Source: https://patents.google.com/patent/JP5592006B2/en
Timestamp: 2020-02-19 23:15:26
Document Index: 701265562

Matched Legal Cases: ['Application No. 61', 'art 3', 'art 3', 'art 3', 'art 3', 'art 2', 'art 2']

JP5592006B2 - 3D image processing - Google Patents
3D image processing Download PDF
JP5592006B2
JP5592006B2 JP2013513219A JP2013513219A JP5592006B2 JP 5592006 B2 JP5592006 B2 JP 5592006B2 JP 2013513219 A JP2013513219 A JP 2013513219A JP 2013513219 A JP2013513219 A JP 2013513219A JP 5592006 B2 JP5592006 B2 JP 5592006B2
JP2013513219A
JP2013533672A (en
ゴマ、セルジウ・アール．
アタナソブ、カリン・エム．
アレックシック、ミリボジェ
2010-05-28 Priority to US34973810P priority Critical
2010-05-28 Priority to US61/349,738 priority
2011-04-04 Priority to US13/079,752 priority patent/US8970672B2/en
2011-04-04 Priority to US13/079,752 priority
2011-05-24 Application filed by クゥアルコム・インコーポレイテッドＱｕａｌｃｏｍｍ Ｉｎｃｏｒｐｏｒａｔｅｄ filed Critical クゥアルコム・インコーポレイテッドＱｕａｌｃｏｍｍ Ｉｎｃｏｒｐｏｒａｔｅｄ
2011-05-24 Priority to PCT/US2011/037779 priority patent/WO2011149967A2/en
2013-08-22 Publication of JP2013533672A publication Critical patent/JP2013533672A/en
2014-09-17 Publication of JP5592006B2 publication Critical patent/JP5592006B2/en
The present disclosure relates generally to three-dimensional (3D) image processing.
Technological development has resulted in smaller, higher performance computing devices. For example, there currently exist a variety of portable personal computing devices, such as portable wireless phones, personal digital assistants (PDAs), and paging devices that are small, lightweight, and easy to carry by users. Including equipment. Many such wireless telephones include other types of devices that are incorporated herein. For example, a wireless telephone can also include a digital still camera, a digital video camera, a digital recorder, and an audio file player. Such wireless telephones can also process executable instructions including software applications such as video file players.
This application claims priority from US Provisional Patent Application No. 61 / 349,738, filed May 28, 2010, entitled “THREE-DIMENSIONAL IMAGE PROCESSING”, incorporated herein by reference in its entirety. To do.
FIG. 1 is a block diagram of a specific embodiment of a system that includes a 3D playback device configured to perform adaptive convergence in response to a zoom or pan command during playback of a media file. FIG. 2 is a block diagram of a specific embodiment of a system that includes a 3D imager configured to perform adaptive convergence in response to a zoom command during image or video capture. FIG. 3 is a diagram of a specific embodiment of a 3D imaging device configured to detect parallax of a subject in a scene during image or video shooting. FIG. 4 is a block diagram of a specific embodiment of a 3D image processing system that can be included in any of the systems of FIGS. FIG. 5A is a diagram of an illustrative embodiment of a subject parallax correlated with a recognized subject depth. FIG. 5B is a diagram of an illustrative embodiment of the subject parallax correlated with the recognized subject depth. FIG. 6 is a block diagram of a specific embodiment of a 3D image processing system that can be included in any of the systems of FIGS. FIG. 7 is a diagram illustrating a specific embodiment of a scene subsampled luma component and the result of horizontal change detection applied to the subsampled luma component. FIG. 8A is a diagram of an illustrative embodiment of the local horizontal space maximum in the filtered result of FIG. 7 and the neighborhoods of each local horizontal space maximum in the subsampled luma component of the scene of FIG. FIG. FIG. 8B is a diagram of an illustrative embodiment of the local horizontal space maximum in the filtered result of FIG. 7 and the neighborhoods of each local horizontal space maximum in the subsampled luma component of the scene of FIG. FIG. FIG. 9 is a histogram of a specific illustrative embodiment illustrating the parallax of key points in a scene. FIG. 10 is a diagram of a specific embodiment illustrating the effect of viewing distance on 3D perception of a scene. FIG. 11 is a diagram of an illustrative embodiment illustrating the parallax depending on the display viewing distance. FIG. 12 is a diagram of a specific embodiment illustrating the effect of a zoom operation on 3D perception of a scene. FIG. 13 is a histogram of an illustrative embodiment illustrating scene parallax and convergence point selection. FIG. 14 is a flowchart of the first embodiment of the 3D image processing method. FIG. 15 is a flow diagram of a second embodiment of a 3D image processing method. FIG. 16 is a flow diagram of a third embodiment of a 3D image processing method.
Three-dimensional (3D) image processing systems and methods are disclosed. A three-dimensional (3D) media player can receive input data corresponding to a scene and provide output data to a 3D display device. The 3D media player responds to user input including a zoom command and a pan command. The 3D media player includes a convergence control module configured to determine a convergence point for 3D rendering of the scene in response to user input. The convergence point can be determined adaptively on a scene-by-scene basis and can be set according to display scene geometry, viewing distance, and zoom / pan user input.
3D perception can occur in the viewer's head as a result of fusing a subject appearing in the left image of the scene with a corresponding subject appearing in the right image of the same scene. The perceived depth of the subject is based on the subject's parallax, ie, a shift in the subject's position between the left and right images. Parallax (left and right) image shifts play a role in 3D effects and can cause discomfort / headaches if not handled correctly. Display dimensions and viewing distance affect the parallax and can cause undesirable effects if not compensated. The zoom function can be an attribute of a 3D suite and affects parallax (in real time).
The parallax constraints can be configured based on user preferences. Scene dependent parallax constraints can be derived in real time based on display size and distance and zoom ratio. The scene parallax can be measured and if the scene parallax is within the constraints, the convergence point of the scene can be adjusted. If the scene parallax is not within the constraints, the process may switch to a special mode to bring the parallax within the constraints.
Special processing (3D effect control) may be used depending on one or more of display viewing angle, display size, distance between viewer and display, and zoom ratio. Consideration is made to fully use the effective range and generate a 3D effect that is comfortable to the user.
Humans can only interpret (fuse) after a ghost (double images) appears until a certain angular disparity is reached. The perceived depth of the subject only depends on the angular parallax. Angular parallax depends on a combination of screen size, screen resolution and viewing distance.
With reference to FIG. 1, a specific illustrative embodiment of the system includes a portable electronic device such as a camera phone 102 coupled to a computing device 120. In a specific embodiment, computing device 120 is a personal computer coupled to display device 130. Camera phone 102 is coupled to provide 3D image data 158 to computing device 120 via an interface. The camera phone 102 includes an image sensor pair 104, a synchronous application specific integrated circuit (ASIC), a video front end component 108 and an external memory 114. The synchronization ASIC includes a synchronization and interface function 106 and is responsive to the image sensor pair 104. The synchronization and interface function 106 receives image data 150 including first image data and second image data from the image sensor pair 104. The video front end component 108 is coupled to a synchronous ASIC and includes one or more image processing functions 110 and a 3D video encoding function 112. Video front end component 108 provides video encoded data 156 to external memory 114. The video front-end component 108 is a mobile station modem that also enables wireless connection and application processing functions on the camera phone 102. It can be included in a mobile device chipset such as a TM (MSM.TM) type chipset (mobile station modem and MSM are registered trademarks of Qualcomm).
The computing device 120 includes storage devices such as an in-house player 126 using a user interface, a real-time playback component 124, and a personal computer (PC) hard drive 122. The real-time playback component 124 includes fine image alignment and adaptive convergence functionality. The computing device 120 is configured to process the 3D image data 158 and provide an output signal 166 to the 3D display device 130.
In operation, images are taken by a camera device in the camera phone 102. The captured image is detected by the image sensor pair 104, and the first and second image data 150 corresponding to the first and second images related to the scene are supplied to the synchronous ASIC. The synchronous ASIC performs synchronization of AE functions such as automatic exposure and white balance type processing and operation of the sensor pair 104. Synchronization and processing data 152 from the synchronization ASIC is provided to the video front end component 108. The video front end component 108 performs one or more image processing functions 110 and provides processing data 154 to the 3D video encoding module 112. The 3D video encoding module 112 provides 3D video encoding and provides a video encoded output stream 156 that includes video encoded data that can be stored in the external memory 114. Data from the external memory 114 can be provided via an output connection, and the 3D image data 158 can be output to the computing device 120 for transmission.
