Real-Time Depth Estimation with Wide Detectable Range Using Horizontal Planes of Sharp Focus Proceedings

Abstract

We have been investigating a real-time depth estimation technique with a wide detectable range. This technique employs tilted optics imaging to use the variance of the depth of field on the horizontal planes of sharp focus. It requires considerably fewer multiple focus images than the conventional passive methods, e.g., the depth-from-focus and the depth-from-defocus methods. Hence, our method helps avoid the bottleneck of the conventional methods: the fact that the motion speed of optical mechanics is significantly slower than that of the image processing parts. Therefore, it is suitable for applications, such as for use in automobiles and for robotic tasks, involving depth estimation with a wide detectable range and real-time processing.