Using micro mirrors to improve the field of view of a 3D depth map
First Claim
Patent Images
1. A device comprising:
- at least one computer medium that is not a transitory signal and that comprises instructions executable by at least one processor to;
activate a laser on a first mobile apparatus to emit light;
move a micro mirror assembly to a first configuration to reflect the light onto a first area of an object distanced from the device and disposed on a surface on which the device is also disposed, the object comprising a second mobile apparatus and comprising a laser emitter configured to illuminate the first mobile apparatus to generate at least one image thereof;
receive, from at least one detector, a signal representing a reflection of the light from the first area;
determine a distance to the first area based at least in part on a time of receipt of the signal representing the reflection of the light from the first area;
move the micro mirror assembly to a second configuration to reflect the light onto a second area of the object;
receive from the detector a signal representing a reflection of the light from the second area;
determine a distance to the second area based at least in part on a time of receipt of the signal representing the reflection of the light from the second area; and
generate a three dimensional (3D) depth map of the object at least in part using the distances to the first and second areas.
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Accused Products
Abstract
A micro mirror assembly widens the field of view (FOV) of a 3D depth map sensor, alleviating the limitation of limited laser illumination power and limitations on the resolution of the available imaging device.
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Citations
20 Claims
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1. A device comprising:
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at least one computer medium that is not a transitory signal and that comprises instructions executable by at least one processor to; activate a laser on a first mobile apparatus to emit light; move a micro mirror assembly to a first configuration to reflect the light onto a first area of an object distanced from the device and disposed on a surface on which the device is also disposed, the object comprising a second mobile apparatus and comprising a laser emitter configured to illuminate the first mobile apparatus to generate at least one image thereof; receive, from at least one detector, a signal representing a reflection of the light from the first area; determine a distance to the first area based at least in part on a time of receipt of the signal representing the reflection of the light from the first area; move the micro mirror assembly to a second configuration to reflect the light onto a second area of the object; receive from the detector a signal representing a reflection of the light from the second area; determine a distance to the second area based at least in part on a time of receipt of the signal representing the reflection of the light from the second area; and generate a three dimensional (3D) depth map of the object at least in part using the distances to the first and second areas. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method comprising:
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illuminating an object on a surface using a laser on a first device on the surface and spaced from the object; moving a micro mirror assembly to deflect the light from a first area of the object to a second area of the object; receiving by at least a first detector reflections from the object of light deflected by the micro mirror assembly; based at least in part of time of receipt of the reflections, generating an image of the object; and vibrate/oscillate the micro mirror assembly to shift a field of view (FOV) of the first detector by one-half line height. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. An assembly comprising:
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plural devices; each of the plural devices comprising at least one laser range finder configured to output signals useful for generating images of other of the plural devices on a surface, wherein at least a first one of the plural devices is within a field of view (FOV) of the laser range finder of at least a second one of the plural devices, and at least one micro mirror assembly for reflecting light from the laser range finder onto an object to be mapped, and at least one light detector for receiving reflections of the light from the laser finder deflected by micro mirror assembly and reflected by the object; and at least one processor configured with instructions for generating a 3D depth map of the object based on one or more aspects of the reflections of the light. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification