Methods, systems, and computer program products for acquiring three-dimensional range information

• US 20070064976A1
• Filed: 09/19/2006
• Published: 03/22/2007
• Est. Priority Date: 09/20/2005
• Status: Active Grant

• Current Assignee: Aurora Operations Incorporated (Aurora Innovation, Inc.)
• Original Assignee: DeltaSphere, Inc.
• Inventors: England, James
• Granted Patent: US 7,551,771 B2
• Time in Patent Office: Days
• US Class Current: 382/106
• CPC Class Codes: G01C 3/08 Use of electric radiation detectors
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/481 Constructional features, e.g. arrangements of optical elements
• CPC Class Codes: G06T 7/593 from stereo images

Abstract

Methods, systems, and computer program products for acquiring three-dimensional range information are disclosed. According to one aspect, acquiring three-dimensional range information of a scene includes obtaining multiple pixel-shifted images of a scene, where at least one of the images being shifted by a non-integer pixel value with respect to another of the images, Obtaining each of the pixel-shifted images includes generating electromagnetic radiation that is reflected from target objects in the scene about which range information is desired. The reflected electromagnetic radiation is collected using a sensor array of at least two dimensions, where an array of pixels is captured simultaneously. A data value is determined for each captured pixel based on analysis of the collected electromagnetic radiation, by combining the data values from the pixel-shifted images to create a super-resolution image of the scene, and by analyzing the data values of the super-resolution image to determine a three-dimensional location for each pixel of the super-resolution image.

Claims

1. A method for acquiring three-dimensional range information of a scene, the method comprising:

(a) obtaining a plurality of pixel-shifted images of a scene, at least one of the images being shifted by a non-integer pixel value with respect to another of the images, wherein obtaining each of the pixel-shifted images includes;

(i) generating electromagnetic radiation that is reflected from target objects in the scene about which range information is desired;

(ii) collecting, using a sensor array of at least two dimensions, images of the reflected electromagnetic radiation, wherein each image includes an array of simultaneously-captured pixels; and

(iii) determining a data value for each captured pixel based on analysis of the collected electromagnetic radiation;

(b) creating a super-resolution image of the scene by combining the data values from the plurality of pixel-shifted images; and

(c) determining a three-dimensional location for each pixel of the super-resolution image based on analysis of the data values of the super-resolution image.

2. The method of claim 1 wherein obtaining a plurality of pixel-shifted pixel images of a scene includes adjusting zoom at which each of the images are obtained.

3. The method of claim 1 wherein generating electromagnetic radiation includes generating an electromagnetic radiation pulse from the electromagnetic radiation source.

4. The method of claim 1 wherein determining a data value for each pixel of the sensor array includes measuring a time of flight of the electromagnetic radiation.

5. The method of claim 1 wherein determining a data value for each pixel of the sensor array includes measuring energy of the electromagnetic radiation collected during a time interval.

6. The method of claim 5 including using a shutter for controlling the collection of electromagnetic radiation.

7. The method of claim 5 wherein the time interval comprises an interval sufficient for the electromagnetic radiation to reflect from a farthest object in the scene and return to the sensor array to be collected.

8. The method of claim 1 wherein:

(a) generating electromagnetic radiation includes generating amplitude-modulated electromagnetic radiation at a modulation frequency;

(b) collecting the reflected electromagnetic radiation includes collecting reflected amplitude-modulated electromagnetic radiation; and

(c) determining a data value for each pixel of the sensor array includes measuring relative amplitude phase delay between the generated and collected electromagnetic radiation.

9. The method of claim 8 wherein:

(a) generating amplitude-modulated electromagnetic radiation at a modulation frequency includes generating amplitude-modulated electromagnetic radiation at a first amplitude modulation frequency and a second amplitude modulation frequency; and

(b) determining a data value for each pixel of the sensor array includes;

(i) determining a first phase value by measuring relative amplitude phase delay between the generated and collected amplitude-modulated electromagnetic radiation of the first amplitude modulation frequency;

(ii) determining a second phase value by measuring relative amplitude phase delay between the generated and collected amplitude-modulated electromagnetic radiation of the second amplitude modulation frequency; and

(iii) determining a data value by analyzing the first and second phase values.

