CN104685860A - 利用虚拟视点从光场生成图像 - Google Patents

利用虚拟视点从光场生成图像 Download PDF

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CN104685860A
CN104685860A CN201380050549.5A CN201380050549A CN104685860A CN 104685860 A CN104685860 A CN 104685860A CN 201380050549 A CN201380050549 A CN 201380050549A CN 104685860 A CN104685860 A CN 104685860A
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light field
pixel
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S·尼森佐恩
A·K·杰恩
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Pelican Imaging Corp
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/271—Image signal generators wherein the generated image signals comprise depth maps or disparity maps
    • G06T3/18—
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/557—Depth or shape recovery from multiple images from light fields, e.g. from plenoptic cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/593—Depth or shape recovery from multiple images from stereo images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/593—Depth or shape recovery from multiple images from stereo images
    • G06T7/596—Depth or shape recovery from multiple images from stereo images from three or more stereo images
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/106—Processing image signals
    • H04N13/111—Transformation of image signals corresponding to virtual viewpoints, e.g. spatial image interpolation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/106—Processing image signals
    • H04N13/111—Transformation of image signals corresponding to virtual viewpoints, e.g. spatial image interpolation
    • H04N13/117—Transformation of image signals corresponding to virtual viewpoints, e.g. spatial image interpolation the virtual viewpoint locations being selected by the viewers or determined by viewer tracking
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/207—Image signal generators using stereoscopic image cameras using a single 2D image sensor
    • H04N13/232—Image signal generators using stereoscopic image cameras using a single 2D image sensor using fly-eye lenses, e.g. arrangements of circular lenses
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/243—Image signal generators using stereoscopic image cameras using three or more 2D image sensors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/282—Image signal generators for generating image signals corresponding to three or more geometrical viewpoints, e.g. multi-view systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/10—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths
