公开(公告)号：US20230245333A1

公开(公告)日：2023-08-03

申请号：US18051884

申请日：2022-11-02

Applicant: Rapyuta Robotics Co., Ltd.

Inventor： KOTA MOGAMI ,  KUNAL TYAGI

IPC: G06T7/593 ,  G01B11/22 ,  G01S7/4865 ,  G01S17/86 ,  G01S17/894 ,  G06T7/00 ,  G06T7/521

CPC classification number: G06T7/593 ,  G01B11/22 ,  G01S7/4865 ,  G01S17/86 ,  G01S17/894 ,  G06T7/0002 ,  G06T7/521 ,  G06T2207/10012 ,  G06T2207/10028 ,  G06T2207/30168 ,  H04N13/239

Abstract: The present disclosure relates to apparatus (100) for estimating depth of scene, comprising plurality of sensors (101) including Time of Flight (ToF) sensors and stereo sensors pairs, memory (103) and one or more processors (104). At least one pair of stereo sensors is placed perpendicular to other pairs of stereo sensors. One or more processors (104) are configured to determine disparity for plurality of sensors (101) based on comparison between one or more features of each image with other images received from plurality of pairs of stereo sensors, and evaluation of each image based on one or more pre-defined cost function parameters; determine disparity based on depth information received from ToF sensors; determine confidence value for each of plurality of sensors (101), based on disparity, to generate plurality of confidence values and estimate depth of scene based on disparity associated with a sensor selected based on plurality of confidence values.