10. The method of claim 1 wherein generating electromagnetic radiation includes generating visible light.

11. The method of claim 1 wherein generating electromagnetic radiation includes generating near-infrared electromagnetic radiation.

12. The method of claim 1 wherein generating electromagnetic radiation includes generating far-infrared electromagnetic radiation.

13. The method of claim 1 wherein generating electromagnetic radiation includes using a laser for generating the electromagnetic radiation.

14. The method of claim 1 wherein generating electromagnetic radiation includes using a light emitting diode for generating the electromagnetic radiation.

15. The method of claim 1 wherein using a sensor array includes using a complementary metal oxide semiconductor (CMOS) sensor array.

16. The method of claim 1 wherein using a sensor array includes using a charge-coupled device (CCD) sensor array.

17. The method of claim 1 wherein using a sensor array includes using an avalanche photo diode (APD) sensor array.

18. The method of claim 1 wherein using a sensor array includes using a color sensor array.

19. The method of claim 18 wherein using a color sensor array includes using a red-green-blue (RGB) color sensor array.

20. The method of claim 1 wherein obtaining a plurality of pixel-shifted images includes moving a lens, the movement being a distance such that at least some of the images collected by the sensor array are shifted a non-integer pixel distance with respect to each other on the sensor array.

21. The method of claim 1 wherein obtaining a plurality of pixel-shifted images includes moving the sensor array, the movement being a distance such that at least some of the images collected by the sensor array are shifted a non-integer pixel distance with respect to each other on the sensor array.

22. The method of claim 1 wherein obtaining a plurality of pixel-shifted images includes moving both a lens and the sensor array such that the relative movement of the lens and the sensor array is of a distance that results in at least some of the images collected by the sensor array being shifted by a non-integer pixel distance with respect to each other on the sensor array.

23. The method of claim 1 wherein obtaining a plurality of pixel-shifted images includes using at least one actuator to move at least one of a lens and the sensor array, the movement being a distance such that at least some of the images collected by the sensor array are shifted by a non-integer pixel distance with respect to each other on the sensor array.

24. The method of claim 23 wherein the at least one actuator comprises a piezoelectric actuator.

25. The method of claim 1 comprising applying an image processing function to at least one of the collected images and the super-resolution image to correct a range error.

26. The method of claim 25 wherein applying an image processing function includes applying at least one of a gamma adjustment function, a brightness adjustment function, a contrast adjustment function, and a color adjustment function.

27. The method of claim 1 wherein obtaining a plurality of pixel-shifted images includes obtaining a plurality of each pixel-shifted image and applying a noise reduction algorithm to the data values of the plurality of each pixel-shifted image to reduce errors introduced by noise.

28. The method of claim 27 wherein the noise reduction algorithm comprises one of an averaging algorithm, a median filtering algorithm, a chirp demodulation algorithm, and a pseudo-noise demodulation algorithm.

29. The method of claim 1 wherein obtaining a plurality of pixel-shifted images includes correcting the data values of the captured pixels to compensate for range errors introduced by the sensor array.

30. The method of claim 29 wherein correcting the data values of the captured pixels to compensate for range errors introduced by the sensor array includes, in response to detecting a non-functioning pixel in the sensor array, interpolating a value for the non-functioning pixel based on values of neighboring pixels.

31. The method of claim 1 wherein obtaining a plurality of pixel-shifted images includes correcting the data values of the captured pixels to compensate for range errors introduced by a lens aberration.

32. The method of claim 1 wherein the data value for each pixel of the sensor array comprises at least one of range of the scene, reflectivity of the scene, color of the scene, and temperature of the scene.

