Systems and methods for active depth imager with background subtract
First Claim
1. An active depth imaging system with background subtract comprising:
- an illuminator for emitting a light ray projecting a bright spot to an object in a scene, the object reflecting the emitted light ray;
a first imager for imaging a first image set of the scene and a second imager for imaging a second image set of the scene, the first and second image sets each including an illuminator-on image data representing the scene when the illuminator is in an on mode, and an illuminator-off image data representing the scene when the illuminator is in an off mode;
an image processor programmed to;
generate a first and a second background-subtracted image data by, for each of the first and second image sets, subtracting the illuminator-off image data from the illuminator-on image data, andanalyze the first and the second background-subtracted image data using triangulation based on a common feature in the first and the second background-subtracted images to determine a depth of the object reflecting the emitted light ray in the scene, the common feature being the projected bright spot.
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Abstract
An active depth imaging system and method of operating the same captures illuminator-on and illuminator-off image data with each of a first and second imager. The illuminator-on image data includes information representing an imaged scene and light emitted from an illuminator and reflected off of objects within the imaged scene. The illuminator-off image data includes information representing the imaged scene without the light emitted from the illuminator. For each image set captured by the first and second imagers, illuminator-off image data is subtracted from the illuminator-on image data to identify the illuminated light within the scene. The depth of an object at which the light is incident on then is determined by the subtracted image data of the first and second imagers.
12 Citations
22 Claims
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1. An active depth imaging system with background subtract comprising:
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an illuminator for emitting a light ray projecting a bright spot to an object in a scene, the object reflecting the emitted light ray; a first imager for imaging a first image set of the scene and a second imager for imaging a second image set of the scene, the first and second image sets each including an illuminator-on image data representing the scene when the illuminator is in an on mode, and an illuminator-off image data representing the scene when the illuminator is in an off mode; an image processor programmed to; generate a first and a second background-subtracted image data by, for each of the first and second image sets, subtracting the illuminator-off image data from the illuminator-on image data, and analyze the first and the second background-subtracted image data using triangulation based on a common feature in the first and the second background-subtracted images to determine a depth of the object reflecting the emitted light ray in the scene, the common feature being the projected bright spot. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 22)
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12. A method for operating an active depth imaging system comprising:
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capturing a left image and a right image, each captured image captured via a plurality of exposure cycles, each exposure cycle comprising; for a first time period, configuring each of a first and second imager of the active depth imaging system to capture illuminator-on image data representing an imaged scene and a projected bright spot in the imaged scene from light emitted by an illuminator; for a second time period, configuring each of the first and second imager to not accumulate a charge; for a third time period, configuring each of the first and second imager to capture illuminator-off image data representing the imaged scene without the light; for a fourth time period, configuring each of the first and second imager to not accumulate a charge; accumulating, for each of the respective first and second imagers, the illuminator-on image data captured in the plurality of exposure cycles and accumulating, for each of the respective first and second imagers, the illuminator-off image data capture in the plurality of exposure cycles; subtracting, for each of the respective first and second imagers, the accumulated illuminator-off image data from the accumulated illuminator-on image data to identify the light emitted by the illuminator within the scene; and
,identifying, via triangulation based on a common feature in the left and the right subtracted images, depth information of an object within the imaged scene at which the light is incident on, the common feature being the projected bright spot. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21)
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Specification