Encoding data in depth patterns
First Claim
Patent Images
1. A depth imaging system, comprising:
- a depth camera input to receive a depth map representing an observed scene optically imaged by a depth camera, the depth map including a depth value for each pixel in a two-dimensional matrix of pixels, each depth value representing a distance from the depth camera to a surface that is optically imaged by the depth camera for a corresponding pixel in the two-dimensional matrix of pixels, the depth camera including an infrared transmitter and an infrared image sensor configured to measure a time-of-flight of infrared light transmitted from the infrared transmitter and reflected back to the infrared image sensor for each pixel in the two-dimensional matrix of pixels, the depth camera further comprising visible light imaging sensors configured to measure visible ambient light reflected to the visible light imaging sensors for each pixel in the two dimensional matrix of pixels;
a tag identification module to identify a 3D tag imaged by the depth camera and represented in the depth map, the 3D tag comprising one or more depth features, each of the one or more depth features comprising one or more characteristics recognizable by the depth camera; and
a tag decoding module to translate the one or more depth features into machine-readable data.
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Abstract
A depth imaging system comprises a depth camera input to receive a depth map representing an observed scene imaged by a depth camera, the depth map including a plurality of pixels and a depth value for each of the plurality of pixels. The depth imaging system further comprises a tag identification module to identify a 3D tag imaged by the depth camera and represented in the depth map, the 3D tag comprising one or more depth features, each of the one or more depth features comprising one or more characteristics recognizable by the depth camera. The depth imaging system further comprises a tag decoding module to translate the one or more depth features into machine-readable data.
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Citations
18 Claims
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1. A depth imaging system, comprising:
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a depth camera input to receive a depth map representing an observed scene optically imaged by a depth camera, the depth map including a depth value for each pixel in a two-dimensional matrix of pixels, each depth value representing a distance from the depth camera to a surface that is optically imaged by the depth camera for a corresponding pixel in the two-dimensional matrix of pixels, the depth camera including an infrared transmitter and an infrared image sensor configured to measure a time-of-flight of infrared light transmitted from the infrared transmitter and reflected back to the infrared image sensor for each pixel in the two-dimensional matrix of pixels, the depth camera further comprising visible light imaging sensors configured to measure visible ambient light reflected to the visible light imaging sensors for each pixel in the two dimensional matrix of pixels; a tag identification module to identify a 3D tag imaged by the depth camera and represented in the depth map, the 3D tag comprising one or more depth features, each of the one or more depth features comprising one or more characteristics recognizable by the depth camera; and a tag decoding module to translate the one or more depth features into machine-readable data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A depth imaging system, comprising:
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a depth camera input to receive a depth map representing an observed scene optically imaged by a depth camera, the depth map including a depth value for each pixel in a two-dimensional matrix of pixels, each depth value representing a distance from the depth camera to a surface that is optically imaged by the depth camera for a corresponding pixel in the two-dimensional matrix of pixels, the depth camera including an infrared transmitter and an infrared image sensor configured to measure a time-of-flight of infrared light transmitted from the infrared transmitter and reflected back to the infrared image sensor for each pixel in the two-dimensional matrix of pixels, the depth camera further comprising visible light imaging sensors configured to measure visible ambient light reflected to the visible light imaging sensors for each pixel in the two dimensional matrix of pixels; a tag identification module to identify a 3D tag imaged by the depth camera and represented in the depth map, the 3D tag comprising one or more depth features comprising one or more depth gradients; and a tag decoding module to translate the one or more depth gradients into machine-readable data. - View Dependent Claims (10, 11)
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12. A 3D tag, comprising:
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a two-dimensional matrix of distinguishable depth features including one or more characteristics optically depth-readable by a depth camera, the two-dimensional matrix of distinguishable depth features collectively encoding information that is not human readable; and a visible light image separate from and overlaying at least a portion of the two-dimensional matrix of distinguishable depth features, wherein the visible light image includes; a plurality of distinguishable 2D features configured to be read by a visible light camera, and at least a subset of the information encoded by the plurality of distinguishable depth features, wherein the visible light image does not interfere with optical depth-reading of the two-dimensional matrix of distinguishable depth features by the depth camera. - View Dependent Claims (13, 14, 15, 16, 17, 18)
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Specification