33. The method of claim 1 wherein combining the data values from the plurality of pixel-shifted images includes using a super-resolution algorithm to create the super-resolution image of the scene.

34. The method of claim 1 wherein collecting the reflected electromagnetic radiation includes using means for controlling exposure of the pixel-shifted images onto the sensor array.

35. The method of claim 1 wherein collecting the reflected electromagnetic radiation includes using means for controlling focal length of the pixel-shifted images onto the sensor array.

36. The method of claim 1 wherein collecting the reflected electromagnetic radiation includes using means for controlling focus of the pixel-shifted images onto the sensor array.

37. The method of claim 1 wherein generating the electromagnetic radiation includes using means for controlling intensity of the generated electromagnetic radiation.

38. The method of claim 1 wherein generating the electromagnetic radiation includes using a variable intensity electromagnetic radiation source.

39. The method of claim 1 wherein generating the electromagnetic radiation includes using means for controlling focal length of the generated electromagnetic radiation.

40. The method of claim 1 wherein generating the electromagnetic radiation includes using means for controlling focus of the generated electromagnetic radiation.

41. The method of claim 1 wherein determining a three-dimensional location for each pixel of the super-resolution image includes determining a set of three-dimensional coordinates for each pixel of the super-resolution image.

42. The method of claim 41 wherein determining a set of three-dimensional coordinates for each pixel includes determining at least one of three-dimensional Cartesian, polar, and spherical coordinates for each pixel of the super-resolution image.

43. A method for acquiring three-dimensional range information of a scene, the method comprising:

in a range camera;

(a) generating electromagnetic radiation that is reflected from target objects in the scene about which range information is desired;

(b) collecting, using a sensor array of at least two dimensions, the reflected electromagnetic radiation, wherein an array of pixels is captured simultaneously;

(c) determining a data value for each captured pixel based on analysis of the collected electromagnetic radiation;

(d) determining a three-dimensional location for each captured pixel based on analysis of the data value of each captured pixel; and

(e) storing at least one of the data value for each captured pixel and the location for each captured pixel in a storage medium local to the range camera.

44. A method for acquiring three-dimensional range information of a scene, the method comprising:

in a range camera;

(a) generating electromagnetic radiation that is reflected from target objects in the scene about which range information is desired;

(b) collecting, using a sensor array of at least two dimensions, the reflected electromagnetic radiation, wherein an array of pixels is captured simultaneously;

(c) determining a data value for each captured pixel based on analysis of the collected electromagnetic radiation;

(d) performing at least one of geometric and radiometric corrections to the range value for each captured pixel; and

(e) determining a three-dimensional location for each captured pixel based on analysis of the data value of each captured pixel.

45. A method for acquiring three-dimensional range information of a scene, the method comprising:

in a range camera;

(a) generating electromagnetic radiation that is reflected from target objects in the scene about which range information is desired;

(b) collecting, using a sensor array of at least two dimensions, the reflected electromagnetic radiation, wherein an array of pixels is captured simultaneously;

(c) determining a data value for each captured pixel based on analysis of the collected electromagnetic radiation;

(d) applying a noise reduction algorithm to the data values for each captured pixel for reducing error introduced by noise; and

(e) determining a three-dimensional location for each captured pixel based on analysis of the data value of each captured pixel.

46. A method for acquiring color and three-dimensional range information of a scene, the method comprising:

in a range camera;

(a) generating electromagnetic radiation that is reflected from target objects in the scene about which range information is desired;

(b) collecting, using a range sensor array of at least two dimensions, the reflected electromagnetic radiation, wherein an array of range pixels is captured simultaneously;

(c) collecting, using a color sensor array of at least two dimensions, electromagnetic radiation from the scene, wherein an array of color pixels is captured simultaneously;

(d) determining a three-dimensional location for each captured range pixel based on analysis of the captured range pixels; and

(e) determining a color value for each captured color pixel based on analysis of the captured color pixels.