The computing device 120 stores the 3D image data in the PC hard drive 122 in response to the 3D image data 158. The 3D image data can be retrieved from the PC hard drive 122 and provided as input data 160 to the real-time playback component 124. The real-time playback component 124 performs fine image alignment and adaptive convergence processing on the input data 160. The adaptive convergence and image alignment process generates further processed image data 162 that is supplied to the in-house player 126. In-house player 126 responds to user input to execute certain user request commands. For example, the in-house player 126 responds to a zoom or pan command from the user. In response to the user command, the in-house player 126 provides a zoom / pan command 164 indicating zoom / pan control to the real-time playback component 124 via a feedback path. Image alignment and adaptive convergence module 124 is responsive to zoom / pan command 164 to perform adaptive convergence in response to recognized scene depth changes resulting from zoom or pan motions.
Accordingly, the computing device 120 includes a 3D media player configured to receive input data that includes at least a first image corresponding to a scene and a second image corresponding to the scene. For example, the first image and the second image can be taken by the image sensor pair 104 and processed to generate 3D image data. The 3D media player is configured to provide output data to the 3D display device. For example, the real-time playback component 124 combined with the in-house player 126 can provide output data 166 to the 3D display device 130. The 3D media player responds to user input including at least one of a zoom command and a pan command. For example, the real-time playback component 124 may perform adaptive convergence in response to either a zoom command or a pan command 164 received via a zoom / pan control path. The 3D media player is configured to determine a convergence point for 3D rendering of the scene in response to user input.
FIG. 2 is a diagram of a specific embodiment of a system that includes a 3D imager 202 configured to perform adaptive convergence in response to a zoom command during image or video capture. The 3D imaging device 202 includes an image sensor pair 204 coupled to an image processing module 208. User interface device 280, external storage device 214 and 3D preview display device 284 are coupled to image processing module 208. The 3D video player 220 is illustrated as being coupled to the 3D display device 230 for displaying the 3D image data 258 supplied by the imaging device 202.
Image sensor pair 204 is configured to provide image data 250 to image processing module 208. For example, the image sensor pair 204 may include a complementary metal oxide semiconductor (CMOS) type image sensor or a charge coupled device (CCD) type image sensor. Each image sensor of the image sensor pair 204 can simultaneously capture image data corresponding to a scene imaged by the 3D imaging device 202. The image data 250 can be read from the image sensor pair 204 and supplied to the image processing module 208. In a specific embodiment, the image sensor pair 204 is set in substantially parallel alignment and is not controllable to rotate or “toe in” during the zoom operation.
The image processing module 208 may correspond to the synchronous ASIC and video front end 108 of FIG. The image processing module 208 may include a synchronization and interfacing module 206, an image processing function module 210, a 3D processing 240 using convergence control module, and a 3D video encoding module 212. The synchronization and interfacing module 206 may include circuitry for controlling the synchronization of operation of the image sensor pair 204 and for controlling one or more other operating parameters of the image sensor pair 204.
Image processing function module 210 may be configured to receive input data 252 and to perform one or more image processing functions such as color correction, color conversion, and noise reduction. For example, the image processing function module 210 may be configured to execute the image processing function 110 of FIG. 1 and generate processed image data 270.
The 3D processing 240 using the convergence control module can be configured to perform 3D specific processing of the scene represented by the processed image data 270. The 3D process 240 using the convergence control module can be configured to perform convergence point processing on a scene-by-scene basis.
For example, 3D processing 240 using the convergence control module can be configured to determine a convergence point for 3D rendering of the scene. The 3D processing 240 using the convergence control module may be configured to determine a convergence point based on the parallax value of the subject in the scene so as to determine the parallax value corresponding to the subject in the scene. The 3D processing 240 using the convergence control module is configured to determine whether the parallax value is at least one of the non-fusable subjects in 3D rendering, and the warning is generated during 3D video capture of the scene. Can be generated at the user interface device 280 to notify the user of the device 202 that they are not mergeable.
3D processing using the convergence control module 240 can respond to a predetermined display geometry. For example, convergence point processing may include adjusting a scene-based convergence point based on a parallax value corresponding to a subject in the scene and further based on a predetermined display geometry. The per-scene reference convergence point processing allows dynamic adjustment of the convergence point during zoom operations performed by the first and second image sensors of the image sensor pair 204 during 3D video imaging.
For example, the predetermined display device geometry may correspond to the 3D video preview display 284. Alternatively or additionally, the geometry of a given device may correspond to a “generic” or default device geometry that may be generally applicable to 3D video display devices. In a specific embodiment, a plurality of predetermined device geometries are stored at the imaging device 202, and the predetermined display device geometry corresponds to a display geometry that is selected according to user input. For example, when the user records a first 3D movie, the user interface device 280 selects a first display geometry (eg, 3D display device 230) corresponding to the first display device, and another 3D movie. When recording, a menu of selectable options may be presented that allows selecting different display geometries (not shown) corresponding to different display devices.
The 3D video encoding module 212 may be a 3D encoding module configured to generate 3D output data 256 based on the output 272 of 3D processing using the convergence control module. For example, when the output 272 corresponds to a still image, the 3D video encoding module 212 may be configured to encode the output 272 based on a joint photographic expert group (JPEG) encoding standard for 3D images. As another example, when the output 272 corresponds to video data, the 3D video encoding module may be configured to encode the output 272 based on a moving picture expert group (MPEG) encoding standard for 3D images. The 3D video encoding module 212 may output 3D data 256 that may be supplied to the 3D preview device 284, to the external memory 214, or both.
The 3D preview display device 284 may display 3D data 256 from the image processing module 208 to allow a user to view the 3D scene during image or video capture. For example, the image processing module 208 may generate reduced resolution video data for viewing by the user during video capture via the 3D preview display 284.
By performing adaptive convergence control on a scene-by-scene basis, the imaging device 202 may enable a zoom function during 3D video capture. For example, user input 282 may be received via user interface device 280 that indicates a zoom command. As will be described in more detail with respect to FIGS. 10-14, in another method, a scene that may not be mergeable in response to a zoom operation can be adapted using adaptive convergence control. As a result, if the 3D video player 220 cannot process the 3D video to adjust the convergence point during playback, it can be merged with the 3D display device 230 in another way (eg, by zooming during shooting). The portion of the 3D image data 258 that would not be, rather, can be made mergeable by the processing performed by the imaging device 202.
FIG. 3 is a diagram of a specific embodiment of a 3D imaging device 302 configured to detect the parallax of a subject in a scene during image or video shooting. The 3D imaging device 302 includes an image sensor pair 304 coupled to an image processing module 308. Image processing module 308 is coupled to user interface device 380 and external memory 314. The image processing module 308 includes a synchronization and interfacing module 306, an image processing function module 310, a parallax detection module 342, and a 3D video encoding module 312.
Image sensor pair 304 is configured to provide image data 350 to image processing module 308. The synchronization and interfacing module 306 is configured to provide data 352 to the image processing function module 310. The image processing function module 310 is configured to supply the processed image data 370 to the parallax detection module 342. The 3D video encoding module 312 is configured to receive 3D video data 372 and generate encoded 3D video data 356. In a specific embodiment, the image sensor pair 304, the user interface 380, the external memory 314, the synchronization and interfacing module 306, the image processing function module 310, and the 3D video encoding module 312 are respectively shown in FIG. It corresponds to the user interface 280, the external memory 214, the synchronization and interfacing module 206, the image processing function module 210 and the 3D video encoding module 212.