    • H04N23/13—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths with multiple sensors
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    • G06T2207/10—Image acquisition modality
    • G06T2207/10052—Images from lightfield camera

Abstract

公开了根据本发明实施例的用于从虚拟视点合成光场图像的系统及方法。在本发明的一个实施例中，系统包括处理器以及配置为存储所捕捉的光场图像数据和图像操纵应用的存储器，其中所捕捉的光场图像数据包括图像数据、像素位置数据和深度图，并且其中图像操纵应用把处理器配置为获得所捕捉的光场图像数据；为所捕捉的光场图像数据确定虚拟视点，其中虚拟视点包括虚拟位置和虚拟深度信息；基于所捕捉的光场图像数据和虚拟视点计算虚拟深度图；以及基于所捕捉的光场图像数据和虚拟深度图从虚拟视点的角度生成图像。

Description

利用虚拟视点从光场生成图像
技术领域
本发明涉及用于从光场图像数据生成图像的系统和方法，并且更具体而言涉及用于利用虚拟视点(virtual viewpoint)从光场图像数据生成图像的系统和方法。
背景技术
成像设备，诸如相机，可以被用来捕捉入射到图像传感器上的电磁频谱的部分(诸如可见光谱)的图像。为了方便讨论，术语“光”一般性地用来覆盖跨整个电磁频谱的辐射。在典型的成像设备中，光通过位于成像设备一端的开口(孔)进入并且被诸如透镜的一个或多个光学元件导向图像传感器。图像传感器包括在经光学元件接收到光时生成信号的像素或传感器元件。常用的图像传感器包括电荷耦合器件(CCD)传感器和互补金属氧化物半导体(CMOS)传感器。
图像传感器是能够把光学图像转换成数字信号的设备。在数字相机中使用的图像传感器由像素的阵列构成；像素的个数确定图像传感器的百万像素评级(megapixel rating)。例如，具有2272×1704像素的宽度×高度的图像传感器将具有3,871,488像素的实际像素计数并且将被认为是4百万像素的图像传感器。图像传感器中的每个像素能够捕捉光并把捕捉到的光转换成电信号。为了分离光的颜色和捕捉彩色图像，拜耳滤光器常常放在图像传感器上，从而把进入的光过滤成其红、蓝和绿(RGB)分量，然后这些颜色分量被图像传感器捕捉。然后，被图像传感器加拜耳滤光器捕捉的RGB信号被处理并且可以创建彩色图像。
一般而言，图像捕捉利用单个图像传感器，以便一次捕捉一个个别图像。数字相机通常结合图像传感器和处理能力二者。当数字相机拍摄照片时，由图像传感器捕捉的数据由图像传感器提供给处理器。通过改变被用来捕捉图像的传感器元件或传感器元件组的图像捕捉参数，处理器能够控制所捕捉的图像的各方面。
ISO/IEC 10918-1标准，按照开发该标准的联合图像专家组更经常地被称为JPEG标准，为静止图像的数字压缩和编码建立了标准处理。JPEG标准指定用于把图像压缩成位流并且用于把位流解压缩回图像的编解码器。
发明内容
公开了根据本发明实施例的用于从虚拟视点合成光场图像的系统和方法。在本发明的一个实施例中，配置为利用所捕捉的光场图像数据合成图像的系统包括：处理器以及连接到处理器并配置为存储所捕捉的光场图像数据和图像操纵应用的存储器，其中所捕捉的光场图像数据包括图像数据、像素位置数据和深度图，其中深度图包括图像数据中的一个或多个像素的深度信息，并且其中图像操纵应用把处理器配置为：获得所捕捉的光场图像数据；基于所捕捉的光场图像数据的像素位置数据和深度图为所捕捉的光场图像数据确定虚拟视点，其中虚拟视点包括虚拟位置和虚拟深度信息；基于所捕捉的光场图像数据和虚拟视点计算虚拟深度图；并且基于所捕捉的光场图像数据和虚拟深度图从虚拟视点的角度生成图像，其中所生成的图像包括基于像素位置数据和虚拟深度图选自图像数据的多个像素。
在本发明的另一个实施例中，虚拟视点对应于用来创建所捕捉的光场图像数据的阵列相机中的焦平面。
在本发明的附加实施例中，所捕捉的光场图像数据还包括所捕捉的光场图像数据中的参考视点并且虚拟视点是所捕捉的光场图像数据中与参考视点分离的视点。
在本发明还有另一个附加实施例中，所捕捉的光场图像数据是由具有包括多个成像器的成像器阵列的阵列相机捕捉的并且参考视点对应于阵列相机中成像器阵列中的第一成像器的视点。
在本发明还有另一个附加实施例中，虚拟视点对应于成像器阵列中第二成像器的视点，其中第二成像器与第一成像器分离。
在本发明还有另一个附加实施例中，虚拟视点是不对应于成像器阵列中任何成像器的视点的视点。
在本发明还有另一个实施例中，虚拟视点选自如下位置，该位置是从由成像器阵列前面和成像器阵列后面组成的组中选出的。
在本发明还有另一个实施例中，图像操纵应用还把处理器配置为：通过基于像素位置数据和深度图投射来自所捕捉的光场图像数据的像素来从虚拟视点的角度生成图像，其中投射的像素在图像数据和深度图中描述。
在本发明还有另一个实施例中，所捕捉的光场图像数据还包括描述从所捕捉的光场图像数据的参考视点不可见的像素的被遮挡像素信息，并且投射的像素包括被遮挡像素信息中从虚拟视点的角度可见的至少一个被遮挡像素。
