Detecting interference between time-of-flight cameras using modified image sensor arrays
First Claim
1. A working environment 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, wherein the second sensor comprises a second plurality of modulated light sensors and a second plurality of photoreceptors arranged in an array, and wherein the second field of view overlaps the first 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;
causing the first time-of-flight camera to illuminate at least a first portion of a scene within the first field of view with first modulated light by the first illuminator at a first illumination interval within a repeated interval;
determining that at least one of the second plurality of modulated light sensors was exposed to the first modulated light during the first illumination interval;
in response to determining that the at least one of the second plurality of modulated light sensors was exposed to the first modulated light during the first illumination interval,determining a first modulation frequency of the first modulated light;
selecting a second modulation frequency based at least in part on the first modulation frequency;
selecting a second illumination interval within the repeated interval, wherein the second illumination interval is not the first illumination interval; and
causing the second time-of-flight camera to illuminate at least the second portion of the scene within the second field of view with second modulated light by the second illuminator at a second time,wherein the second time is within the second illumination interval.
1 Assignment
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Accused Products
Abstract
Time-of-flight cameras may be synchronized where the fields of view of the time-of-flight cameras overlap. The time-of-flight cameras may be programmed within intervals of time for illuminating their respective fields of view that do not conflict with one another. When a first time-of-flight camera illuminates a first field of view that overlaps with a second field of view of a second time-of-flight camera, and the second time-of-flight camera detects reflected light from the illumination, the second time-of-flight camera may determine a time to illuminate the second field of view based on the reflected light. A time-of-flight camera may include an image sensor modified to include one or more modulated light sensors among an array of photoreceptors. A modulation frequency or illumination interval may be selected for the time-of-flight camera based on modulation frequencies or illumination intervals of other cameras, as determined based on data captured by the modulated light sensors.
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Citations
20 Claims
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1. A working environment comprising:
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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, wherein the second sensor comprises a second plurality of modulated light sensors and a second plurality of photoreceptors arranged in an array, and wherein the second field of view overlaps the first 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; causing the first time-of-flight camera to illuminate at least a first portion of a scene within the first field of view with first modulated light by the first illuminator at a first illumination interval within a repeated interval; determining that at least one of the second plurality of modulated light sensors was exposed to the first modulated light during the first illumination interval; in response to determining that the at least one of the second plurality of modulated light sensors was exposed to the first modulated light during the first illumination interval, determining a first modulation frequency of the first modulated light; selecting a second modulation frequency based at least in part on the first modulation frequency; selecting a second illumination interval within the repeated interval, wherein the second illumination interval is not the first illumination interval; and causing the second time-of-flight camera to illuminate at least the second portion of the scene within the second field of view with second modulated light by the second illuminator at a second time, wherein the second time is within the second illumination interval. - View Dependent Claims (2, 3, 4)
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5. A method comprising:
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capturing, by a first sensor of a first imaging device, first modulated light reflected from at least a portion of a scene within a first field of view of the first imaging device, wherein the first imaging device further comprises a first illuminator, and wherein the first sensor comprises at least one photoreceptor and at least one modulated light sensor; programming the first imaging device with a data record defining a repeated interval and a plurality of slots within the repeated interval, wherein the first imaging device is programmed prior to a first time; determining, by at least one computer processor, at least one of a first modulation frequency of the first modulated light or a first illumination interval of the first modulated light at the first time, wherein the first illumination interval is a first one of the plurality of slots; selecting a second one of the plurality of slots based at least in part on the at least one of the first modulation frequency or the first illumination interval, wherein the second one of the plurality of slots comprises a second illumination interval, and wherein the second one of the plurality of slots is not the first one of the plurality of slots; and illuminating, by the first illuminator at a second time, the first field of view with second modulated light, wherein the second modulated light has a second modulation frequency or is illuminated at the second illumination interval within the repeated interval, wherein the second time follows the first time. - View Dependent Claims (6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A time-of-flight camera comprising:
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an illuminator; sensor comprising a plurality of modulated light sensors and a first plurality of photoreceptors arranged in an array; and a computer device comprising at least one processor and at least one memory component, wherein the time-of-flight camera defines a first field of view, and wherein the computer device is configured to execute a method comprising; identifying a data record including a plurality of time slots at a repeated interval; capturing, by at least one of the first plurality of modulated light sensors, first modulated light at a first time; determining a first modulation frequency of the first modulated light; determining a first illumination interval of the first modulated light; determining that the first illumination interval corresponds to a first one of the plurality of time slots; selecting a second one of the plurality of time slots, wherein the second one of the plurality of time slots is not the first one of the plurality of time slots; selecting a second modulation frequency based at least in part on the first modulation frequency; selecting a time for illuminating the first field of view by the illuminator based at least in part on the first illumination interval, wherein the time is within the second one of the plurality of time slots; and causing the first illuminator to illuminate the first field of view with second modulated light at the time, wherein the second modulated light has the second modulation frequency. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification