AUTOMATIC MULTIPLE DEPTH CAMERAS SYNCHRONIZATION USING TIME SHARING
First Claim
1. A depth sensing device for capturing an image containing depth information of a scene and for use in a depth sensing system that includes at least one other depth sensing device, comprising:
- a transmitter capable of projecting light on a scene, the transmitter comprising a laser capable of producing a light beam including a series of laser pulses, each pulse having a pulse length and the series of pulses produced at a pulse frequency, anda receiver coupled to the transmitter at a known relative orientation, the receiver comprising a shutter and a sensor assembly capable of producing an image based on sensing light projected by the transmitter and reflected from the scene; and
a controller comprising a processor, the controller coupled to the transmitter and the receiver, the controller configured todetermine the presence of light in the scene using the receiver,control the pulse length of the series of laser pulses,control when an exposure window begins during which the transmitter is activated to project light on the scene and activate the receiver to begin sensing light reflected from the scene, the beginning of the exposure window and the pulse length controlled based on the determined presence of the light on the scene from the at least one other depth sensing device so the exposure window is temporally different from when any other of the at least one other depth sensing devices in the system is illuminating the scene.
1 Assignment
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Accused Products
Abstract
Aspects relate to an depth sensing system for capturing an image containing depth information of an object. In one embodiment, a depth sensing device for use in conjunction with multiple depth sensing devices for capturing an image containing depth information of an object comprises a near-infrared transmitter comprising a laser capable of producing a near infra-red light beam, a diffractive optical element positioned to receive a light beam emitted from the laser, the diffractive optical element, and a collimating lens, and a near-infrared receiver coupled to the transmitter in a relative position, the receiver comprising a sensor assembly capable of producing an image of the received light, the depth sensing device being configured to transmit and receive near infra-red light beams during a time period that is different than any of the other of two or more transmitter-receiver pairs of devices in communication with the depth sensing device.
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Citations
30 Claims
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1. A depth sensing device for capturing an image containing depth information of a scene and for use in a depth sensing system that includes at least one other depth sensing device, comprising:
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a transmitter capable of projecting light on a scene, the transmitter comprising a laser capable of producing a light beam including a series of laser pulses, each pulse having a pulse length and the series of pulses produced at a pulse frequency, and a receiver coupled to the transmitter at a known relative orientation, the receiver comprising a shutter and a sensor assembly capable of producing an image based on sensing light projected by the transmitter and reflected from the scene; and a controller comprising a processor, the controller coupled to the transmitter and the receiver, the controller configured to determine the presence of light in the scene using the receiver, control the pulse length of the series of laser pulses, control when an exposure window begins during which the transmitter is activated to project light on the scene and activate the receiver to begin sensing light reflected from the scene, the beginning of the exposure window and the pulse length controlled based on the determined presence of the light on the scene from the at least one other depth sensing device so the exposure window is temporally different from when any other of the at least one other depth sensing devices in the system is illuminating the scene. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method operative on a depth sensing device for capturing an image containing depth information of a scene in a depth sensing system that includes at least two depth sensing devices, the method comprising:
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detecting light reflected from a scene using a sensor, the light indicative of the scene being illuminated by a depth sensing device; if light from the scene is not detected, activating a transmitter of the depth sensing device to project light on the scene during an exposure window, and activating a shutter of the depth sensing device to capture information from the reflection of the light during the exposure window, the projected light including a series of pulses having a pulse length and a pulse frequency; if light from the scene is detected, adjusting a shutter of the depth sensing device to a detected laser pulse length, and again sensing light from the scene; if light is again detected, delaying the start of an exposure window during which the transmitter of the depth sensing device projects light on the scene the shutter of the depth sensing device captures information from the reflection of the light from the scene, and iteratively repeating sensing if light is present on the scene and delaying the start of an exposure window until light is not detected; and if light from the scene is not detected, activating the transmitter and the receiver for the exposure window, projecting light on the scene in a series of pulses, the series of pulses having a pulse frequency and each pulse having a pulse length, and detecting light projected light from the scene using the receiver. - View Dependent Claims (11, 12, 13, 14, 15, 16)
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17. A depth sensing device for capturing an image containing depth information of a scene and for use in a depth sensing system that includes at least one other depth sensing device, comprising:
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means for projecting light on a scene, the light projecting means configured to produce a laser light beam including a series of laser pulses, each pulse having a pulse length and the series of pulses produced at a pulse frequency, and means for receiving light coupled to the projecting means at a known relative orientation, the light receiving means configured to produce an image based on detecting light projected by the light projecting means and reflected from the scene; and means for controlling coupled to the projecting means and the light receiving means, the controlling means configured to determine the presence of light in the scene using the light receiving means, control the pulse length of the series of laser pulses, control when an exposure window begins during which the light projecting means is activated to project light on the scene and activate the light receiving means to begin sensing light reflected from the scene, the beginning of the exposure window and the pulse length controlled based on the determined presence of the light on the scene from the at least one other depth sensing device so the exposure window is temporally different from when any other of the at least one other depth sensing devices in the system is illuminating the scene. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28)
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29. A computer readable medium containing non-transient instructions that control at least one processor to execute the instructions, the method comprising:
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detecting light reflected from a scene using a sensor, the light indicative of the scene being illuminated by a depth sensing device; if light from the scene is not detected, activating a transmitter of the depth sensing device to project light on the scene during an exposure window, and activating a shutter of the depth sensing device to capture information from the reflection of the light during the exposure time, the projected light including a series of pulses having a pulse length and a pulse frequency; if light from the scene is detected, adjusting a shutter of the depth sensing device to a detected laser pulse length, and again sensing light from the scene; if light is again detected, delaying the start of an exposure window during which the transmitter of the depth sensing device projects light on the scene the shutter of the depth sensing device captures information from the reflection of the light from the scene, and iteratively repeating sensing if light is present on the scene and delaying the start of an exposure window until light is not detected; and if light from the scene is not detected, activating the transmitter and the receiver for the exposure window, projecting light on the scene in a series of pulses, the series of pulses having a pulse frequency and each pulse having a pulse length, and detecting light projected light from the scene using the receiver. - View Dependent Claims (30)
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Specification