SYSTEMS AND METHOD OF HIGH RESOLUTION THREE-DIMENSIONAL IMAGING
First Claim
1. A three-dimensional imaging system, comprising:
- an illumination subsystem configured to emit a light pulse with a divergence sufficient to irradiate a scene;
a sensor subsystem comprising;
a receiving lens having a predetermined image plane and a predetermined pupil plane, the receiving lens configured to receive a portion of the light pulse reflected or scattered by the scene, whereby outputting a received light pulse portion having a duration;
a modulator configured to modulate as a function of time an intensity of the received light pulse portion to form a modulated received light pulse portion, wherein the modulator is not located in the image plane or pupil plane of the receiving lens; and
at least one imaging sensor array configured to generate a first image and a second image in response to the modulated received light pulse portion; and
a processor subsystem configured to obtain a three-dimensional image based on the first and second images.
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Accused Products
Abstract
Embodiments of the invention provide systems and methods for three-dimensional imaging with wide field of view and precision timing. In accordance with one aspect, a three-dimensional imaging system includes an illumination subsystem configured to emit a light pulse with a divergence sufficient to irradiate a scene having a wide field of view. A sensor subsystem is configured to receive over a wide field of view portions of the light pulse reflected or scattered by the scene and including: a modulator configured to modulate as a function of time an intensity of the received light pulse portion to form modulated received light pulse portions; and means for generating a first image corresponding to the received light pulse portions and a second image corresponding to the modulated received light pulse portions. A processor subsystem is configured to obtain a three-dimensional image based on the first and second images.
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Citations
20 Claims
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1. A three-dimensional imaging system, comprising:
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an illumination subsystem configured to emit a light pulse with a divergence sufficient to irradiate a scene; a sensor subsystem comprising; a receiving lens having a predetermined image plane and a predetermined pupil plane, the receiving lens configured to receive a portion of the light pulse reflected or scattered by the scene, whereby outputting a received light pulse portion having a duration; a modulator configured to modulate as a function of time an intensity of the received light pulse portion to form a modulated received light pulse portion, wherein the modulator is not located in the image plane or pupil plane of the receiving lens; and at least one imaging sensor array configured to generate a first image and a second image in response to the modulated received light pulse portion; and a processor subsystem configured to obtain a three-dimensional image based on the first and second images. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. The system of claim I, wherein the processor subsystem is configured to:
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instruct the illumination subsystem to emit a plurality of light pulses; adjust a timing of the modulator such that modulation begins at a different time, for each light pulse of the plurality of light pulses; obtain a plurality of three-dimensional images, each of the images corresponding to a light pulse of the plurality of light pulses; and obtain an enhanced three-dimensional image based on the plurality of three-dimensional images, the enhanced three-dimensional image corresponding to a larger distance window than a distance window of any of the plurality of three-dimensional images.
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18. A method of three-dimensional imaging, comprising:
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emitting the light pulse, wherein the divergence is sufficient to irradiate a scene; receiving, at a receiving lens having a predetermined image plane and a predetermined pupil plane, a portion of the light pulse reflected or scattered by the scene, whereby providing a received light pulse portion; modulating with a modulator the intensity of the received light pulse portion as a function of time to form a modulated received light pulse portion, wherein the modulator is not located in the image plane or pupil plane of the receiving lens; generating a first image and a second image corresponding to the modulated received light pulse portion; and obtaining a three-dimensional image of the scene based on the first and second images. - View Dependent Claims (19, 20)
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Specification