在本发明还有另一个附加实施例中，所生成的图像中至少一个投射的像素未在图像数据、像素位置数据和深度图中描述，并且图像操纵应用还把处理器配置为通过重采样图像数据、像素位置数据和深度图来生成至少一个投射的像素。
在本发明还有另一个附加实施例中，针孔相机模型被用来基于从虚拟视点投射的光线来投射所生成的图像中的像素，其中每个投射的像素与至少一条投射的光线关联。
在本发明还有另一个附加实施例中，基于与投射的像素关联的深度图、虚拟视点和光线，为所生成的图像中的至少一个像素确定投射的像素的深度信息。
在本发明还有另一个实施例中，用于投射的像素的深度信息基于跨所捕捉的光场图像数据中的图像数据使投射的像素的变化(variance)最小化。
在本发明还有另一个实施例中，图像操纵应用还把处理器配置为组合在所生成的图像中具有相同位置的投射的像素。
在本发明还有另一个实施例中，像素是基于像素的加权平均来组合的，其中像素的加权平均是从投射的像素起源的成像器到虚拟视点的距离的倒数(inverse)。
在本发明还有另一个附加实施例中，系统还包括输入设备，该输入设备配置为获得指示所捕捉的光场图像数据中的位置的输入数据。
在本发明还有另一个附加实施例中，输入设备是触摸屏接口。
在本发明还有另一个附加实施例中，输入设备是配置为获得空间位置信息的传感器。
在本发明还有另一个实施例中，输入设备是相机，该相机配置为获得选自由头部跟踪数据和视线跟踪数据组成的组的输入数据。
在本发明还有另一个实施例中，虚拟视点是基于输入数据来选择的。
在本发明还有另一个实施例中，图像操纵应用还把处理器配置为：获得指示所捕捉的光场图像数据中的第一位置的第一输入数据；基于第一输入数据确定第一虚拟视点；从第一虚拟视点的角度生成第一图像；获得指示所捕捉的光场图像数据中的第二位置的第二输入，其中第二位置与第一位置分离；基于第二输入数据确定第二虚拟视点；通过在第一虚拟视点和第二虚拟视点之间内插来生成至少一个中间虚拟视点；基于所生成的至少一个中间虚拟视点生成至少一个中间图像，其中每个中间图像是从中间虚拟视点的角度生成的，以及从第二虚拟视点的角度生成第二图像。
在本发明还有另一个附加实施例中，图像是利用超分辨率处理生成的。
本发明还有另一个实施例包括用于从虚拟视点生成图像的方法，包括利用图像操纵设备获得所捕捉的光场图像数据，其中所捕捉的光场图像数据包括图像数据、像素位置数据和深度图，并且其中深度图包括图像数据中的一个或多个像素的深度信息；利用图像操纵设备基于所捕捉的光场图像数据的像素位置数据和深度图为所捕捉的光场图像数据确定虚拟视点，其中虚拟视点包括虚拟位置和虚拟深度信息；利用图像操纵设备基于所捕捉的光场图像数据和虚拟视点计算虚拟深度图；以及利用图像操纵设备基于所捕捉的光场图像数据和虚拟深度图从虚拟视点的角度生成图像，其中所生成的图像包括基于像素位置数据和虚拟深度图选自图像数据的多个像素。
附图说明
图1A概念性地示出根据本发明实施例的包括与处理器连接的5×5成像器阵列的阵列相机。
图1B概念性地示出根据本发明实施例的5×5阵列相机模块。
图1C概念性地示出根据本发明实施例的用于4×4阵列相机模块的滤色器(color filter)。
图2是概念性地示出根据本发明实施例的能够处理光场图像的设备的图。
图3A是概念性地示出根据本发明实施例的对于给定光场的虚拟视点的图。
图3B是概念性地示出根据本发明实施例的从对于给定光场的虚拟视点呈现的光场图像的图。
图3C是概念性地示出根据本发明实施例从对于给定光场的另一虚拟视点呈现的光场图像的图。
图4是概念性地示出根据本发明实施例的用于从光场中的虚拟视点生成光场图像的方法的流程图。
图4B是概念性地示出根据本发明实施例的用于利用投射的光线从虚拟视点生成光场图像的方法的流程图。
图5是概念性地示出根据本发明实施例的用于关于虚拟视点重新投射光线的方法的流程图。
图6是概念性地示出根据本发明实施例的用于对虚拟视点计算深度图的方法的流程图。
图7是概念性地示出根据本发明实施例的用于投射像素以便形成对应于虚拟视点的光场图像的方法的流程图。
图8是概念性地示出根据本发明实施例的用于从虚拟视点交互式地生成光场图像的方法的流程图。
具体实施方式
现在转向附图，示出根据本发明实施例的用于利用虚拟视点从光场图像数据生成图像的系统和方法。光场常常被定义为特征化在场景中所有点来自所有方向的光的4D函数并且可以被解释为场景的二维(2D)图像的2D集合。阵列相机，诸如在Venkataraman等人的标题为“Capturing and Processing of Images using MonolithicCamera Array with Heterogeneous Imagers”的美国专利申请序列No.12/935,504中所描述的那些的阵列相机，可以被用来捕捉光场。在多个实施例中，诸如在Lelescu等人的标题为“Systems andMethods for Synthesizing High Resolution Images Using Super-Resolution Processes”的美国专利申请序列No.12/967,807中所描述的那些的超分辨率处理被用来从由阵列相机捕捉的光场中较低分辨率的图像合成较高分辨率的2D图像或较高分辨率2D图像的立体对。这里使用的术语“高或较高分辨率”和“低或较低分辨率”是以相对的意义使用的，而不是要指示由阵列相机捕捉的图像的特定分辨率。美国专利申请序列No.12/935,504和美国专利申请序列No.12/967,807的全部内容通过引用被结合于此。
