Unnatural display is reduced by changing the appearance of a real space. A display control apparatus includes: an information acquisition unit that acquires reliability information indicating reliability of each of element data constituting three-dimensional data of a real space; a region specification unit that specifies a region corresponding to element data of which the reliability does not meet a criterion; and a display control unit that performs display control for changing the appearance of the region specified by the region specification unit.

An example operation of depth map generation includes one or more of, simultaneously capturing a main-off camera image and an auxiliary-off camera image with an unpowered flash, sparse depth mapping an object based on the main-off camera image and the auxiliary-off camera image, capturing a main-on camera image with a powered flash, foreground probability mapping the object based on the main-off camera image and the main-on camera image and dense depth mapping the object based on the sparse depth map and the foreground probability map.

An example operation of depth map generation includes one or more of, simultaneously capturing a main-off camera image and an auxiliary-off camera image with an unpowered flash, sparse depth mapping an object based on the main-off camera image and the auxiliary-off camera image, capturing a main-on camera image with a powered flash, foreground probability mapping the object based on the main-off camera image and the main-on camera image and dense depth mapping the object based on the sparse depth map and the foreground probability map.

The present disclosure provides vehicle braking and warning method, system and device based on a binocular stereo camera. The vehicle braking and warning method includes: acquiring first target information within a detection range of the binocular stereo camera, second target information within a detection range of a millimeter-wave radar, and current vehicle driving information; acquiring sensing result data about a target obstacle in accordance with the first target information and the second target information in conjunction with a predetermined weight; and outputting a braking instruction and/or a warning instruction in accordance with the sensing result data and the current vehicle driving information so as to enable a vehicle to adjust its driving state in accordance with the instructions.

A system and method of determining three-dimensional coordinates is provided. The method includes, with a projector, projecting onto an object a projection pattern that includes collection of object spots. With a first camera, a first image is captured that includes first-image spots. With a second camera, a second image is captured that includes second-image spots. Each first-image spot is divided into first-image spot rows. Each second-image spot is divided into second-image spot rows. Central values are determined for each first-image and second-image spot row. A correspondence is determined among first-image and second-image spot rows, the corresponding first-image and second-image spot rows being a spot-row image pair. Tach spot-row image pair having a corresponding object spot row on the object. Three-dimensional (3D) coordinates of each object spot row are determined on the central values of the corresponding spot-row image pairs. The 3D coordinates of the object spot rows are stored.

A lifting transform method performed on an elemental image array may perform a lifting transform on an elemental image array to obtain a difference image (or an error image representing a prediction error) and movement information used for prediction and may appropriately reorder the difference image to obtain a wavelet-type elemental image array.

A lifting transform method performed on an elemental image array may perform a lifting transform on an elemental image array to obtain a difference image (or an error image representing a prediction error) and movement information used for prediction and may appropriately reorder the difference image to obtain a wavelet-type elemental image array.

A depth imaging system includes an optical image sensor, an optical beam steering system, an object identification system, and a depth measurement system. The object identification system is coupled to the optical image sensor. The object identification system is configured to identify an object in an image captured by the optical image sensor. The depth measurement system is coupled to the optical beam steering device. The depth measurement system is configured to, responsive to identification of the object by the object identification system: direct an optical signal, via the optical beam steering device, to the object, and to determine a distance to the object based on a time-of-flight of the optical signal.

A method to efficiently update and manage outputs of real time or offline 3D reconstruction and scanning in a mobile device having limited resource and connection to the Internet is provided. The method makes available to a wide variety of mobile XR applications fresh, accurate and comprehensive 3D reconstruction data, in either single user applications or multi-user applications sharing and updating the same 3D reconstruction data. The method includes a block-based 3D data representation that allows local update and maintains neighbor consistency at the same time, and a multi-layer caching mechanism that retrieves, prefetches, and stores 3D data efficiently for XR applications. Between sessions of an XR device, blocks may be persisted on the device or in remote storage in one or more cache layers. The device may, upon starting a new session, selectively use the blocks from one or more layers of the cache.

Aspects of the disclosure relate to an emitter for active depth sensing shared by multiple apertures. An example method for active depth sensing by a device including a first aperture, a second aperture, a first emitter, and an optical element includes identifying whether the optical element is to be in a first optical element (OE) mode or a second OE mode, and controlling the optical element based on the identified OE mode. The optical element directs light from the first emitter towards the first aperture in the first OE mode. Light is directed from the first emitter towards the second aperture in the second OE mode.