Range sensing using a hybrid range sensing device
First Claim
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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Accused Products
Abstract
A method includes identifying, by a processor, a first range data set. The first range data set is generated by a first device and includes first range data points. The processor identifies a second range data set. The second range data set is generated by a second device and includes second range data points. The processor compares the second range data points to the first range data points. The processor identifies a third range data set based on the comparison. The third range data set includes a subset of the second range data points. The processor adjusts distance values for first range data points of the first range data set corresponding to a portion of the surface of interest based on the third range data set.
7 Citations
15 Claims
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1. A method for accurately range sensing structures at least partially made of a transparent material, the method comprising:
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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, and wherein identifying the second range data set comprises generating the second range data set using the second device, the second device comprising an ultrasonic sensor. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for accurately range sensing structures at least partially made of a transparent material, the method comprising:
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receiving a first range data set from a three dimensional (3D) optical distancing system, the first range data set representing distances from the 3D optical distancing system to 3D points on a surface of interest, respectively; receiving a second range data set from an ultrasonic distancing system, the second range data set representing distances from the ultrasonic distancing system to a subset of the 3D points on the surface of interest, respectively; comparing, for the subset of the 3D points on the surface of interest, a difference between the second range data set and the first range data set to a predetermined threshold; identifying a first portion of the surface of interest as being made of a transparent to visible light material based on the comparison exceeding the predetermined threshold; adjusting distances of the first range data set corresponding to the first portion of the surface of interest based on a subset of the distances of the second range data set by overwriting the distance values of the first range data set with the subset of the second range data set, the subset of the distances of the second range data set corresponding to the first portion of the surface of interest; and generating a depth map using the adjusted distances of the first range data set corresponding to the first portion of the surface of interest, wherein the adjusting comprises; selecting a range data set of a subset of the second range data set for which the comparison exceeds the predetermined threshold; identifying the first range data set corresponding to positions closest to a first material position corresponding to the range data set; and adjusting the distances of the first range data set corresponding to the portion of the surface of interest based on the identified first range data set. - View Dependent Claims (9, 10, 11)
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12. An apparatus for accurately range sensing structures at least partially made of a transparent material, the apparatus comprising:
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at last one processor; and at least one memory including computer program code for one or more programs, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to at least perform; receive a first range data set from a three dimensional (3D) optical distancing system, the first range data set representing distances from the optical distancing system to 3D points on a surface of interest, respectively; receive a second range data set from an ultrasonic distancing system, the second range data set representing distances from the ultrasonic distancing system to a subset of the 3D points on the surface of interest, respectively; compare, for the subset of the 3D points on the surface of interest, a difference between the second range data set and the first range data set to a predetermined threshold; identify a first portion of the surface of interest as being made of a transparent to visible light material based on the comparison exceeding the predetermined threshold; adjust distances of the first range data set corresponding to the first portion of the surface of interest based on a subset of the distances of the second range data set by overwriting the distance values of the first range data set with the subset of the second range data set, the subset of the distances of the second range data set corresponding to the first portion of the surface of interest; and generate a depth map using the adjusted distances of the first range data set corresponding to the first portion of the surface of interest, wherein the adjusting comprises; select a range data set of a subset of the second range data set for which the comparison exceeds the predetermined threshold; identify the first range data set corresponding to positions closest to a first material position corresponding to the range data set; and adjust the distances of the first range data set corresponding to the portion of the surface of interest based on the identified first range data set. - View Dependent Claims (13, 14, 15)
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Specification