The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Nov. 17, 2020
Filed:
Oct. 12, 2018
Google Llc, Mountain View, CA (US);
Vladimir Tankovich, Renton, WA (US);
Michael Schoenberg, Mountain View, CA (US);
Sean Ryan Francesco Fanello, Mountain View, CA (US);
Julien Valentin, Mountain View, CA (US);
Google LLC, Mountain View, CA (US);
Abstract
A method includes capturing a first image and a second image of a scene using at least one imaging camera of an imaging system. The first image and the second image form a stereo image pair and each comprises a plurality of pixels. Each of the plurality of pixels in the second image is initialized with a disparity hypothesis. Matching costs of the disparity hypothesis for each of the plurality of pixels in the second image are recursively determined, from an image tile of a smaller pixel size to an image tile of a larger pixel size, to generate an initial tiled disparity map including a plurality of image tiles. After refining the disparity value estimate of each image tile and including a slant hypothesis, a final disparity estimate for each pixel of the image is generated.