包含从光场图像数据合成的图像和得自光场图像数据的元数据的文件可以被称为光场图像文件。光场图像文件中编码的图像通常利用超分辨率处理从多个较低分辨率的图像合成。光场图像文件还可以包括得自光场图像文件数据的、描述合成图像的元数据，这使得能够对合成的图像进行后期处理。在许多实施例中，光场图像文件是通过编码从光场图像数据合成的图像并且组合编码的图像与得自光场图像数据的深度图来创建的。在几个实施例中，编码的图像是从参考视点合成的并且元数据包括关于光场图像中从参考视点被遮挡的像素的信息。在多个实施例中，元数据还可以包括附加的信息，包括(但不限于)辅助图，诸如置信图、边缘图、被遮挡像素的信息以及缺失像素图，这种附加信息可以在编码的图像的后期处理中被用来提高利用光场图像数据文件呈现的图像的质量。通过发送包括编码的图像的光场图像文件以及描述编码的图像的元数据，呈现设备(即，配置为生成利用光场图像文件中的信息呈现的图像的设备)可以利用文件中的信息呈现新的图像，而不需要对原始光场图像数据执行超分辨率处理。以这种方式，发送到呈现设备的数据量和呈现图像的计算复杂度减小了。在几个实施例中，呈现设备配置为执行处理，包括(但不限于)基于由用户指定的焦平面重新聚焦编码的图像、从不同的视点合成图像以及生成图像的立体对。根据本发明的实施例，各种文件格式可以被用来存储光场图像文件。一种这样的文件格式是在2011年9月28日递交的Venkataraman等人的标题为“JPEG-DX:ABackwards-compatible,Dynamic Focus Extension to JPEG”的美国临时专利申请No.61/540,188中所描述的对ISO/lEC 10918-1的JPEG-DX扩展，其全部内容通过引用被结合于此。
图像是从相机的视点捕捉的。在许多实施例中，阵列相机从参考视点捕捉场景的至少一个图像并且该参考视点被用来合成图像。换句话说，参考视点对应于成像器阵列中一个焦平面或者参考焦平面的视点。术语“虚拟视点”描述用来合成图像的视点，该视点可以或者可以不对应于成像器阵列中捕捉光场图像数据的焦平面的视点之一。给定利用阵列相机拍摄的图像阵列，可以从光场中虚拟视点的角度合成图像。在几个实施例中，从其合成图像的视点可以是成像器阵列中焦平面的视点或者来自内插位置，诸如焦平面之间的点、在成像器阵列前面的点或者成像器阵列后面的点。在本发明的许多实施例中，图像是从虚拟视点合成的。在本发明的多个实施例中，用来合成图像的(虚拟)视点包含该视点的一个或多个光轴的旋转和/或平移。在各种实施例中，能够显示从光场图像数据合成的图像的设备包括一个或多个输入设备，诸如配置为允许视线和/或运动跟踪的相机和/或配置为确定设备在空间中的朝向的传感器。这些设备可以利用从输入设备接收的输入来选择光场图像数据中的一个或多个虚拟视点并且从虚拟视点合成图像。以这种方式，通过从多个虚拟视点动态地合成多个图像，设备允许对光场图像数据的探索(exploration)和与之交互，从而提供在光场图像数据中描述的场景的各种视图。
利用所捕捉的光场中的2D图像，可以计算由阵列相机捕捉的每个图像中每个像素的空间X/Y亮度/色度值和/或深度信息。在许多实施例中，光场包含由阵列相机捕捉的附加信息，诸如位置数据和/或从由阵列相机捕捉的信息计算的数据。在许多实施例中，合成的图像包括作为元数据的深度图，它可以描述到场景中对象的距离。通过利用与光场中每个像素关联的深度信息，光场可以以对利用传统相机拍摄的图像而言不可能的各种途径以交互的方式被利用。其中光场可以被利用的一种途径是对实体对象(solid object)的检测；该实体对象在根据本发明实施例合成光场的方法中被利用。用于检测光场中对象的系统和方法在美国专利申请No.12/967,807中公开，其全部内容通过引用被结合于此。
各种用户接口可以被用于启用与光场的交互及其探索。以下描述根据本发明实施例的捕捉光场并从虚拟视点合成图像的系统和方法。
阵列相机体系架构
根据本发明实施例的阵列相机配置为使得阵列相机软件可以捕捉光场并且从光场内的虚拟视点合成图像。包括根据本发明实施例的成像器阵列的阵列相机在图1中示出。阵列相机100包括配置为与处理器108通信的成像器阵列102。处理器接收由成像器阵列生成的图像数据。成像器阵列102包括多个焦平面104。包括多个焦平面的成像器阵列在Pain等人的标题为“Architectures for System on ChipArray Cameras”的美国专利申请序列No.13/106,797中讨论，其全部内容通过引用被结合于此。
现在转向图1B，概念性地示出根据本发明实施例的阵列相机模块。阵列相机模块150包括成像器阵列152连同对应的光学器件阵列156，其中成像器阵列152包括焦平面154的阵列，光学器件阵列156包括透镜堆叠158的阵列。在透镜堆叠的阵列中，每个透镜堆叠158创建在对应焦平面154中的光敏像素阵列上形成场景的图像的光学通道。每对透镜堆叠158和焦平面154构成相机模块中的单个相机104。相机104的焦平面154中的每个像素生成可以从相机104向处理器108发送的图像数据。在许多实施例中，每个光学通道中的透镜堆叠配置为使得每个焦平面158的像素采样场景中的相同对象空间或区域。在几个实施例中，透镜堆叠配置为使得采样相同对象空间的像素利用子象素偏移来做这件事，以提供可以被用来通过使用超分辨率处理复原增大的分辨率的采样多样性。术语“采样多样性”指来自多个不同视点的图像采样场景中的相同对象但是具有微小的子像素偏移的事实。通过处理具有子像素精度的图像，当与利用单个图像简单地采样对象空间相比较时，由于子像素偏移而被编码的附加信息可以被复原。
在所示出的实施例中，焦平面在5×5阵列中配置。在其它实施例中，任何各种阵列配置都可以被使用，包括线性阵列。成像器阵列的每个焦平面154能够捕捉场景的图像。在焦平面中被使用的传感器元件可以是独立的光感测元件，诸如但不限于传统的CIS(CMOS图像传感器)像素、CCD(电荷耦合器件)像素、高动态范围传感器元件、多频谱传感器元件和/或配置为生成指示入射到结构上的光的电信号的任何其它结构。在许多实施例中，每个焦平面的传感器元件具有相似的物理属性并且经相同的光学通道和滤色器(在存在的情况下)接收光。在其它实施例中，传感器元件具有不同的特性，并且在许多情况下，传感器元件的特性与应用到每个传感器元件的滤色器相关。
