An image processing method of an image processing apparatus according to an embodiment of the present invention comprises the steps of: obtaining an RGB image from an RGB camera; obtaining a ToF image from a ToF camera; extracting a first RGB feature point from the RGB image; extracting a first ToF feature point from the ToF image; matching the first RGB feature point and the first ToF feature point and extracting a second RGB feature point and a second ToF feature point such that a correlation between the first RGB feature point and the first ToF feature point is equal to or greater than a predetermined value; calculating an error value between the second RGB feature point and the second ToF feature point; updating pre-stored calibration data when the error value is greater than a threshold value, and calibrating the RGB image and the ToF image by using the updated calibration data; and synthesizing the calibrated RGB and ToF images.

An image processing method of an image processing apparatus according to an embodiment of the present invention comprises the steps of: obtaining an RGB image from an RGB camera; obtaining a ToF image from a ToF camera; extracting a first RGB feature point from the RGB image; extracting a first ToF feature point from the ToF image; matching the first RGB feature point and the first ToF feature point and extracting a second RGB feature point and a second ToF feature point such that a correlation between the first RGB feature point and the first ToF feature point is equal to or greater than a predetermined value; calculating an error value between the second RGB feature point and the second ToF feature point; updating pre-stored calibration data when the error value is greater than a threshold value, and calibrating the RGB image and the ToF image by using the updated calibration data; and synthesizing the calibrated RGB and ToF images.

A long-baseline and long depth-range stereo vision system is provided that is suitable for use in non-rigid assemblies where relative motion between two or more cameras of the system does not degrade estimates of a depth map. The stereo vision system may include a processor that tracks camera parameters as a function of time to rectify images from the cameras even during fast and slow perturbations to camera positions. Factory calibration of the system is not needed, and manual calibration during regular operation is not needed, thus simplifying manufacturing of the system.

A camera system. In some embodiments, the camera system includes a first laser, a camera, and a processing circuit connected to the first laser and to the camera. The first laser may be steerable, and the camera may include a pixel including a photodetector and a pixel circuit, the pixel circuit including a first time-measuring circuit.

Techniques are provided for synthesis of transformed image views, based on a reference image, using depth information. The transformed image views may simulate a change in position or focal length of a camera that produced the reference image. An example system includes an image transformation circuit configured to transform the reference image corresponding to a first viewpoint, to a transformed image corresponding to a second viewpoint. The system also includes an inverse warping circuit configured to calculate a mapping from the pixels of the transformed image to corresponding pixels of the reference image. The system further includes a hole detection circuit configured to detect holes in the transformed image based on depth discontinuities between the reference and transformed images; and a hole filling circuit configured to in-fill the detected holes using a sampling of selected neighboring pixels from the reference image, to synthesize a view based on the transformed image.

Techniques are provided for synthesis of transformed image views, based on a reference image, using depth information. The transformed image views may simulate a change in position or focal length of a camera that produced the reference image. An example system includes an image transformation circuit configured to transform the reference image corresponding to a first viewpoint, to a transformed image corresponding to a second viewpoint. The system also includes an inverse warping circuit configured to calculate a mapping from the pixels of the transformed image to corresponding pixels of the reference image. The system further includes a hole detection circuit configured to detect holes in the transformed image based on depth discontinuities between the reference and transformed images; and a hole filling circuit configured to in-fill the detected holes using a sampling of selected neighboring pixels from the reference image, to synthesize a view based on the transformed image.

An apparatus and a method are provided. The apparatus includes a light source configured to project light in a changing pattern that reduces the light's noticeability; collection optics through which light passes and forms an epipolar plane with the light source; and an image sensor configured to receive light passed through the collection optics to acquire image information and depth information simultaneously. The method includes projecting light by a light source in a changing pattern that reduces the light's noticeability; passing light through collection optics and forming an epipolar plane between the collection optics and the light source; and receiving in an image sensor light passed through the collection optics to acquire image information and depth information simultaneously.

An apparatus and a method are provided. The apparatus includes a light source configured to project light in a changing pattern that reduces the light's noticeability; collection optics through which light passes and forms an epipolar plane with the light source; and an image sensor configured to receive light passed through the collection optics to acquire image information and depth information simultaneously. The method includes projecting light by a light source in a changing pattern that reduces the light's noticeability; passing light through collection optics and forming an epipolar plane between the collection optics and the light source; and receiving in an image sensor light passed through the collection optics to acquire image information and depth information simultaneously.

A three dimensional system including rendering with variable displacement.

A three dimensional system including rendering with variable displacement.