Patent ID: 9013543
Filing Date: 2015-04-21
Classification: H04N

Abstract:
1. A method for estimating a depth of each pixel corresponding to a scene point on a scene surface, comprising: identifying, by a processing device, a plurality of scan lines corresponding to a position of a corresponding ranging device positioned on a camera assembly as the camera assembly is travelling along a travel path, wherein each scan line has a starting point at the position of the corresponding ranging device and an end point at a position of the corresponding scene point on the scene surface; generating, by the processing device, a spherical coordinate system that is centered at a panoramic center of projection for the panoramic image, wherein the spherical coordinate system is configured to extend beyond the scene surface based on the plurality of scan lines; partitioning, by the processing device, the spherical coordinate system into a plurality of volumetric pixels; assigning, by the processing device, a depth value from a plurality of depth values to each pixel that is associated with each volumetric pixel; and determining, by the processing device, a location of the scene surface corresponding to the travel path of the camera assembly based on the depth value assigned to each pixel corresponding to each scene point on the scene surface.