在各种实施例中，各个相机中的滤色器可以被用来利用π滤波器组来图案化相机模块，如在于2013年5月1日递交的标题为“Camera Modules Patterned with pi FilterGroups”的美国临时专利申请No.13/875,248中进一步讨论的，其全部内容通过引用被结合于此。任何各种滤色器配置都可以被使用，包括图1C中包括八个绿色相机、四个蓝色相机和四个红色相机的配置，其中相机在相机的中心周围分布。相机可以被用来关于不同的颜色或者频谱的特定部分来捕捉数据。与对相机的像素应用滤色器形成对比，在本发明许多实施例中的滤色器包括在透镜堆叠中。例如，绿色相机可以包括具有允许绿光经过光学通道的绿色滤光器的透镜堆叠。在许多实施例中，每个焦平面中的像素是相同的并且由像素捕捉的光信息通过每个滤光器平面的对应透镜堆叠中的滤色器来区分。虽然以上描述了具有在透镜堆叠中包括滤色器的光学器件阵列的相机模块的特定构造，但是包括π滤波器组的相机模块可以以各种途径实现，包括(但不限于)通过对相机模块的焦平面的像素应用滤色器，这类似于滤色器应用到常规彩色相机的像素的方式。在几个实施例中，相机模块中的至少一个相机可以包括应用到其焦平面中的像素的统一滤色器。在许多实施例中，拜耳滤光器图案应用到相机模块中一个相机的像素。在多个实施例中，构造其中滤色器在透镜堆叠中和成像器阵列的像素上都被使用的相机模块。
在几个实施例中，处理器108配置为取得由传感器捕捉的图像数据并且合成高分辨率图像。在多个实施例中，所捕捉的光场图像数据包括颜色信息和深度信息。在本发明的许多实施例中，图像是从参考视点合成的，通常是成像器阵列102中的参考焦平面104的视点。在许多实施例中，图像阵列是利用由成像器阵列中的焦平面捕捉的图像数据创建的并且可以被认为是从不同视点捕捉的场景的多个图像。在几个实施例中，处理器108配置为取得由传感器捕捉的图像数据并且创建包含所捕捉的图像数据的光场。在几个实施例中，图像阵列被处理器108用来合成高分辨率图像。
处理器108能够从虚拟视点合成图像。在多个实施例中，虚拟视点是非参考视点的任何视点。在几个实施例中，虚拟视点对应于成像器阵列102中一个焦平面104的视点。在许多实施例中，处理器能够从虚拟视点合成图像，其中虚拟视点不对应于成像器阵列102中的任何焦平面104。
虽然特定的阵列相机体系架构在图1A、1B和1C中示出，但是，根据本发明的实施例，还可以使用替代体系架构。以下讨论根据本发明实施例的用于从虚拟视点合成图像的系统和方法。
能够合成图像的设备
用户可以利用各种设备与利用光场图像数据合成的图像进行交互，包括(但不限于)具有能够捕捉光场并合成图像的传感器的设备。根据本发明实施例的能够合成并操纵从光场图像数据合成的图像的设备的图在图2中示出。设备200包含能够经软件(例如，图像合成应用)配置为加载并操纵从光场图像数据合成的图像的处理器210。在几个实施例中，图像合成应用把处理器配置为利用类似于以下所述的那些的处理基于光场图像数据从虚拟视点合成图像。在本发明的许多实施例中，处理器210连接到能够捕捉光场的传感阵列(sensory array)220。阵列相机包括处理器210和成像器阵列220。
在许多实施例中，处理器连接到能够显示2D图像的显示器212。在几个实施例中，显示器212能够显示3D图像。在各种实施例中，显示器利用图像的立体对显示3D图像。图像的立体对可以包括从来自不同虚拟视点捕捉的光场图像数据合成的图像。在多个实施例中，处理器210连接到用户接口214，诸如触摸屏接口、点选设备和/或键盘。在几个实施例中，用户接口214可以是能够跟踪用户移动的相机或阵列相机。如以下更详细描述的，用户接口214可以利用从输入设备接收的输入来选择光场图像数据中的一个或多个虚拟视点并且从虚拟视点合成图像。
在许多实施例中，处理器210连接到存储设备216。存储设备216能够存储光场和光场图像文件并且把那些图像递送到处理器210供操纵。在多个实施例中，处理器210连接到能够经网络通信的网络接口218。网络通信涉及接收和发送光场和光场图像文件，其中光场和光场图像文件可以存储在存储设备216(如果存在的话)中或者直接加载到处理器210中。
虽然以上关于图2描述了能够合成和操纵从光场图像数据合成的图像的特定设备，但是，根据本发明的实施例，能够利用光场图像数据从不同视点合成图像和/或利用包含在光场图像文件中的图像数据从不同视点生成图像的任何设备都可以使用。以下讨论根据本发明实施例的用于从光场中的虚拟视点合成图像的方法。
虚拟视点和光场
如上所述，图像可以从所捕捉的光场中的参考视点或者从虚拟视点合成。根据本发明实施例的从参考视点和从虚拟视点从光场合成的图像在图3A、3B和3C中示出。图像310捕捉包含人317、盒子318和树319的场景。图像310是从光场相机(未示出)的参考视点捕捉的。示出了虚拟视点V1 312和V2 314，其中来自虚拟视点V1 312和V2 314的虚线投影概念性地示出来自虚拟视点的视线。
根据本发明实施例的从虚拟视点V1 312合成的图像在图3B中示出。图像320示出与光场图像310中相同的人317、盒子318和树319。但是，从虚拟视点V1 312的角度，人317看起来位于盒子318的前面，而树319看起来比从光场相机的参考视点看离盒子318更近。
