Abstract: A real-world depth map is obtained corresponding to a viewpoint from a perspective of which a virtual-reality (VR) depth map has been generated. For a given pixel in the VR depth map, an optical depth (D) of a corresponding pixel in the real-world depth map is found. A lower bound (D?D1) for the given pixel is determined by subtracting a first predefined value (D1) from the optical depth (D) of the corresponding pixel in the real-world depth map. An upper bound (D+D2) for the given pixel is determined by adding a second predefined value (D2) to the optical depth (D) of the corresponding pixel in the real-world depth map. An optical depth of the given pixel fetched from the VR depth image is re-mapped, from a scale of the lower bound to the upper bound determined for the given pixel to another scale of A to B, wherein A and B are scalars. Re-mapped optical depths of pixels of the VR depth map are then encoded into an encoded depth map. This encoded depth map is sent to at least one display apparatus.

Abstract: A display apparatus has a display area of an output image divided into a plurality of regions. For a given region of the output image, a corresponding first region in a video-see-through (VST) image and a corresponding second region in at least one virtual-reality (VR) image are determined. From a depth map corresponding to the VST image, a minimum optical depth and a maximum optical depth in the first region of the VST image are determined. From a depth map corresponding to the at least one VR image, a minimum optical depth and a maximum optical depth in the second region of the at least one VR image are determined. When the minimum optical depth in the first region of the VST image is greater than the maximum optical depth in the second region of the at least one VR image, pixel data for pixels in the given region of the output image from the second region of the at least one VR image is fetched.

Abstract: A method for controlling brake resistors and a brake chopper, the number of brake resistors being two or more and the brake resistors being connected in series with switches to be controlled, the series connection being connected between a positive and a negative rail of a DC voltage intermediate circuit, the method comprising the step of determining a magnitude for a voltage of the DC intermediate circuit; and determining a first voltage limit and a second voltage limit. The method further comprises the steps of switching brake resistors to the intermediate circuit in a periodically alternating manner, each switch being switched during a switching period and the on-period of each switch in a switching period being responsive to the magnitude of the voltage in the DC voltage intermediate circuit when the voltage is above the first predetermined limit and below the second predetermined limit.

Abstract: A method for controlling brake resistors and a brake chopper, the number of brake resistors being two or more and the brake resistors being connected in series with switches to be controlled, the series connection being connected between a positive and a negative rail of a DC voltage intermediate circuit, the method comprising the step of determining a magnitude for a voltage of the DC intermediate circuit; and determining a first voltage limit and a second voltage limit. The method further comprises the steps of switching brake resistors to the intermediate circuit in a periodically alternating manner, each switch being switched during a switching period and the on-period of each switch in a switching period being responsive to the magnitude of the voltage in the DC voltage intermediate circuit when the voltage is above the first predetermined limit and below the second predetermined limit.