Abstract: A system for facilitating motion compensation is configurable to access an affine transformation-compensated image. The affine transformation-compensated image is generated by applying affine transformation-based motion compensation to a previous image. The system is further configurable to generate a motion-compensated image by applying optical flow-based motion compensation to the affine transformation-compensated image. The optical flow-based motion compensation utilizes the affine transformation-compensated image and a current image as inputs.

Abstract: A system for modifying a dark current image is configurable to receive an input image depicting a dark current state for one or more pixels of the input image, The dark current state for one or more pixels of the input image comprises one of: a faulty state or a non-faulty state. The system is configurable to partition the input image into a plurality of partitions and generate an updated input image by imposing at least one quantity constraint or at least one severity constraint to the plurality of partitions in association with at least one type of dark current state.

Abstract: A system for selecting motion models for aligning scene content captured by different image sensors, is configurable to (i) access a first image captured by a first image sensor and a second image captured by a second image sensor; (ii) access a set of motion models; (iii) define a reference patch within the second image; (iv) generate a respective match patch for each motion model of the set of motion models; (v) determine a similarity between each respective match patch and the reference patch within the second image; (vi) select a final motion model from the set of motion models based upon the similarity between each respective match patch and the reference patch within the second image; and (vii) utilize the final motion model to generate an output image for display to a user.

Abstract: A system determining motion models for aligning scene content captured by different image sensors is configurable to access a first motion model generated based upon a set of feature correspondences that includes (i) an inlier set used to determine model parameters for the first motion model and (ii) an outlier set. The system is also configurable to define a modified set of feature correspondences that includes the outlier set from the set of feature correspondences. The system is also configurable to generate a second motion model by using the modified set of feature correspondences to determine model parameters for the second motion model.

Abstract: A system for generating a dark current residual image is configurable to generate a weighted average image by: (i) determining a region-based weight value for each pixel of an input image based upon a light level of a region in which the pixel lies; and (ii) combining the input image with a previous image using the region-based weight values for each pixel of the input image. The system is also configurable to generate a dark current residual image based upon the weighted average image.

Abstract: A system for facilitating dark current compensation by weighted filtering is configurable to (i) receive an input dark current image; (ii) generate a corrected dark current image at least by scaling pixel values of the input dark current image based upon ambient light conditions; and generate a weight map comprising a weight value for each pixel of the corrected dark current image. For each pixel of the corrected dark current image, the weight value of the weight map may be based upon a light level of the pixel of the corrected dark current image. The system is also configurable to generate an output image by utilizing the weight map to filter an input image.

Abstract: A system for low compute high-resolution depth map generation using low-resolution cameras is configured to obtain a stereo pair of images and generate a depth map by performing stereo matching on the stereo pair of images. The system is also configured to obtain a first image comprising first texture information for the environment that has a first image resolution that is higher than an image resolution of images of the stereo pair of images. The system is further configured to generate a reprojected first image by reprojecting the first image to correspond to an image capture perspective associated with the depth map. The reprojection of the first image is based on depth information from the depth map and includes reprojected first texture information for the environment. The system is also configured to generate an upsampled depth map based on the depth map.

Abstract: A system for power efficient image acquisition is configurable to capture, using an image sensor, a plurality of partial image frames including at least a first partial image frame and a second partial image frame. The first partial image frame is captured at a first timepoint using a first subset of image sensing pixels of the plurality of image sensing pixels of the image sensor. The second partial image frame is captured at a second timepoint using a second subset of image sensing pixels of the plurality of image sensing pixels of the image sensor. The second subset of image sensing pixels includes different image sensing pixels than the first subset of image sensing pixels, and the second timepoint is temporally subsequent to the first timepoint. The system is configurable to generate a composite image frame based on the plurality of partial image frames.

Abstract: A computing system includes an illumination light source configured to emit illumination light into an external environment and an orientation sensor configured to estimate an orientation of the illumination light source relative to the external environment. The computing system includes a logic subsystem and a storage subsystem holding instructions executable by the logic subsystem to define a light restriction zone within the external environment. Based at least in part on the orientation of the illumination light source, the illumination light source is dynamically controlled to direct the illumination light toward at least a portion of the external environment outside the light restriction zone, while mitigating emission of the illumination light into the light restriction zone.

Abstract: A system for structured light depth computation using single photon avalanche diodes (SPADs) is configurable to, over a frame capture time period, selectively activate the illuminator to perform interleaved structured light illumination operations. The interleaved structured light illumination operations comprise alternately emitting at least a first structured light pattern from the illuminator and emitting at least a second structured light pattern from the illuminator. The system is also configurable to, over the frame capture time period, perform a plurality of sequential shutter operations to configure each SPAD pixel of the SPAD array to enable photon detection. The plurality of sequential shutter operations generates, for each SPAD pixel of the SPAD array, a plurality of binary counts indicating whether a photon was detected during each of the plurality of sequential shutter operations.

Abstract: Examples are disclosed that relate to providing image data to a user in a defined space of a surrounding environment from a perspective of the user. One example provides a computing system, comprising a logic subsystem, and a storage subsystem comprising instructions executable by the logic subsystem to obtain information regarding a pose of a user within a defined space, based upon the pose of the user, determine a portion of an environment surrounding the defined space toward which the user is looking, obtain image data representing the portion of the environment from a perspective of the user, and provide the image data for display via a display device within the defined space.