根据本发明实施例的从虚拟视点V2 314合成的图像在图3C中示出。图像330示出与图像310和图像320中相同的人317、盒子318和树319。但是，从虚拟视点V2 314的角度，人317看起来比参考视点或虚拟视点V1 312中离盒子318更近并且离盒子318的右边更远，而树319看起来比从光场相机的参考视点看离盒子318更近，但是比利用虚拟视点V1 312合成的光场图像中在盒子318后面更远。
虽然以上描述了并在图3A、3B和3C中示出从所捕捉的光场中各个视点合成的图像的特定图示，但是，根据本发明的实施例，以上仅仅是例子并且任何各种光场和虚拟视点都可以使用。以下描述根据本发明实施例的用于从光场中的虚拟视点合成图像的方法。
从光场中的虚拟视点合成图像
图像可以从所捕捉的光场中的多个视点合成。根据本发明实施例用于捕捉光场并利用该光场从虚拟视点合成图像的方法在图4中示出。处理400包括选择(410)光场中的虚拟视点。在多个实施例中，对光场中的每个图像计算(412)到该虚拟视点的位移。在许多实施例中，为该虚拟视点计算(414)深度图并且从该虚拟视点合成(416)图像。
在几个实施例中，光场包括图像的阵列。在本发明的许多实施例中，被选择(410)的虚拟视点对应于捕捉该图像阵列中一个图像的相机(即，成像器阵列中一成像器的视点)。在多个实施例中，被选择(410)的虚拟视点不对应于成像器阵列中捕捉光场的任何成像器的视点。在许多实施例中，合成(416)图像利用来自图像阵列的颜色和深度信息。在几个实施例中，合成(416)图像导致彩色图像被创建。各种处理可以被用来从光场合成(416)图像，包括在以上通过引用被结合的美国专利申请序列No.12/967,807中所公开的处理。
以上描述了用于从光场中的虚拟视点合成图像的特定方法；但是，根据本发明的实施例，用于从光场图像数据合成图像的各种方法可以被使用。以下进一步讨论根据本发明实施例的涉及利用包含在光场图像文件中的图像和元数据从不同视点呈现图像的方法。
利用高分辨率图像呈现图像
如上所述，图像可以从光场图像数据合成。但是，许多设备缺乏直接处理光场的能力。为了从虚拟视点呈现图像而不需要直接处理光场和/或利用超分辨率处理从虚拟视点合成图像的能力，这些设备可以利用光场图像文件。利用光场图像文件中所包含的像素、深度信息和有关于被遮挡像素的信息从光场中的虚拟视点呈现图像的方法在图4B中示出。处理450包括选择(460)光场中的虚拟视点。光线被投射(462)。在多个实施例中，计算(464)深度图。深度图可以以各种途径被使用，包括合成的图像中的实体对象检测和/或用于合成三维图像的三维信息的确定。生成(466)图像。
在各种实施例中，虚拟视点是利用类似于以下所述的方法选择的(460)。在许多实施例中，光线从被选择(460)的虚拟视点投射(462)到光场图像文件中所包含的像素和被遮挡的像素。例如，从该虚拟视点，一些被遮挡的像素可以从该虚拟视点可见，但是从参考视点不可见。同样，从参考视点可见的一些像素相对于该虚拟视点会是被遮挡的像素。在几个实施例中，可见的和被遮挡的像素是通过利用深度信息计算像素的几何形状来确定的。在许多实施例中，所呈现的图像可以不包含对应于从虚拟视点投射的光线的像素(即，缺失的像素)。在多个实施例中，根据本发明的实施例，各种重采样技术，诸如双线性重采样，可以被用来创建或填充缺失的像素。此外，缺失的像素可以利用概率方法估计，包括但不限于期望最大化，马尔可夫网(Markov network)或者诸如图像修复(inpainting)的纹理合成方法。根据本发明的实施例，如对特定应用的需求适当的诸如颜色、深度和显著度(saliency)的线索可以被用来推断缺失的像素。根据本发明的许多实施例，图像可以利用各种处理生成(466)，包括利用超分辨率处理(诸如上述处理)合成图像以及利用投射的像素信息和深度信息呈现图像(诸如下述处理)。
作为例子，参考图3A、3B和3C，图像320和330可以是利用光场图像文件中所包含的像素、深度信息和有关于被遮挡像素的信息从虚拟视点V1 312和V2 314的角度呈现的图像。虽然以上描述了基于光场图像文件呈现图像的特定方法，但是，根据本发明的实施例，多种方法可以用于利用虚拟视点从光场图像数据呈现图像。以下许多讨论参考从虚拟视点合成图像。如可以很容易认识到的，根据本发明的实施例，类似的方法可以用于从光场图像文件呈现图像。以下描述根据本发明实施例的利用所捕捉的光场从虚拟视点投射光线并创建图像的方法。
投射光线
根据本发明的许多实施例，当从与从光场图像数据合成的图像不同的角度呈现图像时，计算像素和/或对象在不同视点之间的位移。计算所捕捉的场景中对象的位移涉及把光线从虚拟视点投射到该对象。根据本发明实施例的用于投射光线的方法在图5中示出。方法500包括确定(510)相机的位置。为所捕捉的场景中对象的每个像素确定(512)位移。确定(514)该对象中每个像素的深度。像素被映射(516)到适当的位置。
在许多实施例中，基于虚拟视点和针孔相机模型确定(510)相机的位置。在几个实施例中，针孔相机模型使得能够利用以下公式确定(512)一个或多个像素的位移：
x 2 y 2 = 1 z + t z x 1 z + t x y 1 z + t y
其中，对于相机Cij，像素(x1，y1)映射到像素(x2，y2)，{tx，ty，tz}是从相机Cij到虚拟视点的位移，并且z是从相机Cij到对象的距离。
在各种实施例中，相机的位置是利用使用以下公式的旋转矩阵确定(510)的：
x 2 y 2 = ( Rp + T ) 1 / ( Rp + T ) 3
其中R是3×3旋转矩阵，T是3×1平移向量，p是关于一个相机的空间中的三维点， x 2 y 2 是p在虚拟相机中的坐标，并且下标指示向量v的第i个坐标。在许多实施例中，坐标对捕捉光场图像数据的成像器阵列的焦距和像素尺寸被规格化。