The parallax detection module 342 may be configured to determine a parallax value corresponding to a subject in the scene imaged by the image sensor pair 304, as described in further detail with respect to FIGS. The disparity detection module 342 is configured to determine whether the disparity value is at least one of the non-fuseable subjects in the 3D rendering of the scene, and in this case, the warning 382 is during 3D video imaging of the scene Can be generated at the user interface device 380 to notify the user of the device 302 that the scene cannot be merged. In a specific embodiment, the parallax detection module 342 incorporates scene-specific subject detection or keypoint detection and 3D processing parallax determination functionality with the convergence control module 240 of FIG. Is not configured to adjust the convergence point.
The image sensor pair 304 includes a right sensor (ie, a first sensor that captures an image associated with a scene recognized by the viewer's right eye) and a left sensor (ie, an image associated with the scene recognized by the viewer's left eye. And a second sensor that captures the image of the sensor). The image data 350 includes left image data generated by the left sensor and right image data generated by the right sensor. Each sensor is illustrated as having a row of photo-sensitive components extending horizontally and a column of photo-sensitive components extending vertically. The left sensor and the right sensor are substantially aligned with each other at a distance d along the horizontal direction. As used herein, the “horizontal” direction in the 3D image data is the direction of movement between the position of the same subject in the left image data and the position of the subject in the right image.
FIG. 4 is a diagram of a specific embodiment of a 3D image processing system 440 included in any of the systems of FIGS. The 3D processing system 440 is configured to receive input image data 404 and generate output image data 428. The 3D processing system 440 may respond to the camera calibration parameters 406 received via the calibration input 450 and the usage mode parameters 408 received via the usage mode input 452.
The 3D processing system 440 includes a fine geometry compensation module 410, a keypoint detection module 412, a keypoint matching module 414, a 3D convergence control module 416, a 3D image adjustment module 418, and a smart 3D convergence module 420, a smart two-dimensional (2D) module. One or more of 422 and another convergence control module 424 are included. The 3D processing system 440 may alternatively include an image crop and boundary correction module 426. In a specific embodiment, the 3D processing system 440 is a graphics processing device that executes program instructions configured to cause the GPU to process the input image data 404 in the manner described for one or more of the modules 410-426. (GPU).
Geometry compensation module 410 is configured to receive input image data 404 via data path 470 and generate compensated image data 454. The geometry compensation module 410 uses data from the camera calibration parameters 406 and corrects misalignment, aberrations, or other calibration conditions that adversely affect the rendering of the 3D image data 404. The input image data 404 can be adjusted. To illustrate, the geometry compensation module 410 can efficiently perform resampling of the image data 404 with respect to an arbitrary grid to adjust the calibration parameters 406.
In an embodiment where a 3D processing system 440 such as computing device 120 of FIG. 1 is implemented with a 3D video playback device, camera calibration parameters 406 are received along with input image data 404, such as in the header of a 3D video data file. sell. In embodiments where the 3D processing system 440 is implemented with an imaging device, such as, for example, the imaging device 102 of FIG. 1, the imaging device 202 of FIG. 2, or the imaging device 302 of FIG. Corresponding to the image sensor pair, it can be stored in a memory accessible to the fine geometry compensation module 410.
Keypoint detection module 412 is configured to receive compensated image data 454 and to generate keypoint position data 456. Keypoint detection module 412 is configured to identify characteristic points in compensated image data 454. For example, a characteristic point may correspond to a vertical edge of a subject in the scene, or another point in the scene that has a high frequency component in the horizontal direction. Such characteristic elements in the image data are referred to herein as “keypoints” or “subjects”, but such identified elements may be individual pixels, groups of pixels, partial pixel portions, etc. It should be understood that any of the image components, or any combination thereof, may be supported. For example, as further described with respect to FIGS. 7A-7B, keypoints correspond to pixels with subsampled luma components of received image data and can be detected using a vertical edge detection filter.
Keypoint matching module 414 is configured to receive keypoint position data 454 and to generate disparity data 458 corresponding to the identified keypoint. The keypoint matching module 414 may be configured to search per keypoint within the search range and generate a disparity vector reliability measure.
The 3D convergence control module 416 is configured to receive the parallax data 458 and to generate data 460 indicating the convergence point. For example, the 3D convergence control module 416 may extract a convergence point based on display geometry, zoom operation, pan operation, other display factors, or any combination thereof. The 3D convergence control module 416 may also control the convergence loop. For example, the 3D convergence control module 416 can be used as a finite impulse response (IIR) filter to change the convergence point slowly based on the scene history to smooth out scene changes and prevent large jumps in parallax for each scene. A simple filter can be implemented. However, when a zoom or pan action indication is received via the use mode input 452, the 3D convergence control module 416 may reset the filter state so that large changes in parallax can accommodate the zoom or pan action. Can start.
The 3D image adjustment module 418 receives the data 460 indicating the convergence point, and selectively processes the image processing to the 3D convergence adjustment module 420, the smart 3D module 422, or another convergence control module 424. Configured to command. For example, when the parallax range of the key points in the scene is within a predetermined range, the key points of the scene can be merged, and the convergence point is at least one of the first image and the second image. It can be adjusted in the convergence adjustment module 420 by shifting with respect to the other of the first image and the second image.
As another example, when the range of parallax of key points exceeds a predetermined range, the process may be performed in the smart 3D module 422. The smart 3D module 422 may be configured to replace one of the first image and the second image with a shifted version of the other of the first image and the second image. The shift amount may be determined based on the average parallax or the central parallax of the identified key points. The resulting scene can appear as a flat scene where all subjects are perceived at an appropriate depth for at least some subjects in the scene (i.e., have a perceived depth between subjects in the scene). Absent).
Alternatively, when the parallax range of the key point exceeds a predetermined range, the processing may be executed by another convergence module 424. For example, other convergence modules 424 can identify one or more subjects in the scene that are not fusable, for example, by using one or more invasive techniques, and re-create the subject so that it can be fused. It may be configured to adjust the image data by changing at least one of the first image and the second image for placement.
The image crop and boundary correction module 426 may be configured to receive the fusible 3D image data 464 and to generate output 3D data 428. The image cropping and boundary correction module 426 may be configured to perform one or more image cropping operations on the fusible 3D image data 464. The image crop and boundary correction module 426 may further be configured to perform boundary correction on the fusible 3D image data 464.
During operation, a scene-dependent adaptive convergence process is performed that includes fine geometry compensation of the 3D image data 404 (eg, by the fine geometry compensation module 410). A calibration procedure designed to estimate and compensate for the relative position between the two sensors that captured the 3D image data 404 is performed offline (eg, prior to transmission to the end user of the device) and geometry Compensation can be performed for each frame of 3D image data 404.
Processing continues with keypoint detection (eg, in keypoint detection module 412). A set of image subjects or pixels (keypoints) that can be used to reliably estimate the parallax is selected. High confidence in the estimated parallax is achieved and not all scene areas or subjects are used. Selection of a set of keypoints may include image subsampling to generate the appropriate resolution (s). An image high pass filter is applied (eg, only looking for horizontal frequencies corresponding to vertical features), and then taking the square or absolute value of the result generated by applying the filter. Results that exceed a predetermined threshold can be identified as possible key points. The key points pruning process occurs to select the best keypoint within a local neighborhood (eg, the keypoint that corresponds to the maximum filter result for all keypoints in a given region). Can be performed on possible key points.
Keypoint matching may be performed using the detected keypoint (eg, in keypoint matching module 414). A correspondence between keypoints in the first image (eg, left image or right image) and a corresponding area in the second image (eg, the other of the left image and the right image) can be determined. A confidence estimator is generated, which, along with keypoint selection, can significantly improve the disparity estimation accuracy. In order to be able to determine how close the match is between the key points in the left and right images, a match can be performed using normalized cross-covariance. The reliability rate may be based on normalized cross-covariance. In a specific embodiment, the search range for finding keypoints in the second image corresponding to keypoints in the first image is horizontal because image compensation for sensor calibration has already been performed. The search range is adjusted to cover only a certain range around the convergence point, which can be determined by the fine geometry compensation module 410.
3D convergence control (eg, in 3D convergence control module 416) may be performed after a set of keypoints in the first image is aligned with a corresponding set of keypoints in the second image. Based on sufficient statistics, such as disparity histogram screen geometry and crop window size, it can be determined whether the scene can be rendered in 3D. If the scene can be rendered in 3D, a horizontal shift is applied (eg, via 3D convergence adjustment 420). If the scene cannot be rendered in 3D, some specific examples are possible, such as smart 2D processing, 2D-3D processing, or invasive convergence control processing One or more of the fallbacks can be used.
To determine if the scene can be rendered in 3D, a histogram of the disparity values for each keypoint in the selected set of keypoints can be generated. One or both tails of the histogram may be clipped. For example, when some of the disparity values are expected to be incorrect, the confidence that determines whether the scene can be merged (ie, all keypoint disparity values examined within a predetermined range of disparity values) is Can be improved by removing one or more of the maximum or minimum parallax values from the set of keypoint parallax values considered. Thereafter, the parallax range of the scene is specified by the minimum / maximum values of the histogram.
In a specific embodiment, at least a portion of the 3D image processing system 440 may be implemented with one or more of the systems of FIGS. For example, the 3D image processing system 440 may be implemented with the fine image alignment and adaptive convergence module 124 of FIG. As another example, 3D image processing system 440 may be implemented within 3D processing 240 using the convergence control module of FIG. As another example, the modules 410-416 of the 3D image processing system 440 may be implemented with the parallax detection module 342 of FIG.
1-4 describe a pair of image sensors used for 3D imaging, but in other embodiments, more than one image sensor may be used. In some embodiments, one or more of the various modules and components described in FIGS. 1-4 may be implemented as dedicated hardware (ie, circuitry), eg, erasable programmable read only memory (PROM) type storage, As a processor that executes processor-executable instructions stored in non-transitory storage media such as flash memory, read-only memory (ROM) memory, or hardware and processing devices (eg, controllers, general purpose processors, digital signals) It can be implemented as a combination with instructions executed by a processor (DSP), a graphics processing unit (GPU), or any combination thereof.
5A and 5B are diagrams of embodiments for explaining the parallax of a subject correlated with the depth of the recognized subject. Stereo 3D display relies on directing different images to each eye 504, 506. Its purpose is to reproduce the illusion of depth from left and right (L / R) images, since the subject's parallax (horizontal shift) is correlated with depth. FIG. 5A illustrates a positive parallax 550 corresponding to a subject 530 recognized beyond the display screen 524. The parallax 550 indicates the distance between the subject position 520 in the left image and the subject position 522 in the right image. The observer recognizes the subject 530 where the line of the field of view 560 of the left eye 504 and the line of the field of view 562 of the right eye 506 intersect, so that the image of the subject 530 in the left image and the subject 530 in the right image are displayed. The image of
FIG. 5B illustrates a negative parallax 550 corresponding to the subject 530 recognized in front of the display screen 524. The parallax 550 indicates the distance between the subject position 520 in the left image and the subject position 522 in the right image. In order for the observer to recognize the subject 530 in front of the display screen 534 at the intersection of the line of the field of view 560 of the left eye 504 and the line of the field of view 562 of the right eye 506, the observer The image of the subject 530 in the right image is merged.
The displacement of the subject seen from the two eyes is interpreted by the visual cortex as depth. The visual cortex can be interpreted as depth up to a certain deviation. Range where image fusion can occur without eye strain [-d1. . . d2]. The parallax between the two captured images depends on the scene. Sensing the scene depth (or parallax range) is the range that can be merged [-d1. . . d2] is allowed to adjust the parallax to fit within. The parallax can be adjusted by changing the convergence point, for example by shifting one of the images horizontally to the other.
The convergence point can be controlled by shifting the crop windows in the left and right images horizontally. The convergence point can be scene dependent in order to make full use of the effective z range on the screen (ie, the effective depth range on the display screen of the 3D display device 130 of FIG. 1).
Designs for adaptive convergence control can include scene range estimation and convergence control. Scene range estimation can be used for convergence point control and possibly invasive disparity control. Convergence control can include logic to control all parallax of the image.
FIG. 6 is a block diagram of a specific embodiment of a 3D image processing system that can be included in any of the systems of FIGS. The scene range estimation module 602 supplies scene range data 620 to the adaptive convergence point control module 604. After the adaptive convergence point control process, the image data can be processed by the horizontal shift crop module 606, switching to the 2D module, 2D-3D module 610, or invasive disparity control module 612. The processed image data may be included in a 3D fusible stream 614 of image data.
The scene range estimation performed by the scene range estimation module 602 can be generalized as a slight motion vector estimation between the left and right images. The scene range estimation process can include key (characteristic) point identification. Vertical change is not required because only horizontal shift is present (and measured). Horizontal changes (edges with some vertical component) are used. In some embodiments, keypoints can be detected at different resolutions. The scene range estimation process can also include keypoint matching. Keypoint matching can be performed using regular cross-covariance because it is source level dependent and to generate a robust disparity reliability metric. As a result, matching keypoints with different resolutions may not be necessary.
FIG. 7 is a diagram illustrating a specific embodiment of the results 706 of horizontal change detection filtering 704 applied to the subsampled luma component and the subsampled luma component of scene 702. The luma component of the scene can be subsampled by 4 as an illustrative example. Horizontal edge detection filtering 706 may pass through a filter having a response h given by:
The absolute value of the result may be obtained to generate the result 706.
FIGS. 8A and 8B show an embodiment of the description of the local horizontal space maximum in the filtered result 706 of FIG. 7 and the neighborhood of each local horizontal space maximum in the subsampled luma component of the scene of FIG. FIG. Using the filtered result 706 of FIG. 7, the highest value in the individual horizontal neighborhood of potential key points of the filtered result 706 (maximum of local horizontal space) is illustrated in FIG. 8A. May be selected to generate the selected keypoint.
For each selected keypoint, the neighborhood around the keypoint is selected from the left luma image (illustrated in FIG. 8B), the correlation coefficient with the right image neighborhood is calculated (along with the search range), and the correlation value If it is more certain than a certain threshold, the motion vector is retained (ie, the keypoint is treated as having a reliability parallax).
Convergence control (eg, by the convergence control point module 604 of FIG. 6) may be performed by constructing a histogram of motion vectors. FIG. 9 illustrates an embodiment histogram for a specific description of the parallax of key points in a scene. The disparity values (in one or more disparity value bins) are illustrated along the horizontal axis, and the number of selected keypoints having disparity values corresponding to each bin is illustrated along the vertical axis. The maximum parallax range and the desired convergence point are also illustrated in the histogram. FIG. 9 illustrates the histogram in a graph format for simplicity of explanation, and the implementation of the process may not include generating a graph format of the parallax histogram, but instead a table, list, array or other A data structure such as can be used to associate a disparity value with a count of key points corresponding to the disparity value.
After building the histogram, the histogram tail can be trimmed. The scene range can be estimated as the difference between the minimum and maximum values of the histogram (eg, the difference between the maximum disparity bin of a histogram having a non-zero size and the minimum disparity bin in a histogram having a non-zero size). The average between the minimum and maximum values, ie some other linear combination, will be the desired zero parallax point (convergence point). The maximum remaining disparity determines whether the scene can or cannot be fused. If the scene is not fusible, the options are to switch to a 2D stream as an illustrative example (to make the left and right frames the same), perform a 2D-3D conversion, or an invasive parallax control process including.
Parallax (left and right) image shifts play a role in 3D effects and can produce discomfort / headaches if not handled correctly. Display dimensions and viewing distance affect the parallax and can produce undesirable effects if not compensated. The zoom function can be an attribute to the 3D suite and also affects the parallax (in real time).
The parallax constraint can be configured based on user priority. Scene dependent parallax constraints can be derived in real time based on display size and distance and zoom ratio. The scene parallax can be measured and if the scene parallax is within constraints, the convergence point of the scene can be adjusted. If the scene parallax is not within the constraints, the process may switch to a special mode to provide the parallax within the constraints.
Special processing (3D effect control) may be used depending on one or more of parallax viewing angle, display size, distance between viewer and display, and zoom ratio. It can be considered to make full use of the effective range and generate a sufficient 3D effect for the user.
Humans have no choice but to interpret (fuse) until a certain angle parallax after a ghost (double images) appears. The perceived depth of the subject can depend solely on angular parallax. Angular parallax depends on a combination of screen size, screen resolution and viewing distance.
FIG. 10 is a diagram of a specific embodiment of the effect of viewing distance on 3D perception of a scene. The first configuration 1000 has a viewer 1002 and a first distance 1018 from the screen 1008. The first subject 1004 is perceived in front of the scene (ie, has a negative parallax), the second subject 1006 is perceived at the screen 1008 (ie, has a zero parallax), and the third subject 1004 The subject 1010 is recognized beyond the screen 1008 (ie has a positive parallax), and the fourth subject 1012 cannot be fused due to too large of a disparity.
In the second configuration 1020, the viewing distance 1038 is increased and all subjects 1004, 1006, 1010, and 1012 are fused. However, the depth contrast is reduced. In the third configuration 1040, the viewing distance 1018 matches the first configuration 1000 and the size of the viewpoint screen 1008 is reduced. All subjects 1004, 1006, 1010 and 1012 are fused, but the depth contrast is reduced.
FIG. 11 is a diagram of an embodiment for explaining parallax depending on the display observation distance. The first configuration 1102 illustrates an allowed scene depth range 1110 that extends from the front of the screen 1108 to the back of the screen 1108. The first position 1116 indicates the maximum allowed cross-before-screen disparity, and the second position 1114 indicates the maximum cross-after-screen disparity. . The second configuration 1104 illustrates a smaller viewing distance between the screen 1108 and the observer than the first configuration 1102. The allowed scene depth range 110 does not extend to the front of the screen 1108 as in the first configuration 1102.
The post-cross screen parallax on the screen 1108 may not be greater than the eye distance (ie, the distance between the eyes of the observer). This consideration leaves less angular shift in that direction for larger distance screens. As illustrated in the second configuration 1104, closer screens do not allow large pre-cross screen parallax due to eye strain. Specific solutions based on such considerations include enabling more 3D depth effects for closer screens and more 3D pop out effects for farther screens.
FIG. 12 is a diagram of a specific embodiment of the effect of a zoom operation on 3D perception of a scene. The first configuration 1200 includes a first subject 1214 and a second subject 1204 in front of the screen 1208, a third subject 1206 on the screen 1208, a fourth subject 1210 and a fifth subject 1212 beyond the screen 1208. A viewer 1202 that perceives a scene including a set of included subjects is included.
The second configuration 1220 includes a zoomed image of the same scene as the first configuration 1200. Only the third subject 1206 and the fourth subject 1210 appear in the scene by zooming. The fourth subject 1210 cannot be fused.
The third configuration 1240 includes a zoomed image of the same scene as the first configuration 1200 with appropriate zoom control. In contrast to the second configuration 1220, the third subject 1206 and the fourth subject 1210 can be merged. Since the parallax of the fourth subject 1210 is reduced within the fusion range by shifting the convergence point of the scene between the subject 1206 and the subject 1210, the third subject 1206 appears in front of the screen 1208. The fourth subject 1210 appears beyond the screen 1208.
For display and zoom dependent 3D effect control, the allowed parallax can be set at the value α = 0.5 ° -2 ° (eg, specified during the set time). θ display is the viewing angle, D is the scene depth, ie, the difference between the maximum (D2) and minimum (D1) disparity vectors, and is represented by a number of pixels. W is the image width in pixels and x is the distance from the screen. Two questions that can be addressed are whether the scene depth ranges can be merged and where the convergence points should be located.
The angular parallax (°) that will be seen on the screen is given by (D / W) * θ display . The disparity can be tested and determined to be fused when α> (D / W) * θ display . If the parallax can be fused, the convergence point can be adjusted. Using D1 for pre-cross screen parallax and D2 for post-cross screen parallax, the convergence point is selected as C = D1 + D * M (X), where X is the distance from the screen and M () is , A monotonically increasing function between 0 and 1.
FIG. 13 is a histogram of an embodiment for concrete explanation of selection of scene parallax and convergence point. When the distance (X) between the viewer and the display is small, the convergence point is set so that a small number of subjects appear in front of the screen. In contrast, when the distance (X) is large, the convergence point is set so that most of the subject appears in front of the screen.
In connection with the systems and processes illustrated in FIGS. 1-13, adaptive 3D convergence is enabled during video imaging, playback, or both. For example, in a specific embodiment, the method 1400 illustrated in FIG. 14 may be performed on a 3D imaging device, such as the devices 102, 202, and 302 of FIGS. 1-3, respectively. Alternatively, or additionally, the method may be performed on a 3D playback device, such as device 120 of FIG. 1, or one or more of components 410-426 of FIG. 4 or components 602-614 of FIG. It can be executed on another device including one or more.
The method can be performed using a first image and a second image corresponding to a single scene. The first image corresponds to the first shooting of the scene by the first sensor, the second image corresponds to the second shooting of the scene by the second sensor, and the second shooting is to 1402 Thus, for example, one of the sensor pairs illustrated in FIGS. 1 to 3 is performed substantially simultaneously with the first imaging.
A first point may be selected in the first image at 1404 based on changes in the image data corresponding to the first image. For purposes of explanation, the first point may be a keypoint or subject selected as described for the keypoint detection module 412 of FIG. A second point may be placed in the second image at 1406. The second point may correspond to the first point. To illustrate, the second point can be arranged as described for the keypoint matching module 414 of FIG.
At 1408, it can be determined whether the distance between the first point and the second point exceeds a threshold distance to be recognized as a single point in a three-dimensional (3D) rendering of the scene. For example, the distance between the first point and the second point can correspond to the key point or subject parallax and when the parallax exceeds a threshold (eg, less than D1 or greater than D2 in FIG. 13) ) Or out of tolerance (eg, a range according to range 1110 in FIG. 11) may not be mergeable. To illustrate, the determination can be performed by the 3D convergence control module 416 of FIG. In response to the distance between the first point and the second point exceeding the threshold distance, the second image can be replaced with a shifted version of the first image at 1410. Otherwise, if the distance between the first point and the second point is not greater than the threshold distance, the first point and the second point can be merged.
For example, the change is identified by applying an edge detection filter to the image data corresponding to the first image and finding a maximum absolute value resulting from applying the edge detection filter within a horizontal region of the first image; The first image corresponds to the left image, and the second image corresponds to the right image of 3D rendering. For example, the filter can be a filter used for the horizontal change detection filtering 704 of FIG. 7 to place an edge having at least some vertical component. The image data may include subsampled luma data corresponding to the first image, as described with respect to FIG. The horizontal direction can correspond to the direction between the first imaging device corresponding to the first image and the second imaging device corresponding to the second image, as described for FIG. .
Those skilled in the art will recognize that one or more field programmable gate array (FPGA) devices, one or more application specific integrated circuits (ASIC), one or more central processing units (CPU), one or more digital signals. Implemented by a processor (DSP), one or more graphics processing units (GPU), one or more controllers, one or more other hardware devices, one or more firmware devices, or any combination thereof You will understand that it can be done. Further, a computer readable medium may be readable by a computer or processing device and stare for program instructions that are executable to cause the computer or processing device to perform at least a portion of a method. For example, the computer-readable medium includes a code for selecting a first point in the first image based on a change in the image data corresponding to the first image, and a second point in the second image. And a code for determining whether the distance between the first point and the second point exceeds a threshold distance; a flash memory, an EEPROM, a ROM, or other Can include non-temporary storage.
In another embodiment, the method 1500 illustrated in FIG. 15 may be performed on a 3D imaging device, such as the devices 102, 202, and 302 of FIGS. 1-3, respectively. Alternatively or additionally, the method may be performed on a 3D playback device, such as device 120 of FIG. 1, or one or more of components 410-426 of FIG. 4 or components 602-614 of FIG. It can be executed on another device including one or more of them.
The method may include selecting a first point in the first image at 1502. The method may also include, at 1504, placing the second point within the second image using the confidence measure. The second point may correspond to the first point, and the first image and the second image may correspond to a single scene. For example, selecting the first point can be performed by the keypoint detection module 412 and placing the second point can be performed by the keypoint matching module 414. The confidence measure is based on a normalized cross-covariance between a first region of the first image that includes the first point and a second region of the second image that includes the second point. Can be determined.
