Abstract: Systems and techniques are provided for wireless communication. For example, a process can include obtaining a first image of an environment, the first image including a pattern of light. The process can further include determining a pixel window for a pixel of the first image; determining a set of transform pixels based on the pattern of light, wherein the set of transform pixels are a subset of pixels from the pixel window; performing a census transform based on the pixel and the set of transform pixels to obtain census transform information for the first image; and generating depth data based on the census transform information for the first image and census transform information for a second image.

Abstract: Systems and techniques are described for determining disparity information. For instance, a method for determining disparity information is provided. The method including: obtaining a plurality of cost functions; determining a first disparity for a center pixel of a first region of pixels at least in part by comparing one or more minima of a cost function of the center pixel to one or more minima of cost functions of other pixels in the first region; determining a second disparity for the center pixel at least in part by comparing one or more minima of a cost function of a center pixel of a second region to one or more minima of cost functions of other pixels in the second region, including the center pixel of the first region; and determining a third disparity for the center pixel of the first region based on the first disparity and the second disparity.

Abstract: A method performed by an electronic device is described. The method includes obtaining a first image from a first camera, the first camera having a first focal length and a first field of view. The method also includes obtaining a second image from a second camera, the second camera having a second focal length and a second field of view disposed within the first field of view. The method further includes aligning at least a portion of the first image and at least a portion of the second image to produce aligned images. The method additionally includes fusing the aligned images based on a diffusion kernel to produce a fused image. The diffusion kernel indicates a threshold level over a gray level range. The method also includes outputting the fused image. The method may be performed for each of a plurality of frames of a video feed.

Abstract: A method performed by an electronic device is described. The method includes obtaining a first image from a first camera, the first camera having a first focal length and a first field of view. The method also includes obtaining a second image from a second camera, the second camera having a second focal length and a second field of view disposed within the first field of view. The method further includes aligning at least a portion of the first image and at least a portion of the second image to produce aligned images. The method additionally includes fusing the aligned images based on a diffusion kernel to produce a fused image. The diffusion kernel indicates a threshold level over a gray level range. The method also includes outputting the fused image. The method may be performed for each of a plurality of frames of a video feed.

Abstract: Aspects of the present disclosure relate to systems and methods for active depth sensing. An example apparatus configured to perform active depth sensing includes a projector. The projector is configured to emit a first distribution of light during a first time and emit a second distribution of light different from the first distribution of light during a second time. A set of final depth values of one or more objects in a scene is based on one or more reflections of the first distribution of light and one or more reflections of the second distribution of light. The projector may include a laser array, and the apparatus may be configured to switch between a first plurality of lasers of the laser array to emit light during the first time and a second plurality of laser to emit light during the second time.

Abstract: Described are automated systems and methods for providing a simulated environment for robotic and/or real-time systems, such as unmanned vehicles, to perform full system simulations while also providing a system-wide code coverage assessment of the software associated with the robotic and/or real-time systems. The exemplary systems and methods can employ code coverage instrumented shared libraries to facilitate generation of code coverage information and one or more code coverage reports. The code coverage information and/or the code coverage report can quantify the effectiveness of the testing and can facilitate development of more comprehensive and efficient testing of the software.

Abstract: Techniques and systems are provided for generating one or more depth maps. For example, a process can include transmitting a pattern of light using a structured light source, the pattern of light including at least a first sub-pattern group of a primitive pattern and a second sub-pattern group of the primitive pattern. The process can include generating an overlapped pattern of light, the overlapped pattern of light including at least the first sub-pattern group of the primitive pattern overlapped with the second sub-pattern group of the primitive pattern. The process can include receiving one or more return signals based on the overlapped pattern of light. The process can include generating a depth map based on the one or more return signals.

Abstract: Techniques are disclosed for depth map generation in a structured light system where an optical transmitter is tilted relative to an optical receiver. The optical transmitter has a transmitter optical axis around which structured light spreads, and the optical receiver has a receiver optical axis around which a reflection of the structured light can be captured. The transmitter optical axis and the receiver optical axis intersect one another. A processing circuit compensates for the angle in the tilt in the reflected pattern to generate the depth map.

Abstract: Aspects of the present disclosure relate to systems and methods for active depth sensing. An example apparatus configured to perform active depth sensing includes a projector. The projector is configured to emit a first distribution of light during a first time and emit a second distribution of light different from the first distribution of light during a second time. A set of final depth values of one or more objects in a scene is based on one or more reflections of the first distribution of light and one or more reflections of the second distribution of light. The projector may include a laser array, and the apparatus may be configured to switch between a first plurality of lasers of the laser array to emit light during the first time and a second plurality of laser to emit light during the second time.

Abstract: A device for image processing includes an optical receiver configured to receive a reflection of a coded pattern from an object to generate an image, and processing circuitry. The processing circuitry is configured to determine an estimated position of zero order light in the image, determine a spatial region of the coded pattern that corresponds to a position of the zero order light in the coded pattern, map the spatial region to the estimated position of the zero order light in the image to generate a corrected image, and generate a depth map for the coded pattern based on the corrected image.