47. A method for acquiring three-dimensional range information of a scene, the method comprising:

(a) obtaining a plurality of images of a scene, wherein obtaining each of the images includes;

(i) generating electromagnetic radiation that is reflected from target objects in the scene about which range information is desired;

(ii) collecting, using a sensor array of at least two dimensions, the reflected electromagnetic radiation, wherein an array of pixels is captured simultaneously and wherein at least one of azimuth and elevation is changed at least once during the collecting; and

(iii) determining a data value for each captured pixel based on analysis of the collected electromagnetic radiation;

(b) creating a composite image of the scene by combining the data values from the plurality of images; and

(c) determining a three-dimensional location for each pixel of the composite image based on analysis of the data values of each pixel of the composite image.

48. A method for acquiring three-dimensional range information of a scene, the method comprising:

(a) obtaining a plurality of images of a scene, wherein obtaining each of the images includes;

(i) generating electromagnetic radiation that is reflected from target objects in the scene about which range information is desired;

(ii) collecting, using a sensor array of at least two dimensions, the reflected electromagnetic radiation, wherein an array of pixels is captured simultaneously and wherein focus of at least one of the generated and collected electromagnetic radiation is changed at least once during the collecting; and

(iii) determining a data value for each captured pixel based on analysis of the collected electromagnetic radiation;

(b) creating a composite image of the scene by combining the data values from the plurality of images; and

(c) determining a three-dimensional location for each pixel of the composite image based on analysis of the data values of each pixel of the composite image.

49. A method for acquiring three-dimensional range information of a scene, the method comprising:

(a) obtaining a plurality of images of a scene, wherein obtaining each of the images includes;

(i) generating electromagnetic radiation that is reflected from target objects in the scene about which range information is desired;

(ii) collecting, using a sensor array of at least two dimensions, the reflected electromagnetic radiation, wherein an array of pixels is captured simultaneously and wherein focal length of at least one of the generated and collected electromagnetic radiation is changed at least once during the collecting; and

(iii) determining a data value for each captured pixel based on analysis of the collected electromagnetic radiation;

(b) creating a composite image of the scene by combining the data values from the plurality of images; and

(c) determining a three-dimensional location for each pixel of the composite image based on analysis of the data values of each pixel of the composite image.

50. A method for acquiring three-dimensional range information of a scene, the method comprising:

(a) obtaining a plurality of images of a scene, wherein obtaining each of the images includes;

(i) generating electromagnetic radiation that is reflected from target objects in the scene about which range information is desired;

(ii) collecting, using a sensor array of at least two dimensions, the reflected electromagnetic radiation, wherein an array of pixels is captured simultaneously and wherein at least one of intensity of the generated electromagnetic radiation and exposure of the collected electromagnetic radiation is changed at least once during the collecting; and

(iii) determining a data value for each captured pixel based on analysis of the collected electromagnetic radiation;

(b) creating a composite image of the scene by combining the data values from the plurality of images; and

(c) determining a three-dimensional location for each pixel of the composite image based on analysis of the data values of each pixel of the composite image.

51. A system for acquiring three-dimensional range information of a scene, the system comprising:

(a) an electromagnetic radiation source for illuminating a scene about which range information is desired;

(b) a sensor array of at least two dimensions for collecting images of electromagnetic radiation generated by the electromagnetic radiation source and reflected from the scene, wherein each image includes an array of simultaneously captured pixels;

(c) a pixel image shifter for shifting the image of the scene on the sensor array to obtain a plurality of pixel-shifted images of the scene, wherein at least one of the pixel-shifted images is shifted by a non-integer pixel distance with respect to another of the pixel-shifted images; and

(d) a processor for determining a data value for each captured pixel based on analysis of the collected electromagnetic radiation, for creating a super-resolution image by combining the data values from the plurality of pixel-shifted images, and for determining a three-dimensional location for each pixel of the super-resolution image based on analysis of the data values for each pixel of the super-resolution image.