在各种实施例中，基于相机的所确定(510)的位置确定(514)每个像素的深度。在许多实施例中，基于所确定(510)的相机位置和所确定(514)的像素深度信息映射(516)像素。以下描述根据本发明实施例的可以被用来确定(514)像素深度并映射(516)像素的方法。
虽然以上描述了用于投射光线的特定方法，但是，根据本发明的实施例，根据本发明实施例的多种方法可以被使用，包括无需投射光线就计算图像的位移的那些实施例。以下描述根据本发明实施例的利用从光场图像数据和深度图合成的图像从虚拟视点计算深度并呈现图像的系统和方法。
在虚拟视点计算深度
根据本发明的几个实施例，利用具有图像阵列的光场从虚拟视点合成图像涉及从虚拟视点为图像阵列中的每个图像计算深度。根据本发明实施例的从虚拟视点为图像阵列中的每个图像计算深度的方法在图6中示出。方法600涉及，对于特定深度级别，把图像移动(610)到图像堆栈中。计算(612)图像堆栈中每个像素的变化。步骤(610)和(612)重复，一直到光场中的每个深度级别都已经被考虑(614)。确定(616)深度级别。
在多个实施例中，只有绿色图像移动(610)到图像堆栈中；在其它实施例中，任何各种图像子集，包括图像堆栈中的所有图像，都可以被移动(610)。在许多实施例中，确定(616)深度级别涉及使跨图像堆栈特定像素的变化最小化。在几个实施例中，图像被利用双线性重采样移动到不同的位置，但是，根据本发明的实施例，各种重采样技术都可以使用。
虽然以上描述了用于为图像阵列计算深度的特定方法，但是，根据本发明的实施例，多种方法可以被使用。特别地，根据本发明实施例，如对特定应用的需求适当的，利用关于图像阵列中参考视点的深度信息的方法可以被使用。以下描述根据本发明实施例的基于虚拟视点投射像素和利用虚拟视点合成图像的系统和方法。
利用深度信息基于虚拟视点投射像素
根据本发明的实施例，从具有图像阵列的光场从虚拟视点合成光场涉及基于该虚拟视点投射图像阵列中的每个像素。根据本发明实施例的基于虚拟视点投射像素的方法在图7中示出。方法700包括利用虚拟视点为每个像素确定(710)深度。基于该虚拟视点，投射(712)像素。在许多实施例中，如果多个像素投射到相同的位置，则组合(714)这些像素。
在多个实施例中，类似于以上关于图6所描述的方法被用来为每个像素确定(710)深度。在几个实施例中，以上关于图5所描述的方法被用来基于虚拟视点投射(712)像素。在许多实施例中，像素的组合(714)利用像素的加权平均。在多个实施例中，像素的加权平均是从该像素起源的相机到虚拟视点的距离的倒数。在本发明的许多实施例中，投射(712)的像素被用来从虚拟视点呈现图像。在多个实施例中，投射(712)的像素被用来基于像素从虚拟视点的投射(712)确定一个或多个像素的遮挡性。
在许多实施例中，投射(712)的像素被用来从所捕捉的光场图像合成立体图像(或视频)。从虚拟视点对立体图像的合成包括从不同的虚拟视点合成两个或更多个图像。在各种实施例中，从其x坐标不同的两个虚拟视点合成两个图像。基线(例如，两个合成的图像的光学中心之间的距离)可以被选择，以便利用合成的图像调整立体图像的深度印象(depth impression)、舒适感、合适的显示尺寸或者最优观看距离。根据本发明实施例，如对特定应用的需求适当的，这些图像可以利用并行或会聚光轴呈现。
这些立体图像可以用于许多应用，诸如游戏、利用所捕捉的图像的增强现实以及3D显示器上图像的生动的深度表现。立体图像还可以在2D显示器上被消费，因为左和右立体视图的快速交替也给出生动的深度感觉。此外，通过提供关于所捕捉的场景中特定像素的深度的附加信息和/或通过提供关于被遮挡像素的信息，从多个虚拟视点合成的图像被用来改进与所捕捉的光场图像数据关联的深度图。
虽然以上描述了基于虚拟视点在两个或三个维度中投射像素的特定方法，但是，根据本发明的实施例，各种方法可以被使用。以下描述根据本发明实施例的用于操纵虚拟视点和合成图像的系统和方法。
交互式虚拟视点
当观看光场时，常常期望为用户提供改变光场的视点的能力。换句话说，用户具有改变所显示图像的光场中的视点的能力。根据本发明实施例的用于与图像的视点交互的方法在图8中示出。方法800包括接收(810)输入。在许多实施例中，输入是利用触摸屏接口接收(810)的。在几个实施例中，在触摸屏接口上选择的点被用作图像的虚拟视点。基于选定的虚拟视点，图像从光场合成(814)或者利用光场图像文件呈现。
在许多实施例中，多个图像内插(812)在原始视点与选定的虚拟视点之间。在几个实施例中，内插(812)图像涉及从原始视点平滑地过渡到虚拟视点。在几个实施例中，从原始视点平滑地过渡到虚拟视点涉及生成对应于内插(812)在原始视点与虚拟视点之间的一组视点的多个图像。
根据本发明的多个实施例，在视点之间内插(812)允许高度的用户交互。在本发明的许多实施例中，能够显示和操纵利用光场图像文件呈现的光场和图像的设备包括头部和/或视线跟踪能力。在这些实施例中，方法800允许用户观看光场内对应于用户在看的地方的各个虚拟视点。此外，用户可以通过利用在参考视点的前面或后面的虚拟视点生成图像来步入或走出光场；其检测可以利用设备的头部和/或视线跟踪能力来执行。在许多实施例中，头部和/或视线跟踪可以同时对多个图像执行，以便提供3D体验。
根据本发明的实施例，能够操纵利用光场图像文件呈现的光场和图像的设备可以包括检测设备在空间中的位置的能力。根据本发明实施例，如对特定应用的需求适当的，这些空间定位能力可以利用各种传感器而被利用，包括但不限于加速计、陀螺仪和高度计。通过利用虚拟视点生成图像，具有空间位置确定能力的设备允许用户在光场周围倾斜和摇摄，其中虚拟视点是利用设备的空间定位能力确定的。
