SCANNING DEPTH ENGINE
First Claim
Patent Images
1. Mapping apparatus, comprising:
- a transmitter, which is configured to emit a beam comprising pulses of light;
a scanner, which is configured to scan the beam, within a predefined scan range, over a scene;
a receiver, which is configured to receive the light reflected from the scene and to generate an output indicative of a time of flight of the pulses to and from points in the scene; and
a processor, which is coupled to control the scanner so as to cause the beam to scan over a selected window within the scan range and to process the output of the receiver so as to generate a 3D map of a part of the scene that is within the selected window.
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Abstract
Mapping apparatus includes a transmitter, which emits a beam comprising pulses of light, and a scanner, which is configured to scan the beam, within a predefined scan range, over a scene. A receiver receives the light reflected from the scene and to generate an output indicative of a time of flight of the pulses to and from points in the scene. A processor is coupled to control the scanner so as to cause the beam to scan over a selected window within the scan range and to process the output of the receiver so as to generate a 3D map of a part of the scene that is within the selected window.
334 Citations
51 Claims
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1. Mapping apparatus, comprising:
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a transmitter, which is configured to emit a beam comprising pulses of light; a scanner, which is configured to scan the beam, within a predefined scan range, over a scene; a receiver, which is configured to receive the light reflected from the scene and to generate an output indicative of a time of flight of the pulses to and from points in the scene; and a processor, which is coupled to control the scanner so as to cause the beam to scan over a selected window within the scan range and to process the output of the receiver so as to generate a 3D map of a part of the scene that is within the selected window. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25)
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26. A method for mapping, comprising:
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operating a scanner so as to scan a beam comprising pulses of light, within a predefined scan range, over a scene; receiving the light reflected from the scene and generating an output indicative of a time of flight of the pulses to and from points in the scene; controlling the scanner so as to cause the beam to scan over a selected window within the scan range; and processing the output of the receiver so as to generate a 3D map of a part of the scene that is within the selected window. - View Dependent Claims (27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48)
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49. Mapping apparatus, comprising:
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a transmitter, which is configured to emit a beam comprising pulses of light; a scanner, which is configured to scan the beam over a scene; a receiver, which is configured to receive the light reflected from the scene and to generate an output indicative of a time of flight of the pulses to and from points in the scene; and a processor, which is coupled to process the output of the receiver during a first scan of the beam so as to generate a 3D map of the scene, while controlling a power level of the pulses emitted by the transmitter responsively to a level of the output from the receiver in response to one or more previous pulses. - View Dependent Claims (50, 51)
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Specification