For example, placing the second point has a correlation value that is determined highest for the first region and selecting a first region that includes the first point in the first image. Selecting a second region of the second image. The correlation determination can be performed using the luma components of the first image and the second image. The correlation determination can be performed for a plurality of regions of the second image within the search range of the first point. The confidence measure corresponds to a second region, and the second region can be identified as corresponding to the first region based on whether the confidence measure exceeds a confidence threshold.
The method also determines, at 1506, whether the distance between the first point and the second point exceeds a threshold distance to be recognized as a single point in a three-dimensional (3D) rendering of the scene. Can be included. For example, the determination may be performed by the 3D convergence control module 416 of FIG. 4 and may correspond to whether the keypoint disparity is not fusionable during 3D rendering.
One of ordinary skill in the art would understand that one or more field programmable gate array (FPGA) devices, one or more application specific integrated circuits (ASICs), one or more central processing units (CPUs), one or Multiple digital signal processors (DSPs), one or more graphics processing units (GPUs), one or more controllers, one or more other hardware devices, one or more firmware devices, or It will be understood that it can be implemented by any combination thereof. Further, a computer readable medium may be readable by a computer or processing device and stare executable program instructions to cause the computer or processing device to perform at least a portion of a method. For example, a computer readable medium includes code for selecting a first point in a first image; code for placing the second point in the second image using a confidence measure; Code for determining whether the distance between the first point and the second point exceeds a threshold distance to be recognized as a single point in a three-dimensional (3D) rendering of the scene; Flash memory, EEPROM, ROM, or other non-transitory storage may be included.
In another embodiment, the method 1600 illustrated in FIG. 16 is placed in an image at 1602 with a three-dimensional (3D) scene that includes a set of subjects (eg, by the keypoint detection module 412 of FIG. 4). Keypoint) can be rendered using the first image of the scene and the second image of the scene with each subject of the set of subjects recognized as a single subject in the 3D scene. Determining (eg, determined to be fusible). In 1604, the method also responds to determining that a 3D scene can be rendered with each subject in the set of subjects being recognized as a single subject, at 1606, It may include adjusting the convergence point of the scene so that the parallax of each subject in the set is within a predetermined range of parallax values. Adjusting the convergence point of the scene means that at least one of the first image and the second image is used to change the parallax of each subject in the set of subjects, for example, by the 3D convergence adjustment module 420 of FIG. Can be shifted with respect to the other of the first image and the second image.
The method may also render a 3D scene at 1608 with each subject of the set of subjects being recognized as a single subject, for example, as described for the smart 2D module 420 of FIG. Responsive to determining that it is not possible, replacing the second image with a shifted version of the first image may be included.
Determining whether a 3D scene can be rendered with each subject in the set of subjects being recognized as a single subject is the subject in the first image for each subject in the set of subjects. Generating a corresponding parallax value that indicates a distance between the first position of the second position and the second position of the subject in the second image. The range of parallax values can be compared with a predetermined range of parallax values, such as the maximum parallax range illustrated in FIG. The range of the parallax value excludes at least the maximum parallax value or the minimum parallax value corresponding to the set of subjects. For example, a parallax value histogram may be generated and one or more maximum and / or minimum values may be discarded.
Those skilled in the art will recognize that one or more field programmable gate array (FPGA) devices, one or more application specific integrated circuits (ASIC), one or more central processing units (CPU), one or more digital signals. By a processor (DSP), one or more graphics processing units (GPU), one or more controllers, one or more other hardware devices, one or more firmware devices, or any combination thereof It will be understood that it can be implemented. Further, the computer readable medium may be readable by a computer or processing device and may stare at program instructions executable to cause the computer or processing device to perform at least a portion of the method. For example, a computer readable medium is a three-dimensional (3D) scene that includes a set of subjects, the first image and scene of the scene with each subject in the set of subjects being recognized as a single subject in the 3D scene. Code for determining whether it can be rendered using a second image of the; a 3D scene is rendered with each subject of the set of subjects being recognized as a single subject A flash memory including code for adjusting the convergence point of the scene so that the parallax of each subject in the set of subjects is within a predetermined range of parallax values in response to determining that EEPROM, ROM, or other non-transitory storage may be included.
In another embodiment, the device is configured to receive input data including at least a first image corresponding to the scene and a second image corresponding to the scene, and to provide output data to the 3D display device. Includes a structured, three-dimensional (3D) media player. The 3D media player may respond to user input including at least one of a zoom command and a pan command. The 3D media player includes a convergence control module configured to determine a convergence point for 3D rendering of the scene in response to user input. For example, the apparatus may include the 3D processing system 440 of FIG. The device can be implemented as a single chip, as a chipset, such as a chipset for a mobile device, or as a mobile device, such as a smartphone, imaging device, or other type of device.
The convergence control module may be configured to adjust the convergence point on a per scene basis during playback. The convergence control module can be configured to determine a convergence point based on a parallax value of a subject in the scene. The convergence point may be determined further based on at least one of the size and resolution of the 3D display device, the viewing distance from the 3D display device, one or more other factors, or any combination thereof. The parallax value can be determined in units of pixels of the 3D display device.
In another embodiment, the apparatus is configured to receive image data that includes first image data corresponding to the first image sensor and second image data corresponding to the second image sensor. Includes an image processing module. For example, the device can be the device 202 of FIG. 2, the device 302 of FIG. 3, or another device that can include components of the 3D processing system 404 of FIG. The image processing module may include a convergence control module configured to determine a convergence point for 3D rendering of the scene. The image processing module may also include a 3D encoding module configured to generate 3D output data based on the output of the convergence control module.
The convergence control module may be further configured to determine a convergence point based on a parallax value of a subject in the scene. The convergence control module may also be configured to determine whether the parallax value is at least one of the non-fusionable objects in 3D rendering. For example, a warning can be generated to notify the user of the device that the scene cannot be merged during 3D video imaging of the scene, such as warning 382 in FIG.
The convergence control module can be configured to perform convergence point processing on a scene-by-scene basis. The convergence point processing may include adjusting a scene-based convergence point based on a parallax value corresponding to a subject in the scene and further based on a predetermined display geometry. The per-scene reference convergence point processing can allow dynamic adjustment of the convergence point during the zoom operation performed by the first image sensor and the second image sensor during 3D video imaging.
The device can be implemented as a single chip, as a chipset, such as a chipset for a mobile device, or as a mobile device, such as a smartphone, imaging device, or other type of device. For example, the device may also include a video preview display such as the 3D preview display 284 of FIG. The predetermined display device geometry may correspond to a video preview display. Alternatively or additionally, the geometry of the device may correspond to a display geometry that is selected according to user input.
The method or algorithm steps described with respect to the embodiments disclosed herein may be implemented directly in hardware, in software modules executed by a processor, or in a combination of the two. Software modules include random access memory (RAM) memory, flash memory, read only memory (ROM), program read only memory (PROM), erasable programmable read only memory (EPROM), electronically erasable programmable read only memory (EEPROM) ), A register, a hard disk, a removable disk, a compact disk read only memory (CD-ROM), or any other form of non-transitory storage medium known in the art. An exemplary storage medium is coupled to the processor such that the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an application specific integrated circuit (ASIC). The ASIC can exist in a computing device or a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a computing device or user terminal.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the disclosed embodiments. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the scope of the disclosure. Can be done. Accordingly, this disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features as defined by the claims. is there.
The scope of the claims at the beginning of this application is added below.
[C1] Selecting a first point in the first image based on a change in image data corresponding to the first image, and corresponding to the first point in the second image Disposing a second point, and the first image and the second image correspond to a single scene, and the distance between the first point and the second point is Determining whether a threshold distance to be recognized as a single point in a three-dimensional (3D) rendering of the scene is exceeded.
[C2] The change finds a maximum absolute value resulting from applying an edge detection filter to the image data corresponding to the first image and applying the edge detection filter within a horizontal region of the first image. The method according to [C1], wherein the first image corresponds to a left image and the second image corresponds to a right image of the 3D rendering.
[C3] The horizontal direction corresponds to a direction between the first imaging device corresponding to the first image and the second imaging device corresponding to the second image, according to [C2]. the method of.
