Embodiments of the invention provide a camera array imaging architecture that computes depth maps for objects within a scene captured by the cameras, and use a near-field sub-array of cameras to compute depth to near-field objects and a far-field sub-array of cameras to compute depth to far-field objects. In particular, a baseline distance between cameras in the near-field subarray is less than a baseline distance between cameras in the far-field sub-array in order to increase the accuracy of the depth map. Some embodiments provide an illumination near-IR light source for use in computing depth maps.

Stereo imaging systems and devices are disclosed. A stereo imaging system can include one or more stereo imaging modules and an image processing module connected to the one more stereo imaging modules by a coaxial cable that carries two-way communication signals and transfers electrical power from the image processing module to the stereo imaging modules. The stereo imaging modules each include a plurality of image sensors positioned to capture images of at least partially overlapping fields of view, and processing circuitry configured to transmit the captured images to the stereo imaging module via the coaxial cable. The processing module includes processing circuitry configured to receive and process the captured images, and power circuitry configured to provide electrical power to the stereo imaging module via the coaxial cable. The plurality of image sensors may be color image sensors configured to collect color images for stereo image processing.

Stereo imaging systems and devices are disclosed. A stereo imaging system can include one or more stereo imaging modules and an image processing module connected to the one more stereo imaging modules by a coaxial cable that carries two-way communication signals and transfers electrical power from the image processing module to the stereo imaging modules. The stereo imaging modules each include a plurality of image sensors positioned to capture images of at least partially overlapping fields of view, and processing circuitry configured to transmit the captured images to the stereo imaging module via the coaxial cable. The processing module includes processing circuitry configured to receive and process the captured images, and power circuitry configured to provide electrical power to the stereo imaging module via the coaxial cable. The plurality of image sensors may be color image sensors configured to collect color images for stereo image processing.

Systems and methods for determining disparity between two images are disclosed. Such systems and methods include obtaining a first pixel image of a scene from a first viewpoint, obtaining a second pixel image of the scene from a second viewpoint (e.g., separate from the first viewpoint in a camera baseline direction such as horizontal or vertical), modifying the first and second pixel images using component-separated correction to create respective first and second corrected pixel images maintaining pixel scene correspondence in the camera baseline direction from between the first and second pixel images to between the first and second corrected pixel images, determining pixel pairs from corresponding pixels between the first and second corrected pixel images in the camera baseline direction, and determining disparity correspondence for each of the determined pixel pairs from pixel locations in the first and second pixel images corresponding to respective pixel locations of the pixel pairs in the first and second corrected pixel images.

Systems and methods for determining disparity between two images are disclosed. Such systems and methods include obtaining a first pixel image of a scene from a first viewpoint, obtaining a second pixel image of the scene from a second viewpoint (e.g., separate from the first viewpoint in a camera baseline direction such as horizontal or vertical), modifying the first and second pixel images using component-separated correction to create respective first and second corrected pixel images maintaining pixel scene correspondence in the camera baseline direction from between the first and second pixel images to between the first and second corrected pixel images, determining pixel pairs from corresponding pixels between the first and second corrected pixel images in the camera baseline direction, and determining disparity correspondence for each of the determined pixel pairs from pixel locations in the first and second pixel images corresponding to respective pixel locations of the pixel pairs in the first and second corrected pixel images.

A system for generating a signal includes a touchpad including touch cells and a touch detection device for detecting the location and intensity of a pressure exerted on the touchpad; a first computer generating a first instruction based on the location and intensity of the pressure; an optical detection device for detecting a movement and/or a position, including optics for capturing images; a second computer for determining a motion parameter based on the captured images and for generating a second instruction based on the parameter; and a signal generator for producing a second signal based on the first instruction or on a first signal extracted from the first instruction, to which there is applied a special effect extracted from the second instruction; or on the second instruction or on a first signal extracted from the second instruction, to which there is applied a special effect extracted from the first instruction.

A system for generating a signal includes a touchpad including touch cells and a touch detection device for detecting the location and intensity of a pressure exerted on the touchpad; a first computer generating a first instruction based on the location and intensity of the pressure; an optical detection device for detecting a movement and/or a position, including optics for capturing images; a second computer for determining a motion parameter based on the captured images and for generating a second instruction based on the parameter; and a signal generator for producing a second signal based on the first instruction or on a first signal extracted from the first instruction, to which there is applied a special effect extracted from the second instruction; or on the second instruction or on a first signal extracted from the second instruction, to which there is applied a special effect extracted from the first instruction.

Techniques for aligning images generated by an integrated camera physically mounted to an HMD with images generated by a detached camera physically unmounted from the HMD are disclosed. A 3D feature map is generated and shared with the detached camera. Both the integrated camera and the detached camera use the 3D feature map to relocalize themselves and to determine their respective 6 DOF poses. The HMD receives the detached camera's image of the environment and the 6 DOF pose of the detached camera. A depth map of the environment is accessed. An overlaid image is generated by reprojecting a perspective of the detached camera's image to align with a perspective of the integrated camera and by overlaying the reprojected detached camera's image onto the integrated camera's image.

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 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.