Patent Document ID: 9030530
Application ID: 13515605
Patent Status: 1

Claim One:
1. A method comprising: accessing a first image and a second image that form a stereo image pair; generating a disparity map for a set of features from the first image that are matched to features in the second image; determining multiple quality measures based on disparity values from the disparity map for less than all features in the first image, the multiple quality measures including maximum disparity for the stereo image pair and minimum disparity for the stereo image pair, and the multiple quality measures each having a corresponding target quality range; determining that at least one of the multiple quality measures is outside of the corresponding target quality range; modifying at least the first image relative to the second image, such that disparity for the set of features in the first image is also modified, and the at least one quality measure is moved into the corresponding target quality range, wherein modifying the first image comprises using an additional image, different from the first image and the second image, and wherein the additional image includes one or more features from the set of features, wherein the stereo image pair is higher resolution than the additional image; generating a lower resolution stereo image pair by downsampling the stereo image pair; generating a low resolution disparity map using the downsampled stereo image pair and the additional image; generating a high resolution disparity map by upsampling the low resolution disparity map using the higher resolution stereo image pair; and rendering a modified first image based on the high resolution disparity map and the determined quality measure.