[C4] The method of [C2], wherein the image data includes subsampled luma data corresponding to the first image.
[C5] The first image corresponds to a first imaging of the scene by a first sensor, and the second image corresponds to a second imaging of the scene by a second sensor, The method according to [C1], wherein the second imaging is performed substantially simultaneously with the first imaging.
[C6] Selecting a first point in the first image and placing a second point corresponding to the first point in the second image using a confidence measure. And the first image and the second image correspond to a single scene, and the distance between the first point and the second point is the three-dimensional of the single scene ( 3D) determining whether a threshold distance to be recognized as a single point of rendering is exceeded.
[C7] The confidence measure is normalized between a first region of the first image that includes the first point and a second region of the second image that includes the second point. The method of [C6], wherein the method is determined based on the determined mutual covariance.
[C8] The placement of the second point is determined to be the highest with respect to the selection of the first region including the first point in the first image and the first region. Selecting a second region of the second image having a correlated value.
[C9] The method according to [C8], wherein the correlation determination is performed using a luma component of the first image and the second image.
[C10] The method according to [C9], wherein the correlation determination is performed for a plurality of regions of the second image within a search range of the first point.
[C11] The reliability measurement value corresponds to the second region, and the second region corresponds to the first region based on whether the reliability measurement value exceeds a reliability threshold. The method of [C8], identified.
[C12] A three-dimensional (3D) scene including a set of subjects includes a first image of the scene and the scene in a state where each subject of the subject set is recognized as a single subject in the 3D scene Determining whether it can be rendered using a second image of;
In response to determining that the 3D scene can be rendered with each subject of the set of subjects recognized as the single subject, the parallax of each subject of the set of subjects Adjusting the convergence point of the scene so as to be within a predetermined range of parallax values;
[C13] In response to determining that the 3D scene cannot be rendered with each subject of the set of subjects recognized as the single subject, the second image The method of [C12], further comprising replacing with a shifted version of the first image.
[C14] For each subject in the set of subjects, determining whether the 3D scene can be rendered with each subject in the set of subjects being recognized as the single subject. Generating a corresponding parallax value indicating a distance between a first position of the subject in the first image and a second position of the subject in the second image. C12].
[C15] Determining whether the 3D scene can be rendered with each subject of the set of subjects being recognized as the single subject is the range of the parallax values and the parallax values The method of [C14], further comprising comparing to a predetermined range of.
[C16] The method according to [C15], wherein the range of the parallax value excludes at least a maximum value of the parallax value or a minimum value of the parallax value corresponding to the set of subjects.
[C17] Adjusting the convergence point of the scene means changing at least one of the first image and the second image in order to change the parallax of each subject in the set of subjects. The method of [C12], comprising shifting with respect to the other of the first image and the second image.
[C18] configured to receive input data including at least a first image corresponding to a scene and a second image corresponding to the scene, and providing output data to a three-dimensional (3D) display device A 3D media player configured in such a manner that the 3D media player is responsive to a user input including at least one of a zoom command and a pan command, and the 3D media player is responsive to the user input. An apparatus comprising a convergence control module configured to determine a convergence point for 3D rendering of the scene in response.
[C19] The apparatus of [C18], wherein the convergence control module is configured to adjust the convergence point on a scene-by-scene basis during playback of a media file.
[C20] The apparatus according to [C18], wherein the convergence control module is configured to determine the convergence point based on a parallax value of a subject in the scene.
[C21] The apparatus of [C20], wherein the convergence control module is further configured to determine the convergence point based on at least one of resolution and size of the 3D display device.
[C22] The apparatus according to [C20], wherein the convergence control module is further configured to determine the convergence point based on an observation distance from the 3D display device.
[C23] The device according to [C20], wherein the parallax value is determined in pixel units of the 3D display device.
[C24] an image processing module configured to receive image data including first image data corresponding to the first image sensor and second image data corresponding to the second image sensor; The image processing module includes: a convergence control module configured to determine a convergence point of 3D rendering of a scene; and a 3D encoding module configured to generate 3D output data based on an output of the convergence control module And a device comprising:
[C25] The apparatus of [C24], wherein the convergence control module is responsive to a predetermined display geometry.
[C26] The apparatus of [C24], wherein the convergence control module is further configured to determine the convergence point based on a parallax value of a subject in the scene.
[C27] The convergence control module is further configured to determine whether the disparity value is at least one of the subjects that are not fusionable in the 3D rendering, wherein the scene is not fusionable. The apparatus of [C26], wherein a warning is generated to notify a user of the apparatus during 3D video imaging.
[C28] The apparatus according to [C24], wherein the convergence control module is configured to perform convergence point processing on a scene-by-scene basis.
[C29] The convergence point processing includes adjusting a scene-based convergence point based on a parallax value corresponding to a subject in the scene and further based on a predetermined display geometry. apparatus.
[C30] The convergence point processing based on each scene enables dynamic adjustment of the convergence point during a zoom operation performed by the first image sensor and the second image sensor during 3D video imaging. The device according to [C29].
[C31] The apparatus according to [C29], further including a video preview display device, wherein the geometry of the predetermined display device corresponds to the video preview display device.
[C32] The apparatus according to [C29], wherein the geometry of the predetermined display device corresponds to a display geometry selected according to a user input.
[C33] Selecting a first point in the first image based on a change in image data corresponding to the first image, and corresponding to the first point in the second image Disposing a second point, and the first image and the second image correspond to a single scene, and the distance between the first point and the second point is A non-transitory computer comprising: instructions for determining whether to exceed a threshold distance to be recognized as a single point of three-dimensional (3D) rendering of the scene; A readable medium.
[C34] Applying an edge detection filter to the image data corresponding to the first image and finding the maximum absolute value resulting from applying the edge detection filter within a horizontal region of the first image. Further comprising instructions executable by the processor to perform identification, wherein the first image corresponds to a left image and the second image corresponds to a right image of the 3D rendering [C33 ] The computer-readable medium as described in.
[C35] The horizontal direction corresponds to a direction between the first imaging device corresponding to the first image and the second imaging device corresponding to the second image, according to [C34]. Computer readable media.
[C36] The computer-readable medium of [C34], wherein the image data includes subsampled luma data corresponding to the first image.
[C37] The first image corresponds to a first imaging of the scene by a first sensor, and the second image corresponds to a second imaging of the scene by a second sensor, The computer-readable medium according to [C33], wherein the second imaging is performed substantially simultaneously with the first imaging.
[C38] Means for receiving image data including first image data corresponding to the first image sensor and second image data corresponding to the second image sensor, and three-dimensional (3D) of the scene An apparatus comprising: means for determining a rendering convergence point; and means for generating 3D output data based on an output of the means for determining the convergence point.
[C39] The apparatus of [C38], wherein the means for determining the convergence point is responsive to a predetermined display geometry.
[C40] The apparatus of [C38], wherein the means for determining the convergence point is further configured to determine the convergence point based on a parallax value of a subject in the scene.
Selecting a first point in the first image based on a change in image data corresponding to the first image;
Positioning a second point in the second image, before Symbol second point, the first point and correspondingly, the first image and the second image corresponding to one scene To
Determining whether a distance between the first point and the second point exceeds a threshold distance, and the threshold distance is determined by the third point of the scene being shifted from the first point. A threshold at which the second point can be shifted horizontally to be recognized as a single point in the original (3D) rendering;
Responsive to determining that the distance exceeds the threshold distance, determining a shift amount based on a central parallax of key points in the scene;
Replacing the second image with a shifted version of the first image, and the shifted version of the first image corresponds to the first image shifted by the shift amount;
The method of claim 1, wherein each keypoint corresponds to a selected point in the first image and a corresponding point in the second image .
The method of claim 1, further comprising: generating a warning that the scene is not mergeable in response to determining that the distance exceeds the threshold distance.
The method of claim 1, wherein the image data includes subsampled luma data corresponding to the first image.
The first image corresponds to a first image of the scene by a first sensor, the second image corresponds to a second image of the scene by a second sensor, and the second image The method of claim 1, wherein imaging is performed simultaneously with the first imaging.
The method of claim 1, wherein the second point is located using a confidence measure.