52. The system of claim 51 comprising means for changing a zoom at which each of the pixel-shifted images is collected.

53. The system of claim 51 wherein the electromagnetic radiation source generates an electromagnetic radiation pulse.

54. The system of claim 51 wherein the processor determines the data value for each pixel by measuring time of flight of the electromagnetic radiation.

55. The system of claim 51 wherein the sensor array collects the electromagnetic radiation for a time interval and wherein the processor determines the data value for each pixel by measuring energy of the collected electromagnetic radiation.

56. The system of claim 55 including a shutter located between the sensor array and the scene for controlling collection of the electromagnetic radiation.

57. The system of claim 55 wherein the sensor array collects the electromagnetic radiation for a time interval sufficient for the electromagnetic radiation to reflect from a farthest object in the scene and return to the sensor array to be collected.

58. The system of claim 51 wherein:

(a) the electromagnetic radiation source generates amplitude-modulated electromagnetic radiation at an amplitude modulation frequency;

(b) the sensor array collects the amplitude-modulated electromagnetic radiation reflected from the scene; and

(c) the processor determines the data value for each pixel based on analysis of the relative amplitude phase delay between the generated and collected amplitude-modulated electromagnetic radiation.

59. The system of claim 51 wherein:

(a) the electromagnetic radiation source generates amplitude-modulated electromagnetic radiation at a first amplitude modulation frequency and a second amplitude modulation frequency;

(b) the sensor array collects the amplitude-modulated electromagnetic radiation reflected from the scene; and

(c) the processor determines a data value for each pixel based on analysis of the relative amplitude phase delay between the generated and collected amplitude-modulated electromagnetic radiation at the first and second amplitude modulation frequencies.

60. The system of claim 58 wherein the sensor array detects amplitude modulation phase of the collected amplitude-modulated electromagnetic radiation and provide the amplitude modulation phase to the processor.

61. The system of claim 51 wherein the electromagnetic radiation comprises visible light.

62. The system of claim 51 wherein the electromagnetic radiation comprises near-infrared electromagnetic radiation.

63. The system of claim 51 wherein the electromagnetic radiation comprises far-infrared electromagnetic radiation.

64. The system of claim 51 wherein the electromagnetic radiation source comprises a laser.

65. The system of claim 51 wherein the electromagnetic radiation source comprises a light emitting diode.

66. The system of claim 51 wherein the sensor array comprises a complementary metal oxide semiconductor (CMOS) sensor array.

67. The system of claim 51 wherein the sensor array comprises a charge-coupled device (CCD) sensor array.

68. The system of claim 51 wherein the sensor array comprises an avalanche photo diode (APD) sensor array.

69. The system of claim 51 wherein the sensor array comprises a color sensor array.

70. The system of claim 69 wherein the color sensor array comprises a red-green-blue (RGB) color sensor array.

71. The system of claim 51 wherein the pixel image shifter includes a lens and at least one actuator for moving the lens such that at least some of the images collected by the sensor array are shifted a non-integer pixel distance with respect to each other on the sensor array.

72. The system of claim 51 wherein the pixel image shifter includes at least one actuator for moving the sensor array such that at least some of the images collected by the sensor array are shifted a non-integer pixel distance with respect to each other on the sensor array.

73. The system of claim 51 wherein the pixel image shifter includes a lens and at least one actuator for moving the lens and the sensor array such that relative movement of the lens and the sensor array is such that at least some of the images collected by the sensor array are shifted by a non-integer pixel distance with respect to each other on the sensor array.

74. The system of claim 73 wherein the at least one actuator comprises a piezoelectric actuator.

75. The system of claim 51 wherein the processor applies an image processing function to at least one of the collected images and the super-resolution images to correct a range error.

76. The system of claim 75 wherein the image processing function includes at least one of a gamma adjustment function, a brightness adjustment function, a contrast adjustment function, and a color adjustment function to correct the range error.

