Method and system to maximize space-time resolution in a Time-of-Flight (TOF) system
First Claim
1. For use with a phase-type TOF system that emits modulated optical energy toward a target object, and detects with an array of pixels a portion of said modulated optical energy reflected by said target, and determines depth Z to said target object by combining pixel values to compare phase of emitted said modulated optical energy with phase of reflected said optical energy, a method of reducing at least one of depth error due to motion of said target object, depth error due to spatial edges of said target object, and depth error due to pixel offset, the method including the following steps:
- (a) determining how best to combine values from pixels in said sensor to yield accurate depth data; and
(b) determining how best to compensate for individual pixel offsets to yield accurate depth data.
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Accused Products
Abstract
Phase-based TOF systems operate with reduced depth error due to motion blur, and/or spatial blur, and/or pixel offset by intelligently determining how best to combine pixel values, and how best to compensate for individual pixel offsets. Such determination(s) may be carried out on a per pixel basis, dynamically, in real-time during TOF operation, or on archived TOF data. Offsets for individual pixels may be dynamically calculated and subtracted from the values acquired by those pixels Individual pixel offsets may be calculated for example by combining data acquired by the same pixel at two acquisitions, 180° out of phase with respect to each other. Calculated offsets may be averaged, or on a per pixel basis, and if target object motion is detected, one or more offset calculations can be discarded rather than averaged to reduce motion blur. Offsets acquired a priori during a TOF system calibration procedure may be used.
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Citations
20 Claims
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1. For use with a phase-type TOF system that emits modulated optical energy toward a target object, and detects with an array of pixels a portion of said modulated optical energy reflected by said target, and determines depth Z to said target object by combining pixel values to compare phase of emitted said modulated optical energy with phase of reflected said optical energy, a method of reducing at least one of depth error due to motion of said target object, depth error due to spatial edges of said target object, and depth error due to pixel offset, the method including the following steps:
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(a) determining how best to combine values from pixels in said sensor to yield accurate depth data; and (b) determining how best to compensate for individual pixel offsets to yield accurate depth data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. For use with a phase-type TOF system that emits modulated optical energy toward a target object, and detects with an array of pixels a portion of said modulated optical energy reflected by said target, and determines depth Z to said target object by combining pixel values to compare phase of emitted said modulated optical energy with phase of reflected said optical energy, a system to reduce at least one depth error due to motion of said target object, depth error due to spatial edges of said target object, and depth error due to pixel offset, the system comprising:
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means for determining how best to combine values from pixels in said sensor to yield accurate depth data; and means for determining how best to compensate for individual pixel offsets to yield accurate depth data. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification