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Temporal time-of-flight

  • US 10,229,502 B2
  • Filed: 02/03/2016
  • Issued: 03/12/2019
  • Est. Priority Date: 02/03/2016
  • Status: Active Grant
First Claim
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1. A depth detection apparatus comprising:

  • a memory storing frames of raw time-of-flight sensor data received from a time-of-flight camera, the frames having been captured by the time-of-flight camera in the presence of motion such that different ones of the frames were captured using different locations of the camera or with different locations of an object in a scene depicted in the frames or with both different locations of the camera and different locations of an object in a scene depicted in the frames; and

    a hardware processor configured to perform computation logic to compute a plurality of depth maps from the frames of raw time-of-flight sensor data, whereby each frame of raw time-of-flight sensor data contributes to the computation of more than one depth map by using a block of the frames of raw time-of-flight sensor data to compute the more than one depth map, the hardware processor further configured to provide the plurality of depth maps to a system that uses the plurality of depth maps to determine depth information, wherein the computation logic has functionality to carry out inference with respect to a model of temporal time-of-flight, the model of temporal time-of-flight comprising a weighted combination of a static model and a temporal model, the temporal model describing how imaging conditions at individual pixels evolve over time and the static model omitting data about evolution over time.

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