在多个实施例中，能够操纵利用光场图像文件呈现的光场和/和图像的设备包含上述几种能力；这些设备可以以各种途径组合上述技术，以允许用户为了合成光场图像和/或利用光场图像文件呈现的图像而确定虚拟视点。以上描述了用于与利用光场图像文件呈现的光场和/或图像交互的特定方法；但是，根据本发明的实施例，以上没有描述的各种方法可以被使用。
虽然本发明已经在某些具体方面中进行了描述，但是许多附加的修改和变化对本领域技术人员将是清楚的。因此，应当理解，本发明可以按与具体描述的方式不同的方式实践。因此，本发明应当在所有方面都认为是说明性而不是限制性的。因而，本发明的范围不应当由所示出的实施例而是由所附权利要求及其等同物来确定。

Claims (23)

1.一种配置为利用所捕捉的光场图像数据合成图像的系统，包括：
处理器；及
存储器，连接到处理器并配置为存储所捕捉的光场图像数据和图像操纵应用；
其中所捕捉的光场图像数据包括图像数据、像素位置数据和深度图；
其中深度图包括图像数据中一个或多个像素的深度信息；及
其中图像操纵应用把处理器配置为：
获得所捕捉的光场图像数据；
基于所捕捉的光场图像数据的像素位置数据和深度图为所捕捉的光场图像数据确定虚拟视点，其中虚拟视点包括虚拟位置和虚拟深度信息；
基于所捕捉的光场图像数据和虚拟视点计算虚拟深度图；及
基于所捕捉的光场图像数据和虚拟深度图从虚拟视点的角度生成图像，其中所生成的图像包括基于像素位置数据和虚拟深度图选自图像数据的多个像素。
2.如权利要求1所述的系统，其中虚拟视点对应于用来创建所捕捉的光场图像数据的阵列相机中的焦平面。
3.如权利要求1所述的系统，其中：
所捕捉的光场图像数据还包括所捕捉的光场图像数据中的参考视点；及
虚拟视点是所捕捉的光场图像数据中与参考视点分离的视点。
4.如权利要求3所述的系统，其中：
所捕捉的光场图像数据是由具有包括多个成像器的成像器阵列的阵列相机捕捉的；及
参考视点对应于阵列相机中成像器阵列中的第一成像器的视点。
5.如权利要求4所述的系统，其中虚拟视点对应于成像器阵列中第二成像器的视点，其中第二成像器与第一成像器分离。
6.如权利要求4所述的系统，其中虚拟视点是不对应于成像器阵列中任何成像器的视点的视点。
7.如权利要求4所述的系统，其中虚拟视点选自如下位置，该位置是从由成像器阵列前面和成像器阵列后面组成的组选出的。
8.如权利要求1所述的系统，其中图像操纵应用还把处理器配置为：通过基于像素位置数据和深度图投射来自所捕捉的光场图像数据的像素来从虚拟视点的角度生成图像，其中投射的像素在图像数据和深度图中描述。
9.如权利要求8所述的系统，其中：
所捕捉的光场图像数据还包括描述从所捕捉的光场图像数据的参考视点不可见的像素的被遮挡像素信息；及
投射的像素包括被遮挡像素信息中从虚拟视点的角度可见的至少一个被遮挡像素。
10.如权利要求8所述的系统，其中：
所生成的图像中至少一个投射的像素未在图像数据、像素位置数据和深度图中描述；及
图像操纵应用还把处理器配置为通过重采样图像数据、像素位置数据和深度图来生成至少一个投射的像素。
11.如权利要求8所述的系统，其中针孔相机模型被用来基于从虚拟视点投射的光线来投射所生成的图像中的像素，其中每个投射的像素与至少一条投射的光线关联。
12.如权利要求11所述的系统，其中，基于与投射的像素关联的深度图、虚拟视点和光线，为所生成的图像中的至少一个像素确定投射的像素的深度信息。
13.如权利要求12所述的系统，其中投射的像素的深度信息基于跨所捕捉的光场图像数据中的图像数据使投射的像素的变化最小化。
14.如权利要求11所述的系统，其中图像操纵应用还把处理器配置为：组合在所生成的图像中具有相同位置的投射的像素。
15.如权利要求14所述的系统，其中像素是基于像素的加权平均来组合的，其中像素的加权平均是从投射的像素起源的成像器到虚拟视点的距离的倒数。
16.如权利要求1所述的系统，还包括输入设备，该输入设备配置为获得指示所捕捉的光场图像数据中的位置的输入数据。
17.如权利要求16所述的系统，其中输入设备是触摸屏接口。
18.如权利要求16所述的系统，其中输入设备是配置为获得空间位置信息的传感器。
19.如权利要求16所述的系统，其中输入设备是相机，该相机配置为获得选自由头部跟踪数据和视线跟踪数据组成的组的输入数据。
20.如权利要求16所述的系统，其中虚拟视点是基于输入数据来选择的。
21.如权利要求20所述的系统，其中图像操纵应用还把处理器配置为：
获得指示所捕捉的光场图像数据中的第一位置的第一输入数据；
基于第一输入数据确定第一虚拟视点；
从第一虚拟视点的角度生成第一图像；
获得指示所捕捉的光场图像数据中的第二位置的第二输入，其中第二位置与第一位置分离；
基于第二输入数据确定第二虚拟视点；
通过在第一虚拟视点和第二虚拟视点之间内插，生成至少一个中间虚拟视点；
基于所生成的至少一个中间虚拟视点，生成至少一个中间图像，其中每个中间图像是来自中间虚拟视点的角度的；及
从第二虚拟视点的角度生成第二图像。
22.如权利要求1所述的系统，其中图像是利用超分辨率处理生成的。
23.一种用于从虚拟视点生成图像的方法，包括：
利用图像操纵设备获得所捕捉的光场图像数据，其中所捕捉的光场图像数据包括图像数据、像素位置数据和深度图，并且其中深度图包括图像数据中的一个或多个像素的深度信息；
利用图像操纵设备基于所捕捉的光场图像数据的像素位置数据和深度图为所捕捉的光场图像数据确定虚拟视点，其中虚拟视点包括虚拟位置和虚拟深度信息；
利用图像操纵设备基于所捕捉的光场图像数据和虚拟视点计算虚拟深度图；及
利用图像操纵设备基于所捕捉的光场图像数据和虚拟深度图从虚拟视点的角度生成图像，其中所生成的图像包括基于像素位置数据和虚拟深度图选自图像数据的多个像素。
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