Deformation Detection and Automatic Calibration for a Depth Imaging System
First Claim
1. A depth imaging device comprising:
- a light projector that, when in operation, emits light corresponding to a projected pattern image having a plurality of features with known illumination pattern in the projected image;
a camera that, when in operation, captures the light after reflection of the light by an environment of the depth imaging device and generates a reflected pattern image as a two-dimensional (2D) projection of the environment, the reflected pattern image including a plurality of features that correspond to the features of the projected image; and
a processor to detect a misalignment of a distance or an orientation between the light projector and the camera based on a relationship between the features in the projected image and the features in the reflected pattern image.
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Accused Products
Abstract
Disclosed are an apparatus and a method for detecting deformation of a structured light depth imaging system and automatic re-calibration for the depth imaging system. In one embodiment, a depth imaging device includes a light projector, a camera and a processor. The light projector emits light corresponding to a projected pattern image having a plurality of features with known locations in the projected pattern image. The camera captures the light reflected by an environment of the depth imaging device and generates a reflected pattern image as a two-dimensional (2D) projection of the environment. The reflected pattern image includes a plurality of features that correspond to the features of the projected pattern image. The processor detects a misalignment for a distance or an orientation between the light projector and the camera based on a relationship between the features in the projected pattern image and the features in the reflected pattern image.
39 Citations
20 Claims
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1. A depth imaging device comprising:
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a light projector that, when in operation, emits light corresponding to a projected pattern image having a plurality of features with known illumination pattern in the projected image; a camera that, when in operation, captures the light after reflection of the light by an environment of the depth imaging device and generates a reflected pattern image as a two-dimensional (2D) projection of the environment, the reflected pattern image including a plurality of features that correspond to the features of the projected image; and a processor to detect a misalignment of a distance or an orientation between the light projector and the camera based on a relationship between the features in the projected image and the features in the reflected pattern image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method for detecting a deformation of a depth imaging device, the method comprising:
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emitting, by a light projector, light corresponding to a projected pattern image having a plurality of features with known locations in the projected pattern image; capturing, by a camera, the light reflected by environment of the depth imaging device; generating a reflected pattern image as a two-dimensional (2D) projection of the environment, the reflected pattern image including a plurality of features that correspond to the features of the projected pattern image; and detecting a misalignment for a distance or an orientation between the light projector and the camera based on a relationship between the features in the projected pattern image and the features in the reflected pattern image. - View Dependent Claims (13, 14, 15, 16, 17)
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18. A head-mounted display device comprising:
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a display that, when in operation, outputs an image to an eye of a user; a light projector that, when in operation, emits light corresponding to a projected pattern image having a plurality of features with known locations in the projected pattern image; a camera that, when in operation, captures the light after reflection of the light by an environment of the head-mounted display device and generates a reflected pattern image as a two-dimensional (2D) projection of the environment, the reflected pattern image including a plurality of features that correspond to the features of the projected pattern image; and a processor, when in operation, performs a calibration process to update a set of calibration parameters indicative of a distance or an orientation between the light projector and the camera based on a relationship between the features in the projected pattern image and the features in the reflected pattern image. - View Dependent Claims (19, 20)
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Specification