Patent attributes
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating a depth image, comprising obtaining data representing a first image generated by a first sensor and a second image generated by a second sensor, wherein each of the first and second images includes a plurality of pixels; determining, for each pixel of the plurality of pixels included in the first image, whether the pixel is a boundary pixel associated with a boundary of an object that is represented in the first image; determining, from a plurality of candidate penalty values and for each pixel in the first image, an optimized penalty value for the pixel; generating an optimized cost function for the first image based on the optimized penalty values for the plurality of pixels; and generating a depth image for the first image based on the optimized cost function.