77. The system of claim 51 wherein the processor applies a noise reduction algorithm to a plurality of images to reduce errors introduced by noise.

78. The system of claim 77 wherein the noise reduction algorithm comprises one of an averaging algorithm, a median filtering algorithm, a chirp demodulation algorithm, and a pseudo-noise demodulation algorithm.

79. The system of claim 51 wherein the processor corrects the data value for each captured pixel to compensate for range errors introduced by the sensor array.

80. The system of claim 79 wherein correcting the data value for each captured pixel to compensate for range errors includes, in response to detecting a non-functioning pixel in the sensor array, interpolating a value for the non-functioning pixel based on values of neighboring pixels.

81. The system of claim 51 wherein the processor corrects the data value for each captured pixel to compensate for range errors introduced by a lens aberration.

82. The system of claim 51 wherein the data value for each captured pixel comprises at least one of range of the scene, reflectivity of the scene, color of the scene, and temperature of the scene.

83. The system of claim 51 wherein the processor creates the super-resolution image using a super-resolution algorithm to combine the data values from the plurality of pixel-shifted images.

84. The system of claim 51 wherein combining the data values from the plurality of pixel-shifted images includes using a super-resolution algorithm to create the super-resolution image of the scene.

85. The system of claim 51 comprising means for controlling exposure of the pixel-shifted images onto the sensor array.

86. The system of claim 51 comprising means for controlling focal length of the pixel-shifted images onto the sensor array.

87. The system of claim 51 comprising means for controlling focus of the pixel-shifted images onto the sensor array.

88. The system of claim 51 comprising means for controlling intensity of the generated electromagnetic radiation.

89. The system of claim 51 comprising means for controlling focal length of the generated electromagnetic radiation.

90. The system of claim 51 comprising means for controlling focus of the generated electromagnetic radiation.

91. The system of claim 51 comprising:

(a) a housing containing the sensor array and pixel image shifter;

(b) an arm for supporting the housing, the arm including a first end pivotally coupled to the housing and a second end spaced from the first end; and

(c) a stand for supporting the arm, the stand being pivotally coupled to the second end of the arm in a manner that allows the sensor array to obtain an unobstructed range image of a scene underneath the stand.

92. The system of claim 91 wherein the arm is adapted to pivot about the stand in a first direction and wherein the housing is adapted to pivot about the arm in a second direction angularly offset from the first direction.

93. The system of claim 51 wherein the three-dimensional location determined for each pixel includes a set of three-dimensional coordinates for each pixel of the super-resolution image.

94. The system of claim 93 wherein the three dimensional coordinates determined for each pixel includes at least one of Cartesian, polar, and spherical coordinates.

95. A system for acquiring three-dimensional range information of a scene, the system comprising:

a range camera having a housing, the housing including;

(a) an electromagnetic radiation source for illuminating a scene about which range information is desired;

(b) a sensor array of at least two dimensions for collecting electromagnetic radiation generated by the electromagnetic radiation source and reflected from the scene, wherein an array of pixels is captured simultaneously;

(c) a processor for determining a data value for each captured pixel based on analysis of the collected electromagnetic radiation, and for determining the three-dimensional location for each captured pixel based on analysis of the data values of each captured pixel; and

(d) a storage device for storing at least one of the data value for each captured pixel and the range value for each captured pixel.

96. A system for acquiring three-dimensional range information of a scene, the system comprising:

a range camera having a housing, the housing including;

(a) an electromagnetic radiation source for illuminating a scene about which range information is desired;

(b) a sensor array of at least two dimensions for collecting electromagnetic radiation generated by the electromagnetic radiation source and reflected from the scene, wherein an array of pixels is captured simultaneously; and

(c) a processor for determining a data value for each captured pixel based on analysis of the collected electromagnetic radiation, for determining the three-dimensional location for each captured pixel based on analysis of the data values of each captured pixel, and for performing at least one of geometric and radiometric corrections to the range value for each captured pixel.

