MULTIPLE CHANNEL LOCATING
First Claim
1. A method for estimating a location on an object in a three dimensional scene, the method comprising:
- producing a plurality of radiation patterns;
measuring at least a portion of two or more of the plurality of radiation patterns at one or more detection locations in space;
producing one or more illumination vectors, each comprising at least a portion of a plurality of illumination values measured at the one or more detection locations in space;
illuminating the location on the object with at least a portion of each of two or more of the plurality of radiation patterns, the illuminated location on the object producing a plurality of object radiations, wherein each object radiation is produced in response to one of the plurality of radiation patterns;
detecting the plurality of object radiations;
producing a plurality of measured values utilizing the plurality of detected object radiations; and
estimating the location on the object based on the plurality of measured values and the one or more illumination vectors.
2 Assignments
0 Petitions
Accused Products
Abstract
Methods, systems, and apparatuses are provided for estimating a location on an object in a three-dimensional scene. Multiple radiation patterns are produced by spatially modulating each of multiple first radiations with a distinct combination of one or more modulating structures, each first radiation having at least one of a distinct radiation path, a distinct source, a distinct source spectrum, or a distinct source polarization with respect to the other first radiations. The location on the object is illuminated with a portion of each of two or more of the radiation patterns, the location producing multiple object radiations, each object radiation produced in response to one of the multiple radiation patterns. Multiple measured values are produced by detecting the object radiations from the location on the object due to each pattern separately using one or more detector elements. The location on the object is estimated based on the multiple measured values.
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Citations
31 Claims
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1. A method for estimating a location on an object in a three dimensional scene, the method comprising:
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producing a plurality of radiation patterns; measuring at least a portion of two or more of the plurality of radiation patterns at one or more detection locations in space; producing one or more illumination vectors, each comprising at least a portion of a plurality of illumination values measured at the one or more detection locations in space; illuminating the location on the object with at least a portion of each of two or more of the plurality of radiation patterns, the illuminated location on the object producing a plurality of object radiations, wherein each object radiation is produced in response to one of the plurality of radiation patterns; detecting the plurality of object radiations; producing a plurality of measured values utilizing the plurality of detected object radiations; and estimating the location on the object based on the plurality of measured values and the one or more illumination vectors. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A method for estimating a location on an object in a three-dimensional scene, the method comprising:
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producing a plurality of first radiation patterns; illuminating the location on the object with a portion of each of two or more of the plurality of first radiation patterns, the illuminated location producing a plurality of first object radiations, wherein each first object radiation is produced in response to one of the plurality of first radiation patterns; detecting the plurality of first object radiations from the location on the object due to each first radiation pattern separately; producing a plurality of first measured values based on the plurality of detected first object radiations; producing a plurality of second radiation patterns; illuminating the location on the object with a portion of each of two or more of the plurality of second radiation patterns, the illuminated location producing a plurality of second object radiations, wherein each second object radiation is produced in response to one of the plurality of second radiation patterns; detecting the plurality of second object radiations from the location on the object due to each second radiation pattern separately; producing a plurality of second measured values based on the plurality of second detected object radiations; and estimating the location on the object based on the plurality of first measured values and the plurality of second measured values. - View Dependent Claims (20, 21, 22, 23, 24, 25, 26, 27)
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28. A system for estimating a location on an object in a three dimensional scene, the system comprising:
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one or more radiation pattern projectors configured to at least; produce a plurality of radiation patterns; and
illuminate the location on the object with at least a portion of each of two or more of the plurality of radiation patterns, the illuminated location on the object producing a plurality of object radiations, wherein each object radiation is produced in response to one of the plurality of radiation patterns;
orproduce a plurality of first radiation patterns;
illuminate the location on the object with a portion of each of two or more of the plurality of first radiation patterns, the illuminated location producing a plurality of first object radiations, wherein each first object radiation is produced in response to one of the plurality of first radiation patterns;
produce a plurality of second radiation patterns; and
illuminate the location on the object with a portion of each of two or more of the plurality of second radiation patterns, the illuminated location producing a plurality of second object radiations, wherein each second object radiation is produced in response to one of the plurality of second radiation patterns;one or more detectors configured to at least; measure at least a portion of two or more of the plurality of radiation patterns at one or more detection locations in space;
produce one or more illumination vectors, each comprising at least a portion of a plurality of illumination values measured at the one or more detection locations in space;
detect the plurality of object radiations; and
produce a plurality of measured values utilizing the plurality of detected object radiations;
ordetect the plurality of first object radiations from the location on the object due to each first radiation pattern separately;
produce a plurality of first measured values based on the plurality of detected first object radiations;
detect the plurality of second object radiations from the location on the object due to each second radiation pattern separately; and
produce a plurality of second measured values based on the plurality of second detected object radiations; andone or more processors configured to at least; estimate the location on the object based on the plurality of measured values and the one or more illumination vectors;
orestimate the location on the object based on the plurality of first measured values and the plurality of second measured values. - View Dependent Claims (29, 30, 31)
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Specification