Abstract: Aspects of the present disclosure relate to systems and methods for time-of-flight ranging. An example time-of-flight system includes a transmitter including a plurality of light emitters for transmitting focused light, the plurality of light emitters including a first group of light emitters for transmitting focused light with a first field of transmission and a second group of light emitters for transmitting focused light with a second field of transmission. The first field of transmission at a depth from the transmitter is larger than the second field of transmission at the depth from the transmitter. The time-of-flight system also includes a receiver to receive reflections of the transmitted light.

Abstract: A stereo camera pair may be used to determine deformation and/or strain on a member based on differences in calculated movement of the cameras that capture images. In some embodiments, a first camera may be mounted to a first end of a member and a second camera may be mounted to a second end of the member opposite the first end. As the member bends, twists, or deforms in other ways, the deformation may be detectable based on differences in images captured by the first and second camera. This data may be used to detect possible wear or damage to the member, as a control input to a vehicle to reduce possible wear or damage to the member, as a prompt to initiate maintenance or inspection of the member, and/or for other reasons.

Abstract: Systems, methods, and devices for generating a depth map of a scene are provided. The method comprises projecting, onto the scene, a codeword pattern including a plurality of light points including a first set of light points projected at a first intensity and a second set of light points projected at a second intensity greater than the first intensity. The method further comprises detecting, from the scene, a reflection of the codeword pattern. The method further comprises generating a first depth map layer at a first resolution. The method further comprises generating a second depth map layer at a second resolution lower than the first resolution. The method further comprises generating the depth map of the scene, wherein the depth map includes depth information for the scene according to each of the first depth map layer and the second depth map layer.

Abstract: A device includes a first camera and a processor configured to detect one or more first keypoints within a first image captured by the first camera at a first time, detect one or more second keypoints within a second image captured by a second camera at the first time, and detect the one or more first keypoints within a third image captured by the first camera at a second time. The processor is configured to determine a pose estimation based on coordinates of the one or more first keypoints of the first image relative to a common coordinate system, coordinates of the one or more second keypoints of the second image relative to the common coordinate system, and coordinates of the one or more first keypoints of the third image relative to the common coordinate system. The first coordinate system is different than the common coordinate system.

Abstract: A device for image processing includes an optical receiver configured to receive a reflection of a coded pattern from an object to generate an image, and processing circuitry. The processing circuitry is configured to determine an estimated position of zero order light in the image, determine a spatial region of the coded pattern that corresponds to a position of the zero order light in the coded pattern, map the spatial region to the estimated position of the zero order light in the image to generate a corrected image, and generate a depth map for the coded pattern based on the corrected image.

Abstract: Aspects of the present disclosure relate to systems and methods for time-of-flight ranging. An example time-of-flight system includes a transmitter including a plurality of light emitters for transmitting focused light, the plurality of light emitters including a first group of light emitters for transmitting focused light with a first field of transmission and a second group of light emitters for transmitting focused light with a second field of transmission. The first field of transmission at a depth from the transmitter is larger than the second field of transmission at the depth from the transmitter. The time-of-flight system also includes a receiver to receive reflections of the transmitted light.

Abstract: A method for displaying preview images is disclosed. In one aspect, the method includes: receiving first images captured by a first camera having a first field-of-view (FOV), receiving second images captured by a second camera having a second FOV that is different than the first FOV, and displaying preview images generated based on the first and second images. The method may further include determining a spatial transform based on depth information associated with individual pixels in the first and second images, and upon receiving instructions to zoom in or out beyond a camera switching threshold, modifying the second image using the spatial transform and displaying the first image and the modified second image consecutively.

Abstract: A method performed by an electronic device is described. The method includes obtaining a first image from a first camera, the first camera having a first focal length and a first field of view. The method also includes obtaining a second image from a second camera, the second camera having a second focal length and a second field of view disposed within the first field of view. The method further includes aligning at least a portion of the first image and at least a portion of the second image to produce aligned images. The method additionally includes fusing the aligned images based on a diffusion kernel to produce a fused image. The diffusion kernel indicates a threshold level over a gray level range. The method also includes outputting the fused image. The method may be performed for each of a plurality of frames of a video feed.

Abstract: Client calibration can include: (a) instructing a host to display a first desired target, (b) imaging the first displayed target, (c) determining a second desired target based on the imaging, (d) instructing the host to display a second desired target, and (e) adjusting a calibration parameter based on one or more images of the second desired target. The second desired target can be determined (e.g., selected, dynamically generated) based on the first desired target.

Abstract: A method performed by an electronic device is described. The method includes obtaining a first image from a first camera, the first camera having a first focal length and a first field of view. The method also includes obtaining a second image from a second camera, the second camera having a second focal length and a second field of view disposed within the first field of view. The method further includes aligning at least a portion of the first image and at least a portion of the second image to produce aligned images. The method additionally includes fusing the aligned images based on a diffusion kernel to produce a fused image. The diffusion kernel indicates a threshold level over a gray level range. The method also includes outputting the fused image. The method may be performed for each of a plurality of frames of a video feed.