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Range sensing using a hybrid range sensing device

  • US 10,459,084 B2
  • Filed: 12/30/2014
  • Issued: 10/29/2019
  • Est. Priority Date: 12/30/2014
  • Status: Active Grant
First Claim
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1. A method for accurately range sensing structures at least partially made of a transparent material, the method comprising:

  • identifying, by a processor, a first range data set, the first range data set being generated by a first device and comprising first range three-dimensional (3D) data points, the first range 3D data points representing distance values from the first device to first positions on a surface of interest, respectively, the surface of interest being made of at least a first material that is transparent to visible light and a second material that is opaque to visible light;

    identifying, by the processor, a second range data set, the second range data set being generated by a second device and comprising second range 3D data points, the second range 3D data points representing distance values from the second device to second positions on the surface of interest, respectively;

    determining, by the processor, that a portion of the surface of interest comprises the first material by calculating, for each of the second range 3D data points, a difference between the second range 3D data point and the first range 3D data point corresponding to the portion of the surface of interest and comparing the differences to a predetermined threshold;

    identifying, by the processor, a third range data set based on the comparison, the third range data set comprising a subset of the second range 3D data points for which the differences exceed the predetermined threshold, wherein the differences exceed the predetermined threshold when the portion of the surface of interest comprises the first material;

    adjusting, by the processor, distance values for the first range 3D data points of the first range data set corresponding to the portion of the surface of interest comprising the first material by overwriting the distance values for the first range 3D data points of the first range data set with the subset of the second range 3D data points; and

    generating, by the processor, a depth map using the adjusted distance values for the first range 3D data points of the first range data set,wherein the adjusting comprises;

    selecting a range 3D data point of the third range data set;

    identifying the first range 3D data points corresponding to positions closest to a first material position corresponding to the range 3D data point of the third range data set; and

    adjusting the distance values for the first range 3D data points corresponding to the portion of the surface of interest based on the identified first range 3D data points,wherein identifying the first range data set comprises generating the first range data set using the first device, the first device comprising an optical sensor, andwherein identifying the second range data set comprises generating the second range data set using the second device, the second device comprising an ultrasonic sensor.

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