Compact color and depth imaging system
First Claim
1. A computer-implemented method, comprising:
- obtaining, by an image sensor that includes infrared pixels and color pixels, a first image of a scene while the image sensor is in a first position;
moving the image sensor to a second position, wherein, in the second position, a particular infrared pixel is located where a particular color pixel was previously located when the image sensor was in the first position;
obtaining, by the image sensor, a second image of the scene while the image sensor is in the second position;
generating a composite image based on the first image and the second image; and
determining an estimated distance to an object within the scene based on the composite image.
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Abstract
Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for depth imaging. In one aspect, a method includes obtaining, by an image sensor that includes infrared pixels and color pixels, a first image of a scene while the image sensor is in a first position, moving the image sensor to a second position, wherein, in the second position, a particular infrared pixel is located where a particular color pixel was previously located when the image sensor was in the first position, obtaining, by the image sensor, a second image of the scene while the image sensor is in the second position, generating a composite image based on the first image and the second image, and determining an estimated distance to an object within the scene based on the composite image.
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Citations
20 Claims
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1. A computer-implemented method, comprising:
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obtaining, by an image sensor that includes infrared pixels and color pixels, a first image of a scene while the image sensor is in a first position; moving the image sensor to a second position, wherein, in the second position, a particular infrared pixel is located where a particular color pixel was previously located when the image sensor was in the first position; obtaining, by the image sensor, a second image of the scene while the image sensor is in the second position; generating a composite image based on the first image and the second image; and determining an estimated distance to an object within the scene based on the composite image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A system comprising:
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one or more computers and one or more storage devices storing instructions that are operable, when executed by the one or more computers, to cause the one or more computers to perform operations comprising; obtaining, by an image sensor that includes infrared pixels and color pixels, a first image of a scene while the image sensor is in a first position; moving the image sensor to a second position, wherein, in the second position, a particular infrared pixel is located where a particular color pixel was previously located when the image sensor was in the first position; obtaining, by the image sensor, a second image of the scene while the image sensor is in the second position; generating a composite image based on the first image and the second image; and determining an estimated distance to an object within the scene based on the composite image. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A non-transitory computer-readable medium storing instructions executable by one or more computers which, upon such execution, cause the one or more computers to perform operations comprising:
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obtaining, by an image sensor that includes infrared pixels and color pixels, a first image of a scene while the image sensor is in a first position; moving the image sensor to a second position, wherein, in the second position, a particular infrared pixel is located where a particular color pixel was previously located when the image sensor was in the first position; obtaining, by the image sensor, a second image of the scene while the image sensor is in the second position; generating a composite image based on the first image and the second image; and determining an estimated distance to an object within the scene based on the composite image. - View Dependent Claims (20)
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Specification