Plural detector time-of-flight depth mapping
First Claim
Patent Images
1. A depth-mapping method comprising:
- directing modulated infrared or near-infrared illumination onto a scene;
exposing first and second detectors oriented along different optical axes to light dispersed from the scene;
for each of a series of candidate depths into the scene, mapping a pixel of the first detector to 3D coordinates having the candidate depth, reverse mapping the 3D coordinates to a candidate pixel of the second detector, and computing a depth based on an integrated response from the pixel of the first detector versus the candidate pixel of the second detector, the computed depth increasing with an increasing amount of light received at the pixel of the first detector during a first period and decreasing with an increasing amount of light received at the candidate pixel of the second detector during a second period;
for each of the series of candidate depths, assessing agreement between the candidate depth and the corresponding computed depth; and
furnishing an output associated with the pixel of the first detector, the output based on the computed depth of closest agreement to the corresponding candidate depth.
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Abstract
A depth-mapping method comprises exposing first and second detectors oriented along different optical axes to light dispersed from a scene, and furnishing an output responsive to a depth coordinate of a locus of the scene. The output increases with an increasing first amount of light received by the first detector during a first period, and decreases with an increasing second amount of light received by the second detector during a second period different than the first.
197 Citations
20 Claims
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1. A depth-mapping method comprising:
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directing modulated infrared or near-infrared illumination onto a scene; exposing first and second detectors oriented along different optical axes to light dispersed from the scene; for each of a series of candidate depths into the scene, mapping a pixel of the first detector to 3D coordinates having the candidate depth, reverse mapping the 3D coordinates to a candidate pixel of the second detector, and computing a depth based on an integrated response from the pixel of the first detector versus the candidate pixel of the second detector, the computed depth increasing with an increasing amount of light received at the pixel of the first detector during a first period and decreasing with an increasing amount of light received at the candidate pixel of the second detector during a second period; for each of the series of candidate depths, assessing agreement between the candidate depth and the corresponding computed depth; and furnishing an output associated with the pixel of the first detector, the output based on the computed depth of closest agreement to the corresponding candidate depth. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 19, 20)
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13. A vision system comprising:
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a modulated illumination source configured to illuminate a scene using modulated infrared or near-infrared illumination; first and second detectors oriented along different optical axes and arranged to detect light dispersed from the scene, such light including the modulated infrared or near- infrared illumination reflected back from the scene, with wavelength-responsiveness of the first and second detectors limited substantially to the modulated infrared or near-infrared illumination; a controller operatively coupled to the first and second detectors and to a source, and configured to; for each of a series of candidate depths into the scene, map a pixel of the first detector to 3D coordinates having the candidate depth, reverse map the 3D coordinates to a candidate pixel of the second detector, and compute a depth based on an integrated response from the pixel of the first detector versus the candidate pixel of the second detector, the computed depth increasing with an increasing amount of light received at the pixel of the first detector during a first period and decreasing with an increasing amount of light received at the candidate pixel of the second detector during a second period; for each of the series of candidate depths, assess agreement between the candidate depth and the corresponding computed depth; and furnish an output associated with the pixel of the first detector, the output based on the computed depth of closest agreement to the corresponding candidate depth. - View Dependent Claims (14, 15, 16)
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17. A depth-mapping method comprising:
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directing pulsed infrared or near-infrared illumination to a scene, the scene including a plurality of loci; exposing first and second detectors oriented along different optical axes to light dispersed from the scene, such light including the pulsed infrared or near-infrared illumination reflected back from the scene, with wavelength-responsiveness of the first and second detectors limited substantially to the modulated infrared or near-infrared illumination; forming a first image of the scene at a first detector and a second image of the scene at a second detector, the first and second images each comprising a rectangular array of pixels; for each of a series of candidate depths into the scene, mapping a pixel of the first detector to 3D coordinates having the candidate depth, reverse mapping the 3D coordinates to a candidate pixel of the second detector, and computing a depth based on an integrated response from the pixel of the first detector versus the candidate pixel of the second detector, the computed depth increasing with an increasing amount of light received at the pixel of the first detector during a first period and decreasing with an increasing amount of light received at the candidate pixel of the second detector during a second period; for each of the series of candidate depths, assessing agreement between the candidate depth and a corresponding computed depth; and furnishing an output associated with the pixel of the first detector, the output based on the computed depth of closest agreement to the corresponding candidate depth. - View Dependent Claims (18)
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Specification