METHOD AND SYSTEM FOR DETERMINING A DEPTH IMAGE OF A SCENE
The present description concerns a system for determining a depth image of a scene, configured to project a spot pattern onto the scene and acquire an image of the scene; determining I and Q values of the image pixels; determining, for each pixel, at least one confidence value to form a confidence image; determining the local maximum points of the confidence image having a confidence value greater than a first threshold; selecting, for each local maximum point, pixels around the local maximum point having a confidence value greater than a second threshold; determining a value Imoy equal to the average of the I values of the selected pixels and a value Qmoy equal to the average of the Q values of the selected pixels; and determining the depth of the local maximum point based on values Imoy and Qmoy.
1 . A method, comprising:
acquiring an image in response to projecting a spot pattern onto a scene, each pixel of the image obtained from electric charges accumulated during collection phases;
determining an in-phase component value and a quadrature component value for each pixel;
determining a confidence value for each pixel as a function of the electric charges;
forming a confidence map based on the confidence values;
determining a plurality of local maximum points for the confidence map, the determining comprising determining a pixel within a first window for each local maximum point with the greatest value and with a value greater than a first threshold;
selecting, for each local maximum point, one or more pixels within a second window having a value greater than a second threshold, wherein the second window includes the local maximum point, and wherein each local maximum point and the one or more pixels form a respective confidence area;
determining, for each confidence area of the image, an average in-phase component value and an average quadrature component value; and
determining, for each local maximum point, a corresponding depth based on the average in-phase component value and the average quadrature component value.
2 . The method of claim 1 , wherein the first threshold is greater than the second threshold.
3 . The method of claim 1 , wherein each local maximum point in the first window is not located on an edge of the first window.
4 . The method of claim 1 , wherein the second window is larger or equal to the first window.
5 . The method of claim 1 , wherein the method is based on indirect time of flight (iToF) principles.
6 . The method of claim 1 , further comprising determining a color for each spot pattern based on the corresponding depth determined for each local maximum point.
7 . The method of claim 1 , wherein the confidence value is determined based on an amplitude value of the pixel or the amplitude value of the pixel and an offset value for the pixel.
8 . A device, comprising:
a non-transitory memory storage comprising instructions; and
a processor in communication with the non-transitory memory storage, the processor configured to execute instructions to:
acquire an image in response to projecting a spot pattern onto a scene, each pixel of the image obtained from electric charges accumulated during collection phases;
determine an in-phase component value and a quadrature component value for each pixel;
determine a confidence value for each pixel as a function of the electric charges;
form a confidence map based on the confidence values;
determine a plurality of local maximum points for the confidence map, the determining comprising determining a pixel within a first window for each local maximum point with the greatest value and with a value greater than a first threshold;
select, for each local maximum point, one or more pixels within a second window having a value greater than a second threshold, wherein the second window includes the local maximum point, and wherein each local maximum point and the one or more pixels form a respective confidence area;
determine, for each confidence area of the image, an average in-phase component value and an average quadrature component value; and
determine, for each local maximum point, a corresponding depth based on the average in-phase component value and the average quadrature component value.
9 . The device of claim 8 , wherein the first threshold is greater than the second threshold.
10 . The device of claim 8 , wherein each local maximum point in the first window is not located on an edge of the first window.
11 . The device of claim 8 , wherein the second window is larger or equal to the first window.
12 . The device of claim 8 , wherein the device comprises an image sensor configured to acquire the image.
13 . The device of claim 8 , wherein device operates under indirect time of flight (iToF) principles.
14 . The device of claim 8 , wherein the processor is configured to execute instructions to determine a color for each spot pattern based on the corresponding depth determined for each local maximum point.
15 . A non-transitory computer-readable media storing computer instructions, that when executed by a processor, cause the processor to:
acquire an image in response to projecting a spot pattern onto a scene, each pixel of the image obtained from electric charges accumulated during collection phases;
determine an in-phase component value and a quadrature component value for each pixel;
determine a confidence value for each pixel as a function of the electric charges;
form a confidence map based on the confidence values;
determine a plurality of local maximum points for the confidence map, the determining comprising determining a pixel within a first window for each local maximum point with the greatest value and with a value greater than a first threshold;
select, for each local maximum point, one or more pixels within a second window having a value greater than a second threshold, wherein the second window includes the local maximum point, and wherein each local maximum point and the one or more pixels form a respective confidence area;
determine, for each confidence area of the image, an average in-phase component value and an average quadrature component value; and
determine, for each local maximum point, a corresponding depth based on the average in-phase component value and the average quadrature component value.
16 . The non-transitory computer-readable media of claim 15 , wherein the first threshold is greater than the second threshold.
17 . The non-transitory computer-readable media of claim 15 , wherein each local maximum point in the first window is not located on an edge of the first window.
18 . The non-transitory computer-readable media of claim 15 , wherein the second window is larger or equal to the first window.
19 . The non-transitory computer-readable media of claim 15 , wherein the corresponding depth is calculated as a function of phase lag, the phase lag calculated from the average in-phase component value and the average quadrature component value.
20 . The non-transitory computer-readable media of claim 15 , wherein the computer instructions, when executed by the processor, cause the processor to determine a color for each spot pattern based on the corresponding depth determined for each local maximum point.