The confidence measure is a normalized mutual relationship between a first region of the first image that includes the first point and a second region of the second image that includes the second point. The method of claim 6, wherein the method is determined based on covariance.
Placing the second point is
Selecting a first region containing the first point in the first image;
Selecting a second region of the second image having a correlation value determined highest for the first region;
Selecting a third point in the first image;
Using a confidence measure to place a fourth point in the second image corresponding to the third point, wherein the first and second points are a first key. 2. The point according to claim 1, wherein the third and fourth points correspond to second key points, and the shift amount is based on at least a central parallax of the first and second key points. the method of.
The method of claim 8, wherein the correlation determination is performed for a plurality of regions of the second image within a search range of the first point.
The confidence measure corresponds to the second region, and the second region is identified as corresponding to the first region based on whether the confidence measure exceeds a confidence threshold. The method according to claim 8.
3D, including a set of an object (3D) scene, the respective objects of the set of the object is in the first image and the 3D scene of the 3D scene in a state that is recognized as a single object in the 3D scene and determining whether the rendered obtained Rukado using two images, each under Utsushitai set of the object,
Generating a corresponding parallax value indicative of a distance between a first point of the subject in the first image and a second point of the subject in the second image;
Anda determining whether the distance is within a threshold distance, said threshold distance is a single of the 3D scene that is a second point Galle Ndaringu which is the first point and the shift of the object a threshold distance of the of the subject so that can recognize the second point may be shifted in the horizontal direction as a point one, the threshold distance corresponds to a predetermined range of disparity values,
The 3D scene is based on an average parallax of key points in the 3D scene in response to determining that each subject in the set of subjects can not be rendered with the single subject being recognized as the single subject. Determining the shift amount;
Replacing the second image with a shifted version of the first image;
The shifted version of the first image corresponds to the first image shifted by the shift amount .
In response to determining that the 3D scene cannot be rendered with each subject in the set of subjects being recognized as the single subject, the 3D scene is not fusionable 13. The method of claim 12, further comprising generating an alert.
The 3D scene in response to determining that you can render a state in which each object of the set of the object is recognized as the single subject corresponding, the parallax of each object of the set of the object The method of claim 12, further comprising adjusting a convergence point of the 3D scene to be within a predetermined range of parallax values.
Determining whether the 3D scene can be rendered with each subject of the set of subjects being recognized as the corresponding single subject is the range of the parallax value and the parallax value The method of claim 12, further comprising comparing to a predetermined range.
The method according to claim 15, wherein the range of the parallax values excludes at least a maximum value of the parallax values or a minimum value of the parallax values corresponding to the set of subjects.
Adjusting the convergence point of the 3D scene means changing at least one of the first image and the second image to change the parallax of each subject in the set of subjects. 15. The method of claim 14, comprising shifting with respect to the other of one image and the second image.
Configured to receive input data including at least a first image corresponding to a scene and a second image corresponding to the scene, and configured to provide output data to a three-dimensional (3D) display device 3D (3D) media player,
The 3D media player is responsive to user input including at least one of a zoom command and a pan command;
In response to the user input, the 3D media player
The distance between the first and the first point in the image and a second point in said second image to determine whether more than a threshold distance, wherein the threshold distance, said first point A threshold at which the second point can be shifted horizontally such that the shifted second point is recognized as a single point in the 3D rendering of the scene , and the second point is the first point Corresponding to the point ,
In response to determining that the distance exceeds the threshold distance,
Determining the shift amount based on the central parallax of the key points in the scene;
A convergence control module configured to replace the second image with a shifted version of the first image, wherein the shifted version of the first image is shifted by the shift amount; Corresponding to one image,
The convergence control module, during playback of media files, configured to adjust a convergence point in the scene each reference Apparatus according to claim 18.
The apparatus of claim 18, wherein the convergence control module is further configured to generate a warning that the scene is not mergeable in response to determining that the distance exceeds the threshold.
21. The apparatus of claim 20, wherein the convergence control module is further configured to determine the convergence point based on at least one of resolution and size of the 3D display device.
21. The apparatus of claim 20, wherein the convergence control module is further configured to determine the convergence point based on an observation distance from the 3D display device.
The apparatus of claim 18, wherein the distance is determined in pixel units of the 3D display device.
An image processing module configured to receive image data including first image data corresponding to the first image sensor and second image data corresponding to the second image sensor;
The first image data and the second image data correspond to a single scene, and the image processing module includes:
The distance between the first and the first point in the image data and the second point in the second image data, the first point and the shifted 3D of the second point is the scene to determine whether it exceeds the threshold value range that can be said second point is shifted in the horizontal direction to be recognized as rendered single point,
Determining a shift amount based on an average parallax of key points in the scene;
Configured to replace the second image with a shifted version of the first image, the second point corresponding to the first point, and the shifted version of the first image. A convergence control module corresponding to the first image shifted by the shift amount ;
A 3D encoding module configured to generate 3D output data based on the output of the convergence control module;
25. The apparatus of claim 24, wherein the convergence control module is responsive to a predetermined display geometry.
The convergence control module, before Symbol scene further configured to generate a warning not possible fusion device according to claim 24.
27. The apparatus of claim 26, wherein the apparatus is further configured to generate an alert notifying a user of the apparatus during 3D video imaging of the scene that the scene is not mergeable.
25. The apparatus of claim 24, wherein the convergence control module is configured to perform convergence point processing on a scene-by-scene basis.
29. The apparatus of claim 28, wherein the convergence point processing further includes adjusting a scene-based convergence point based on a predetermined display geometry.
The per-scene reference convergence point processing enables dynamic adjustment of the convergence point during a zoom operation performed by the first image sensor and the second image sensor during 3D video imaging. Item 29. The apparatus according to Item 28.
30. The apparatus of claim 29, further comprising a video preview display device, wherein the predetermined display device geometry corresponds to the video preview display device.
30. The apparatus of claim 29, wherein the predetermined display device geometry corresponds to a display geometry selected according to user input.
Placing a second point corresponding to the first point in a second image;
The first image and the second image correspond to a single scene, and the distance between the first point and the second point is shifted from the first point. Determining whether the second point exceeds a threshold distance that can be shifted horizontally such that two points are recognized as a single point in a three-dimensional (3D) rendering of the scene; ,
Determining a shift amount based on a central parallax of key points in the scene;
The shifted version of the first image corresponds to the first image shifted by the shift amount;
34. The computer readable storage medium of claim 33, further comprising instructions that allow the processor to generate a warning in response to determining that the distance exceeds the threshold distance.
The computer according to claim 33, wherein the horizontal direction corresponds to a direction between a first imaging device corresponding to the first image and a second imaging device corresponding to the second image. A readable storage medium.
34. The computer readable storage medium of claim 33, wherein the image data includes subsampled luma data corresponding to the first image.
The first image corresponds to a first image of the scene by a first sensor, the second image corresponds to a second image of the scene by a second sensor, and the second image 34. The computer-readable storage medium according to claim 33, wherein imaging is performed simultaneously with the first imaging.
Means for receiving image data including first image data corresponding to the first image sensor and second image data corresponding to the second image sensor;
The first image data and the second image data corresponds to a single scene, the second point in the first point and the second image data in said first image data the distance between is said as the second point is recognized as a single point of the 3D rendering of the scene second point to be shifted in the horizontal direction that is the first point and the shift It means for determining whether more than a threshold value range that can be,
Means for replacing the second image with a shifted version of the first image in response to determining that the distance exceeds the threshold distance;
The second point corresponds to the first point, and the means for replacing comprises means for determining a shift amount based on a central parallax of key points in the scene, The apparatus, wherein the shifted version of the first image corresponds to the first image shifted by the shift amount .
Means for determining a convergence point of the 3D rendering of the scene, means for shifting the second image in the horizontal direction based on the determined convergence point, and the distance does not exceed the threshold distance 39. The apparatus of claim 38, further comprising means for generating 3D output data based on the output of the means for determining the convergence point in response to determining.
40. The apparatus of claim 39, wherein the means for determining the convergence point is responsive to a predetermined parallax geometry.
JP2013513219A 2010-05-28 2011-05-24 3D image processing Active JP5592006B2 (en)
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