97. A system for acquiring three-dimensional range information of a scene, the system comprising:

a range camera having a housing, the housing including;

(a) an electromagnetic radiation source for illuminating a scene about which range information is desired;

(b) a sensor array of at least two dimensions for collecting electromagnetic radiation generated by the electromagnetic radiation source and reflected from the scene, wherein an array of pixels is captured simultaneously; and

(c) a processor for determining a data value for each captured pixel based on analysis of the collected electromagnetic radiation, for applying noise reduction algorithms to the data values for each captured pixel for reducing error introduced by noise, and for determining the three-dimensional location for each captured pixel based on analysis of the data values of each captured pixel.

98. A system for acquiring three-dimensional range information of a scene, the system comprising:

a range camera having a housing, the housing including;

(a) an electromagnetic radiation source for illuminating a scene about which range information is desired;

(b) a sensor array of at least two dimensions for collecting electromagnetic radiation generated by the electromagnetic radiation source and reflected from the scene, wherein an array of pixels is captured simultaneously;

(c) a processor for determining a data value for each captured pixel based on analysis of the collected electromagnetic radiation, and for determining the three-dimensional location for each captured pixel based on analysis of the data values of each captured pixel; and

(d) a display device for displaying at least one of the data value for each captured pixel, the range value for each captured pixel, the color value for each captured pixel, and the temperature value of each captured pixel.

99. A system for acquiring three-dimensional range information of a scene, the system comprising:

a range camera having a housing, the housing including;

(a) an electromagnetic radiation source for illuminating a scene about which range information is desired;

(b) a sensor array of at least two dimensions for collecting electromagnetic radiation generated by the electromagnetic radiation source and reflected from the scene, wherein an array of pixels is captured simultaneously;

(c) a processor for determining a range value for each captured pixel based on analysis of the collected electromagnetic radiation; and

(d) a user interface for controlling at least one of generation, collection, and analysis of the electromagnetic radiation.

100. A system for acquiring color and three-dimensional range information of a scene, the system comprising:

a range camera having a housing, the housing including;

(a) an electromagnetic radiation source for illuminating a scene about which range information is desired;

(b) a range sensor array of at least two dimensions for collecting electromagnetic radiation generated by the electromagnetic radiation source and reflected from the scene, wherein an array of range pixels is captured simultaneously;

(c) a color sensor array of at least two dimensions for collecting electromagnetic radiation from the scene, wherein an array of color pixels is captured simultaneously; and

(d) a processor for determining a three-dimensional location for each captured range pixel based on analysis of the captured range pixels and for determining a color value for each captured color pixel based on analysis of the captured color pixels.

101. A system for acquiring three-dimensional range information of a scene, the system comprising:

(a) a range camera having a housing, the housing including;

(i) an electromagnetic radiation source for illuminating a scene about which range information is desired;

(ii) a sensor array of at least two dimensions for collecting electromagnetic radiation generated by the electromagnetic radiation source and reflected from the scene, wherein an array of pixels is captured simultaneously; and

(iii) a processor for determining a range value for each captured pixel based on analysis of the collected electromagnetic radiation; and

(b) a mount for supporting the housing, the mount including at least one actuator controllable by the processor to control movement of the housing, thereby controlling at least one of azimuth and elevation of the range camera.

102. A system for acquiring three-dimensional range information of a scene, the system comprising:

a range camera having a housing, the housing including;

(a) an electromagnetic radiation source for illuminating a scene about which range information is desired;

(b) a sensor array of at least two dimensions for collecting electromagnetic radiation generated by the electromagnetic radiation source and reflected from the scene, wherein an array of pixels is captured simultaneously;

(c) means for controlling exposure of the sensor array to the reflected electromagnetic radiation; and

(d) a processor for determining a range value for each captured pixel based on analysis of the collected electromagnetic radiation.