Abstract: Techniques for generating an enhanced image. A first image is generated using a camera of a first modality, and a second image is generated using a camera of a second modality. Pixels that are common between the two images are identified. An alpha map is generated. The alpha map reflects edge detection weights that are computed for the common pixels based on saliency values. A determination is made as to how much texture from the images to use to generate an enhanced image. This determination is based on the edge detection weights included within the alpha map. Based on the edge detection weights, textures are merged from the common pixels to generate the enhanced image. Color is also added to the enhanced image, where the color reflects an additional property (e.g., the texture source for the pixel) that is associated with one or both of the images.

Abstract: A system for low compute high-resolution depth map generation using low-resolution cameras is configured to obtain a stereo pair of images and generate a depth map by performing stereo matching on the stereo pair of images. The system is also configured to obtain a first image comprising first texture information for the environment that has a first image resolution that is higher than an image resolution of images of the stereo pair of images. The system is further configured to generate a reprojected first image by reprojecting the first image to correspond to an image capture perspective associated with the depth map. The reprojection of the first image is based on depth information from the depth map and includes reprojected first texture information for the environment. The system is also configured to generate an upsampled depth map based on the depth map.

Abstract: A head-mounted device (HMD) is configured to perform depth detection with a stereo camera pair comprising a first camera and a second camera, both of which are configured to detect/capture visible light and IR light. The fields of view for both of the cameras overlap to form an overlapping field of view. The HMD also includes an IR dot-pattern illuminator that is mounted on the HMD with the cameras and that is configured to emit an IR dot-pattern illumination. The IR dot-pattern illuminator emits a dot-pattern illumination that spans at least a part of the overlapping field of view. The IR dot-pattern illumination adds texture to objects in the environment and enables the HMD to determine depth for those objects, even if they have textureless/smooth surfaces.

Abstract: Techniques for using motion data to generate a high resolution output color image from multiple images having sparse color information are disclosed. A camera generates multiple images. The camera's sensor is configured to have a sparse Bayer pattern. While the camera is generating the images, IMU data for each image is acquired. The IMU data indicates a corresponding pose the camera was in while the camera generated each image. The images and the IMU data are fed as input into a motion model. The motion model performs temporal filtering on the images and uses the IMU data to generate a red-only image, a green-only image, and a blue-only image. A high resolution output color image is generated by combining the red-only image, the green-only image, and the blue-only image.

Abstract: A system for updating continuous image alignment of separate cameras identifies a previous alignment matrix associated with a previous frame pair captured at one or more previous timepoints by a reference camera and a match camera. The previous alignment matrix is based on visual correspondences in the previous frame pair. The system also identifies a current matrix associated with a current frame pair captured at one or more current timepoints by the reference camera and the match camera. The current matrix is based on visual correspondences in the current frame pair. The system also identifies a difference value associated with the reference camera or the match camera relative to the one or more previous timepoints and the one or more current timepoints. The system also generates an updated alignment matrix by using the previous alignment matrix, the current matrix, and the difference value as inputs.

Abstract: An HMD includes a single photon avalanche diode (SPAD) array comprising a plurality of SPAD pixels. The HMD also includes a display positioned to display images for viewing by an eye of a user. The HMD also includes one or more processors and one or more hardware storage devices storing instructions that are executable by the one or more processors to configure the HMD to perform various acts associated with using the SPAD array to capture an image frame of an environment for display to the user.

Abstract: A system is configurable to, over a frame capture time period, selectively activate an illuminator to alternately emit light from the illuminator and refrain from emitting light from the illuminator. The system is configurable to, over the frame capture time period, perform a plurality of sequential shutter operations to configure each image sensor pixel of an image sensor array to enable photon detection. The plurality of sequential shutter operations generates, for each image sensor pixel of the image sensor array, a plurality of binary counts indicating whether a photon was detected during each of the plurality of sequential shutter operations. The system is configurable to, based on a first set of binary counts of the plurality of binary counts, generate an ambient light image. The system is configurable to, based on a second set of binary counts of the plurality of binary counts, generate an illuminated image.

Abstract: Techniques for generating an enhanced image. A first image is generated using a first camera of a first modality, and a second image is generated using a second camera of a second modality. Pixels that are common between the two images are identified. Textures for the common pixels are determined. Saliencies of the two images are determined, where the saliencies reflect amounts of texture variation present in those images. An alpha map is generated and reflects edge detection weights that have been computed for each one of the common pixels based on the two saliencies. A determination is made as to how much texture from the first and/or second images to use to generate an enhanced image. This determining process is based on the edge detection weights included within the alpha map. Based on the edge detection weights, textures are merged from the common pixels to generate the enhanced image.

Abstract: A system for dark current compensation in SPAD imagery is configurable to capture an image frame with the SPAD array and generate a temporally filtered image by performing a temporal filtering operation using the image frame and at least one preceding image frame. The at least one preceding image frame is captured by the SPAD array at a timepoint that temporally precedes a timepoint associated with the image frame. The system is also configurable to obtain a dark current image frame. The dark current image frame includes data indicating one or more SPAD pixels of the plurality of SPAD pixels that detect an avalanche event without detecting a corresponding photon. The system is also configurable to generate a dark current compensated image by performing a subtraction operation on the temporally filtered image or the image frame based on the dark current image frame.