US Patent 10929997 Selective propagation of depth measurements using stereoimaging

A depth camera assembly (DCA) determines depth information within a local area by capturing images of the local area including a local region using a plurality of imaging sensors. The local region is represented by a first set of pixels in each captured image. For each image, the DCA identifies the first set of pixels corresponding to the surface in the local region and determines a depth measurement from the DCA to the local region by comparing the first set of pixels from images captured by different imaging sensors. To determine depth measurements for second sets of pixels neighboring the first set of pixels, the DCA selectively propagates depth information from the first set of pixels to second sets of pixels satisfying one or more criteria (e.g., satisfying a threshold saturation measurement or a threshold contrast measurement).