103. A system for acquiring three-dimensional range information of a scene, the system comprising:

a range camera having a housing, the housing including;

(a) an electromagnetic radiation source for illuminating a scene about which range information is desired;

(b) a sensor array of at least two dimensions for collecting electromagnetic radiation generated by the electromagnetic radiation source and reflected from the scene, wherein an array of pixels is captured simultaneously;

(c) means for controlling the focus of the collected electromagnetic radiation onto the sensor array; and

(d) a processor for determining a range value for each captured pixel based on analysis of the collected electromagnetic radiation.

104. A system for acquiring three-dimensional range information of a scene, the system comprising:

a range camera having a housing, the housing including;

(a) an electromagnetic radiation source for illuminating a scene about which range information is desired;

(b) a sensor array of at least two dimensions for collecting electromagnetic radiation generated by the electromagnetic radiation source and reflected from the scene, wherein an array of pixels is captured simultaneously;

(c) means for controlling focal length of the collected electromagnetic radiation; and

(d) a processor for determining a range value for each captured pixel based on analysis of the collected electromagnetic radiation.

105. A system for acquiring three-dimensional range information of a scene, the system comprising:

a range camera having a housing, the housing including;

(a) an electromagnetic radiation source for illuminating a scene about which range information is desired;

(b) a sensor array of at least two dimensions for collecting electromagnetic radiation generated by the electromagnetic radiation source and reflected from the scene, wherein an array of pixels is captured simultaneously;

(c) means for controlling intensity of the illumination generated by the electromagnetic radiation source; and

(d) a processor for determining a range value for each captured pixel based on analysis of the collected electromagnetic radiation.

106. A system for acquiring three-dimensional range information of a scene, the system comprising:

a range camera having a housing, the housing including;

(a) an electromagnetic radiation source for illuminating a scene about which range information is desired;

(b) a sensor array of at least two dimensions for collecting electromagnetic radiation generated by the electromagnetic radiation source and reflected from the scene, wherein an array of pixels is captured simultaneously;

(c) means for controlling the focus of the illumination generated by the electromagnetic radiation source; and

(d) a processor for determining a range value for each captured pixel based on analysis of the collected electromagnetic radiation.

107. A system for acquiring three-dimensional range information of a scene, the system comprising:

a range camera having a housing, the housing including;

(a) an electromagnetic radiation source for illuminating a scene about which range information is desired;

(b) a sensor array of at least two dimensions for collecting electromagnetic radiation generated by the electromagnetic radiation source and reflected from the scene, wherein an array of pixels is captured simultaneously;

(c) means for controlling focal length of the illumination generated by the electromagnetic radiation source; and

(d) a processor for determining a range value for each captured pixel based on analysis of the collected electromagnetic radiation.

108. A system for acquiring three-dimensional range information of a scene, the system comprising:

(a) a range camera for capturing three-dimensional range information of a scene;

(b) an arm for supporting the range camera, the arm including a first end pivotally coupled to the range camera and a second end spaced from the first end; and

(c) a stand for supporting the arm, the stand being pivotally coupled to the second end of the arm in a manner that allows the range camera to obtain an unobstructed range image of a scene underneath the stand.

109. A computer program product comprising computer executable instructions embodied in a computer readable medium for performing steps comprising:

(a) obtaining a plurality of pixel-shifted images of a scene, at least one of the images being shifted by a non-integer pixel value with respect to another of the images, wherein obtaining each of the pixel-shifted images includes;

(i) generating electromagnetic radiation that is reflected from target objects in the scene about which range information is desired;

(ii) collecting, using a sensor array of at least two dimensions, images of the reflected electromagnetic radiation, wherein each image includes an array of simultaneously-captured pixels; and

(iii) determining a data value for each captured pixel based on analysis of the collected electromagnetic radiation;

(b) creating a super-resolution image of the scene by combining the data values from the plurality of pixel-shifted images; and

(c) determining a three-dimensional location for each pixel of the super-resolution image based on analysis of the data values of the super-resolution image.