Reducing interference between multiple infra-red depth cameras
First Claim
1. A depth camera system comprising:
- a plurality of cameras with at least partially overlapping field of views;
a plurality of sources, each arranged to project a structured light pattern; and
a controller arranged to control a plurality of source-camera pairs to reduce the interference between projected structured light patterns and to receive signals from each of the cameras for use in depth determination, controlling a plurality of source-camera pairs comprising controlling a plurality of sources and a plurality of cameras, the controller being further arranged to control the movement of a source-camera pair relative to other source-camera pairs such that the structured light pattern projected by the source is fixed relative to the camera.
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Accused Products
Abstract
Systems and methods for reducing interference between multiple infra-red depth cameras are described. In an embodiment, the system comprises multiple infra-red sources, each of which projects a structured light pattern into the environment. A controller is used to control the sources in order to reduce the interference caused by overlapping light patterns. Various methods are described including: cycling between the different sources, where the cycle used may be fixed or may change dynamically based on the scene detected using the cameras; setting the wavelength of each source so that overlapping patterns are at different wavelengths; moving source-camera pairs in independent motion patterns; and adjusting the shape of the projected light patterns to minimize overlap. These methods may also be combined in any way. In another embodiment, the system comprises a single source and a mirror system is used to cast the projected structured light pattern around the environment.
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Citations
20 Claims
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1. A depth camera system comprising:
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a plurality of cameras with at least partially overlapping field of views; a plurality of sources, each arranged to project a structured light pattern; and a controller arranged to control a plurality of source-camera pairs to reduce the interference between projected structured light patterns and to receive signals from each of the cameras for use in depth determination, controlling a plurality of source-camera pairs comprising controlling a plurality of sources and a plurality of cameras, the controller being further arranged to control the movement of a source-camera pair relative to other source-camera pairs such that the structured light pattern projected by the source is fixed relative to the camera. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A computer-implemented method of controlling a depth camera system, the system comprising a plurality of infra-red cameras and a plurality of infra-red sources, and the method comprising:
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controlling a plurality of source-camera pairs to reduce interference between projected infra-red structured light patterns from each source, controlling the plurality of source-camera pairs comprising controlling a plurality of infra-red cameras and a plurality of infra-red sources; controlling the plurality of source-camera pairs including controlling the movement of a source-camera pair relative to other source-camera pairs such that the infra-red structured light pattern projected by the infra-red source belonging to the pair is fixed relative to the infra-red camera belonging to the pair; and receiving signals from the plurality of infra-red cameras for use in depth determination. - View Dependent Claims (17, 18, 19)
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20. A depth camera system comprising:
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a plurality of depth camera units, each unit comprising an optical-path movement device and a source-camera pair, the source-camera pair comprising an infra-red camera and an infra-red source arranged to project an infra-red structured light pattern; and a computing-based device comprising; a processor and a memory, wherein the memory is arranged to store device-executable instructions which, when executed, cause the processor to control the optical-path movement device to move the optical path of each source-camera pair in a motion pattern such that movement of the infra-red structured light pattern projected by the source in a source-camera pair is fixed relative to the camera in the source-camera pair, the motion pattern for the depth camera unit being different from the motion pattern of every other depth camera unit in the plurality of depth camera units.
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Specification