Apparatus and method for sensing depth in every direction
First Claim
Patent Images
1. An imaging system configured to take panoramic pictures, the imaging system comprising:
- an image sensor;
a range finder associated with the camera and configured to provide depth information for objects within a field of view of the image sensor; and
a processor coupled to receive information from the image sensor and depth information from the range finder, and configured to unwrap pictures taken by the image sensor according to the depth information.
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Abstract
An imaging system configured to take panoramic pictures is disclosed. In one embodiment, the imaging system includes a camera, range finder associated with the camera and configured to provide depth information for objects within a field of view of the camera; and a processor coupled to receive information from the camera and depth information from the range finder, and configured to unwrap pictures taken by the camera according to the depth information.
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Citations
28 Claims
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1. An imaging system configured to take panoramic pictures, the imaging system comprising:
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an image sensor;
a range finder associated with the camera and configured to provide depth information for objects within a field of view of the image sensor; and
a processor coupled to receive information from the image sensor and depth information from the range finder, and configured to unwrap pictures taken by the image sensor according to the depth information. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method for sensing depth panoramically, the method comprising:
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establishing a predetermined intensity threshold for one or more imager pixels within a radiation detector, the imager pixels on an image plane corresponding to a direction of interest in space, the predetermined intensity threshold equal to a predetermined maximum depth to be monitored within the region of interest;
emitting a modulated radiation into the region of interest of space such that a portion of the emitted radiation is reflected back toward a position of the detector from objects positioned within the predetermined maximum depth, and such that a portion of the reflected radiation is further orthographically reflected to the detector from a substantially paraboloid-shaped reflector positioned anterior to the detector with an orthographic lens;
commencing a timer upon an emission of the radiation;
integrating intensity values of the one or more imager pixels; and
stopping the timer after a predetermined time has passed without the predetermined intensity threshold being exceeded, or stopping the timer when an intensity value of one or more of the imager pixels exceeds the predetermined threshold. - View Dependent Claims (14, 15, 16, 17)
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18. A method of collision avoidance, the method comprising:
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moving a radiation detector at a predetermined rate of speed;
calculating a maximum stopping distance Dstop as Tmax=(2*Dstop/C), where Tmax equal a maximal integration time and c equals the speed of light; and
establishing a predetermined intensity threshold for one or more imager pixels within the radiation detector, the imager pixels on the image plane corresponding a direction of interest in space, the predetermined intensity threshold equal to predetermined maximal depth to be monitored within the region of interest, emitting a modulated radiation into the region of interest in space, such that a portion of the emitted radiation is reflected back to the detector from objects positioned within the predetermined maximum depth. - View Dependent Claims (19, 20)
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21. A machine-readable medium having a set of instructions stored, which when executed perform a method comprising:
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establishing a predetermined intensity threshold for one or more imager pixels within a radiation detector, the imager pixels on an image plane corresponding to a direction of interest in space, the predetermined intensity threshold equal to a predetermined maximum depth to be monitored within the region of interest;
emitting a modulated radiation into the region of interest of space such that a portion of the emitted radiation is reflected back toward a position of the detector from objects positioned within the predetermined maximum depth, and such that a portion of the reflected radiation is further orthographically reflected to the detector from a substantially paraboloid-shaped reflector positioned anterior to the detector with an orthographic lens;
commencing a timer upon an emission of the radiation;
integrating intensity values of the one or more imager pixels; and
stopping the timer after a predetermined time has passed without the predetermined intensity threshold being exceeded, or stopping the timer when an intensity value of one or more of the imager pixels exceeds the predetermined threshold. - View Dependent Claims (22, 23, 24, 25)
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26. A machine-readable medium having a set of instructions stored, which when executed perform a method comprising:
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moving a radiation detector at a predetermined rate of speed;
calculating a maximum stopping distance Dstop as Tmax=(2*Dstop/C), where Tmax equal a maximal integration time and c equals the speed of light; and
establishing a predetermined intensity threshold for one or more imager pixels within the radiation detector, the imager pixels on the image plane corresponding a direction of interest in space, the predetermined intensity threshold equal to predetermined maximal depth to be monitored within the region of interest, emitting a modulated radiation into the region of interest in space, such that a portion of the emitted radiation is reflected back to the detector from objects positioned within the predetermined maximum depth. - View Dependent Claims (27, 28)
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Specification