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Active brightness-based strategy for invalidating pixels in time-of-flight depth-sensing

  • US 10,557,921 B2
  • Filed: 01/23/2017
  • Issued: 02/11/2020
  • Est. Priority Date: 01/23/2017
  • Status: Active Grant
First Claim
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1. A method for sensing an environment using a time-of-flight depth-sensing device, comprising, for a particular sensing element of a sensor of the time-of-flight depth-sensing device:

  • receiving instances of radiation having plural respective frequencies, each instance of radiation having a given frequency, originating from an illumination source, and being reflected from the environment;

    generating frequency-specific sensor readings in response to receiving the instances of radiation;

    generating a set of active brightness measurements for the plural frequencies, each active brightness measurement being based on frequency-specific sensor readings made by the particular sensing element that are associated with a particular frequency;

    generating a variation measure that reflects an extent of variation within the set of active brightness measurements; and

    invalidating a pixel associated with the particular sensing element if the variation measure satisfies a prescribed invalidation condition.

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