Iee International Electronics and Engineering S.a.

Frederic Garcia Becerro

Bruno Mirbach

Cedric Schockaert

Thomas Solignac

Djamila Aouada

A method and system for real-time motion artifact handling and noise removal for time-of-flight (ToF) sensor images. The method includes: calculating values of a cross correlation function c(&#x3c4;) at a plurality of temporally spaced positions or phases from sent (s(t)) and received (r(t)) signals, thereby deriving a plurality of respective cross correlation values [c(&#x3c4;), c(&#x3c4;), c(&#x3c4;), c(&#x3c4;)]; deriving, from the plurality of cross correlation values [c(&#x3c4;), c(&#x3c4;), c(&#x3c4;), c(&#x3c4;)], a depth map D having values representing, for each pixel, distance to a portion of an object upon which the sent signals (s(t)) are incident; deriving, from the plurality of cross correlation values [c(&#x3c4;), c(&#x3c4;), c(&#x3c4;), c(&#x3c4;)], a guidance image (I; I'); and generating an output image D&#x2032; based on the depth map D and the guidance image (I; I&#x2032;), the output image D&#x2032; comprising an edge-preserving and smoothed version of depth map D, the edge-preserving being from guidance image (I; I&#x2032;).

Method and system for real-time motion artifact handling and noise removal for ToF sensor images

A method and system for real-time noise removal and image enhancement of high-dynamic range (HDR) images. The method includes receiving an HDR input image I and operating processing circuitry for (i) applying a first edge-preserving filter (e.g. guided filter) to the input image I, thereby generating a first image component Band a first set of linear coefficients &#x101;; (ii) applying a second edge-preserving filter (e.g. guided filter) to the input image I, thereby generating a second image component Band a second set of linear coefficients &#x101;; (iii) generating a plausibility mask P from a combination of the first set of linear coefficients &#x101;and the second set of linear coefficients &#x101;, the plausibility mask P indicating spatial detail within the input image I; and (iv) generating an output image O based on first image component B, the second image component Band the plausibility mask P.

Method and system for real-time noise removal and image enhancement of high-dynamic range images

A method for enhancing a depth image of a scene, comprises calculating an enhanced depth image by blending a first filtered depth image with a second filtered depth image or with the original depth image. The blending is achieved by application of a blending map, which defines, for each pixel, a contribution to the enhanced depth image of the corresponding pixel of the first filtered depth image and of the corresponding pixel of either the second filtered depth image or the original depth image. For pixels in the depth image containing no depth value or an invalid depth value, the blending map defines a zero contribution of the corresponding pixel of the second filtered depth image and a 100% contribution of the corresponding pixel of the first filtered image.

Depth image enhancement method

A method for matching the pixels (--) of a first range image of a scene () as seen from a first point of sight () with pixels (--) of a second range image of the scene as seen from a second point of sight () comprises the following steps: providing the first range image as a grid of source pixels (), on which the scene is mapped in accordance with a first projection associated with the first point of sight, wherein each source pixel has a point in the scene projected thereon in accordance with the first projection and has associated therewith a range value determined for that point in the scene; providing a grid of target pixels () for the second range image and a second projection associated with the second point of sight; and for each one of the target pixels, a) determining which source pixel would have the same point (P, P) in the scene projected thereon in accordance with the first projection as the target pixel would have projected thereon in accordance with the second projection if the imaged scene were a planar surface at a certain surface distance from the first point of sight; b) determining a depth coordinate of the point in the scene that the source pixel determined in step a) actually has projected thereon in accordance with the first projection; c) if the depth coordinate is greater than a threshold, which is itself greater than the surface distance, repeating steps a), b) and c) with an increased surface distance at step a) and an increased threshold at step c), and else associating the target pixel with the source pixel determined in step a).

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Belvaux, Luxembourg

Frederic Garcia Becerro