Structured light 3D sensors with variable focal length lenses and illuminators

• US 10,469,758 B2
• Filed: 12/06/2016
• Issued: 11/05/2019
• Est. Priority Date: 12/06/2016
• Status: Active Grant

• Current Assignee: Microsoft Technology Licensing LLC (Microsoft Corporation)
• Original Assignee: Microsoft Technology Licensing LLC (Microsoft Corporation)
• Inventors: Price, Raymond Kirk, Bleyer, Michael, Zhao, Jian, Nalla, Ravi Kiran, Demandolx, Denis, Liu, Zhiqiang
• Primary Examiner(s): Adams, Eileen M
• Application Number:
  US15/371,087
• Publication Number:
  US 20180160047A1
• Time in Patent Office: 1,064 Days
• Field of Search: None
• CPC Class Codes: G01B 11/2513 with several lines being projected in more than one direction, e.g. grids, patterns
• CPC Class Codes: G01B 11/2545 with one projection direction and several detection directions, e.g. stereo
• CPC Class Codes: G02B 19/0014 at least one surface having optical power
• CPC Class Codes: G02B 19/0047 for use with a light source G02B19/009, G02B19/0095 take precedence; details of lighting devices in general F21V; non-semiconductor lasers having optical devices external to the laser cavity H01S3/005
• CPC Class Codes: G02B 5/208 for use with infrared or ultraviolet radiation, e.g. for separating visible light from infrared and/or ultraviolet radiation
• CPC Class Codes: G06T 2200/04 involving 3D image data
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: H04N 13/207 using a single 2D image sensor
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 13/254 in combination with electromagnetic radiation sources for illuminating objects
• CPC Class Codes: H04N 13/271 wherein the generated image signals comprise depth maps or disparity maps
• CPC Class Codes: H04N 2013/0081 Depth or disparity estimation from stereoscopic image signals
• CPC Class Codes: H04N 23/45 for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
• CPC Class Codes: H04N 23/55 Optical parts specially adapted for electronic image sensors; Mounting thereof
• CPC Class Codes: H04N 23/56 provided with illuminating means
• CPC Class Codes: H04N 23/69 Control of means for changing angle of the field of view, e.g. optical zoom objectives or electronic zooming
• CPC Class Codes: H04N 23/74 by influencing the scene brightness using illuminating means
• CPC Class Codes: H04N 5/2226 Determination of depth image, e.g. for foreground/background separation determining depth by image analysis in general G06T7/50; segmentation by image analysis in general G06T7/10

Abstract

A device for three-dimensional imaging includes a structured light illuminator and an imaging sensor. The structured light illuminator has one or more movable illuminator lenses positioned proximate an output of the illuminator that are configured to vary a field of illumination of the illuminator. The imaging sensor has one or more movable imaging lenses positioned proximate an input of the imaging sensor that are configured to vary a field of view of the imaging sensor.

Claims

1. A device for three-dimensional imaging, the device comprising:

a structured light illuminator having one or more movable illuminator lenses positioned proximate an output of the illuminator, the one or more movable illuminator lenses configured to vary a field of illumination of the illuminator; and

an imaging sensor having one or more movable imaging lenses positioned proximate an input of the imaging sensor, the one or more movable imaging lenses configured to vary a field of view of the imaging sensor, the field of view of the imaging sensor and the field of illumination of the illuminator being linked, such that the field of view of the imaging sensor is the same as the field of illumination of the illuminator at a short throw field of view and a long throw field of view.

2. The device of claim 1, wherein the illuminator has an adjustable field of illumination adjustable between a field of illumination of 30°

to a field of illumination of 150°

.

3. The device of claim 1, wherein the imaging sensor has an adjustable field of view adjustable between a field of view of 30°

to a field of view of 150°

.

4. The device of claim 1, wherein the illuminator has a field of illumination range between a 10°

range and a 120°

range.

5. The device of claim 1, wherein the imaging sensor has a field of view range between a 10°

range and a 120°

range.

6. The device of claim 1, wherein the illuminator emits an output light in a first wavelength range.

7. The device of claim 6, wherein the imaging sensor includes a bandpass filter configured to attenuate light outside of the first wavelength range.

8. The device of claim 1, wherein the illuminator and imaging sensor are housed in a vehicle.

9. A device for three-dimensional imaging, the device comprising:

a structured light illuminator including a light source, a collimator, a diffraction grating, and one or more movable illuminator lenses, the one or more movable illuminator lenses configured to vary a field of illumination of the illuminator;

an imaging sensor having one or more movable imaging lenses positioned proximate an input of the imaging sensor, the one or more movable imaging lenses configured to vary a focal length of the imaging sensor, the field of view of the imaging sensor and the field of illumination of the illuminator being linked, such that the field of view of the imaging sensor is the same as the field of illumination of the illuminator at a short throw field of view and a long throw field of view; and

a bandpass filter positioned proximate the input of the imaging sensor.

10. The device of claim 9, wherein the structured light illuminator and imaging sensor are housed in a head mounted display.

11. The device of claim 9, wherein the one or more movable illuminator lenses changes a geometry of a structured light pattern emitted by the illuminator.

12. The device of claim 9, wherein the structured light illuminator has an output light peak wavelength at about 850 nm, and the bandpass filter has a peak transmittance wavelength of about 850 nm.

13. The device of claim 9, wherein the one or more illuminator lenses or the one or more imaging lenses include a glass lens.

14. A device for three-dimensional imaging, the device comprising:

a head-mounted display including a housing, the housing containing;

a structured light illuminator including a light source, a collimator, a diffraction grating, and one or more movable illuminator lenses, the one or more movable illuminator lenses configured to vary a field of illumination of the illuminator;

an imaging sensor having one or more movable imaging lenses positioned proximate an input of the imaging sensor, the one or more movable imaging lenses configured to vary a focal length of the imaging sensor, the field of view of the imaging sensor and the field of illumination of the illuminator being linked, such that the field of view of the imaging sensor is the same as the field of illumination of the illuminator at a short throw field of view and a long throw field of view; and

a bandpass filter positioned proximate the input of the imaging sensor.

15. The device of claim 14, the light source providing an output light in the infrared wavelength range.

16. The device of claim 14, the structured light illuminator and the imaging sensor being oriented with parallel axes.

17. The device of claim 14, the light source providing an output light of 10 Watts per meter squared or greater.

18. The device of claim 14, the structured light illuminator providing an output light that is projected in a rectangle.

19. The device of claim 14, a displacement between the structured light illuminator and the imaging sensor being greater than 0.5 centimeters.