Replicated dot maps for simplified depth computation using machine learning
First Claim
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1. A system configured for utilizing a dot pattern to perform depth detection, the system comprising:
- one or more processors;
a camera system comprising at least one camera having a corresponding field of view;
a light illuminator comprising a light source and a dot pattern generator that emits the dot pattern generated by the light source, the light illuminator being configured to project a dot pattern on one or more objects in a region within the field of view, the dot pattern comprising a replicated sub-pattern having a predefined height and width, the replicated sub-pattern comprising a plurality of dots arranged such that the replicated sub-pattern omits any two patches that include an identical arrangement of dots, the any two patches having a height that corresponds with the predefined height of the replicated sub-pattern and including at least one dot of the plurality of dots, the replicated sub-pattern being replicated in at least one of a first direction or a second direction that is perpendicular to the first direction, and such that the dot pattern comprises a plurality of replicated sub-patterns that are adjacently positioned when projected by the light illuminator within the field of view; and
one or more computer-readable media having stored computer-executable instructions that are operable, when executed by the one or more processors, to cause the computer system to perform the following;
project the dot pattern with the light illuminator;
obtain a first image of the dot pattern, which is reflected in the region from the projection of the dot pattern, with the camera system; and
perform depth detection based on the dot pattern.
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Abstract
Disclosed embodiments include methods and systems for utilizing a structured projection pattern to perform depth detection. In some instances, the structured projection pattern forms a dot pattern, which is projected by an infrared (IR) illuminator, wherein the dot pattern includes a replicated sub-pattern having a predefined height and width. The sub-pattern is replicated in at least one direction such that the dot pattern comprises a plurality of replicated sub-patterns that are adjacently positioned.
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Citations
20 Claims
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1. A system configured for utilizing a dot pattern to perform depth detection, the system comprising:
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one or more processors; a camera system comprising at least one camera having a corresponding field of view; a light illuminator comprising a light source and a dot pattern generator that emits the dot pattern generated by the light source, the light illuminator being configured to project a dot pattern on one or more objects in a region within the field of view, the dot pattern comprising a replicated sub-pattern having a predefined height and width, the replicated sub-pattern comprising a plurality of dots arranged such that the replicated sub-pattern omits any two patches that include an identical arrangement of dots, the any two patches having a height that corresponds with the predefined height of the replicated sub-pattern and including at least one dot of the plurality of dots, the replicated sub-pattern being replicated in at least one of a first direction or a second direction that is perpendicular to the first direction, and such that the dot pattern comprises a plurality of replicated sub-patterns that are adjacently positioned when projected by the light illuminator within the field of view; and one or more computer-readable media having stored computer-executable instructions that are operable, when executed by the one or more processors, to cause the computer system to perform the following; project the dot pattern with the light illuminator; obtain a first image of the dot pattern, which is reflected in the region from the projection of the dot pattern, with the camera system; and perform depth detection based on the dot pattern. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for utilizing a dot pattern to perform depth detection with a camera system, the method comprising:
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projecting an infrared (IR) dot pattern into an environment having one or more objects within a field of view of the camera system and that is reflected off of the one or more objects as reflected dot pattern light, the dot pattern comprising a replicated sub-pattern having a predefined height and width, the replicated sub-pattern comprising a plurality of dots arranged such that the replicated sub-pattern omits any two patches that include an identical arrangement of dots, the any two patches having a height that corresponds with the predefined height of the replicated sub-pattern and including at least one dot of the plurality of dots, the replicated sub-pattern being replicated in at least one of a first direction or a second direction that is perpendicular to the first direction, and such that the dot pattern comprises a plurality of replicated sub-patterns that are adjacently positioned within the field of view; obtaining a first image of the reflected dot pattern light with a camera system; using the first image of the dot pattern light to perform at least depth detection. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification