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Detecting interference in depth images captured using overlapping depth cameras

  • US 10,681,338 B1
  • Filed: 09/27/2018
  • Issued: 06/09/2020
  • Est. Priority Date: 07/24/2018
  • Status: Active Grant
First Claim
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1. A facility comprising:

  • a first time-of-flight camera having a first illuminator and a first sensor, wherein the first time-of-flight camera has a first field of view;

    a second time-of-flight camera having a second illuminator and a second sensor, wherein the second time-of-flight camera has a second field of view; and

    a server in communication with each of the first time-of-flight camera and the second time-of-flight camera,wherein the server is configured to execute a method comprising;

    programming the first time-of-flight camera to capture depth images by illuminating at least a portion of the facility at a first frequency or during a first time slot;

    illuminating, by the first time-of-flight camera, the portion of the facility at the first frequency or during the first time slot;

    capturing a plurality of depth images by the first time-of-flight camera at the first frequency or during the first time slot;

    calculating, for each of a subset of the plurality of depth images, a ratio of a number of depth image pixels having a zero value to a total number of depth image pixels;

    generating a plot based at least in part on the ratios calculated for each of the subset of the plurality of depth images;

    determining, based at least in part on the plot, that the first time-of-flight camera is experiencing depth interference; and

    in response to determining that the first time-of-flight camera is experiencing depth interference,programming the second time-of-flight camera to capture depth images by illuminating at least the portion of the scene at a second frequency or during a second time slot,wherein the second frequency is not the first frequency, andwherein the second time slot is not the first time slot.

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