Aspects of the present disclosure are directed to a method for setting the focus of a film camera. In one embodiment, for example, the method includes the steps of: obtaining distance information from a measuring device arranged in a region of the film camera, the measuring device producing a real image and a depth image; setting the focus of the film camera using the obtained distance information; producing a real image which is augmented with depth information from the measuring device; and calculating the real image into the image of the film camera by means of an image transformation.

Aspects of the present disclosure are directed to a method for setting the focus of a film camera. In one embodiment, for example, the method includes the steps of: obtaining distance information from a measuring device arranged in a region of the film camera, the measuring device producing a real image and a depth image; setting the focus of the film camera using the obtained distance information; producing a real image which is augmented with depth information from the measuring device; and calculating the real image into the image of the film camera by means of an image transformation.

Disclosed are a wide viewing angle stereo camera apparatus and a depth image processing method using the same. A stereo camera apparatus includes a receiver configured to receive a first image and a second image of a subject captured through a first lens and a second lens that are provided in a vertical direction; a converter configured to convert the received first image and second image using a map projection scheme; and a processing configured to extract a depth of the subject by performing stereo matching on the first image and the second image converted using the map projection scheme, in a height direction.

Disclosed are a wide viewing angle stereo camera apparatus and a depth image processing method using the same. A stereo camera apparatus includes a receiver configured to receive a first image and a second image of a subject captured through a first lens and a second lens that are provided in a vertical direction; a converter configured to convert the received first image and second image using a map projection scheme; and a processing configured to extract a depth of the subject by performing stereo matching on the first image and the second image converted using the map projection scheme, in a height direction.

A method includes determining a depth range where a subject is likely to appear in a current depth map based on one or more previous depth maps of the environment, filtering the current depth map based on the depth range, to generate a reference depth map, identifying a plurality of candidate regions from the reference depth map, selecting a subset of the plurality of candidate regions, determining a main region from the subset of the plurality of candidate regions, associating the main region and one or more target regions, identifying the first pose component of the subject from a collective region, identifying the second pose component of the subject from the collective region, determining one or more vectors representing a spatial relationship between the identified first pose component and the identified second pose component, and controlling a movement of a movable object based on the one or more vectors.

A method includes determining a depth range where a subject is likely to appear in a current depth map based on one or more previous depth maps of the environment, filtering the current depth map based on the depth range, to generate a reference depth map, identifying a plurality of candidate regions from the reference depth map, selecting a subset of the plurality of candidate regions, determining a main region from the subset of the plurality of candidate regions, associating the main region and one or more target regions, identifying the first pose component of the subject from a collective region, identifying the second pose component of the subject from the collective region, determining one or more vectors representing a spatial relationship between the identified first pose component and the identified second pose component, and controlling a movement of a movable object based on the one or more vectors.

A pose determination method for a subject includes identifying a plurality of candidate regions from depth data representing an environment based on a depth connectivity criterion, determining a first region including a first subset of the plurality of candidate regions based on an estimation regarding a first pose component of the subject, determining a second region including a second subset of the plurality of candidate regions that are disconnected from the first subset of the plurality of candidate regions based on relative locations of the first region and the second region, generating a collective region by associating the first region with the second region, identifying the first pose component and a second pose component of the subject from the collective region, determining a spatial relationship between the first pose component and the second pose component, and generating a controlling command based on the spatial relationship.

A pose determination method for a subject includes identifying a plurality of candidate regions from depth data representing an environment based on a depth connectivity criterion, determining a first region including a first subset of the plurality of candidate regions based on an estimation regarding a first pose component of the subject, determining a second region including a second subset of the plurality of candidate regions that are disconnected from the first subset of the plurality of candidate regions based on relative locations of the first region and the second region, generating a collective region by associating the first region with the second region, identifying the first pose component and a second pose component of the subject from the collective region, determining a spatial relationship between the first pose component and the second pose component, and generating a controlling command based on the spatial relationship.

A depth camera assembly (DCA) determines distances between the DCA and objects in a local area within a field of view of the DCA. The DCA projects a series of sinusoidal patterns into the local area DCA and captures images of the sinusoidal patterns via a sensor. Each pixel of the augmented sensor includes a plurality of charge bins, and charge accumulated by a photodiode of a pixel during different time intervals (e.g., times when different sinusoidal patterns are emitted) is stored in a different charge storage bin. Charge may be retrieved from different charge storage bins to determine depth from the DCA.

Indirect time-of-flight (i-ToF) image sensor pixels, i-ToF image sensors including such pixels, stereo cameras including such image sensors, and sensing methods to obtain i-ToF detection and phase detection information using such image sensors and stereo cameras. An i-ToF image sensor pixel may comprise a plurality of sub-pixels, each sub-pixel including a photodiode, a single microlens covering the plurality of sub-pixels and a read-out circuit for extracting i-ToF phase signals of each sub-pixel individually.