-readable medium of claim 25 , wherein the dots of light appear at a subset of all of the vertices of the polygonal pattern.
28 . The non-transitory computer-readable medium of claim 23 , wherein the polygonal pattern comprises a hexagonal pattern.
29 . The non-transitory computer-readable medium of claim 22 , wherein an output of the census transform comprises a vector.
30 . The non-transitory computer-readable medium of claim 29 , wherein a structure of the vector is based on the pattern of light.