Using a depth map of a monitored scene to identify floors, walls, and ceilings
First Claim
1. A camera device, comprising:
- a memory configured to store information;
a lens assembly arranged to direct light from a scene;
a plurality of image sensing elements configured to receive light from the scene via the lens assembly;
a plurality of infrared illuminators configured to transmit infrared light; and
a processor, coupled to the plurality of image sensing elements and the plurality of infrared illuminators and configured to;
operate the plurality of infrared illuminators and the image sensing element in a first mode whereby infrared light transmitted by the plurality of infrared illuminators and reflected from the scene is used to generate a two-dimensional image of the scene; and
operate the plurality of infrared illuminators and the image sensing element in a second mode, including;
sequentially activating a plurality of distinct subsets of the illuminators, each subset illuminating a different portion of the scene;
for each subset of illuminators, measuring an intensity of reflected light from the scene for each image sensing element of the plurality of image sensing elements;
for each image sensing element;
generating a light intensity vector based on the measured intensities for the element, wherein the light intensity vector has a component corresponding to each subset of illuminators; and
estimating a depth in the scene using the light intensity vector and a lookup table; and
identifying a planar surface in the scene using the estimated depths.
1 Assignment
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Accused Products
Abstract
A camera system includes memory, a lens assembly to direct light from a scene onto an image sensing element, an image sensing element configured to receive light from the scene via the lens assembly, at least one infrared illuminator configured to transmit infrared light, and a processor, coupled to the image sensing element and the at least one infrared illuminator. The processor is configured to operate the illuminators and the image sensing element in a first mode whereby infrared light transmitted by the illuminators and reflected from the scene is used to generate a two-dimensional image of the scene. The processor is also configured to operate the illuminators and the image sensing element in a second mode whereby infrared light transmitted by the illuminators and reflected from the scene is used to identify a planar surface in the scene.
155 Citations
20 Claims
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1. A camera device, comprising:
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a memory configured to store information; a lens assembly arranged to direct light from a scene; a plurality of image sensing elements configured to receive light from the scene via the lens assembly; a plurality of infrared illuminators configured to transmit infrared light; and a processor, coupled to the plurality of image sensing elements and the plurality of infrared illuminators and configured to; operate the plurality of infrared illuminators and the image sensing element in a first mode whereby infrared light transmitted by the plurality of infrared illuminators and reflected from the scene is used to generate a two-dimensional image of the scene; and operate the plurality of infrared illuminators and the image sensing element in a second mode, including; sequentially activating a plurality of distinct subsets of the illuminators, each subset illuminating a different portion of the scene; for each subset of illuminators, measuring an intensity of reflected light from the scene for each image sensing element of the plurality of image sensing elements; for each image sensing element; generating a light intensity vector based on the measured intensities for the element, wherein the light intensity vector has a component corresponding to each subset of illuminators; and estimating a depth in the scene using the light intensity vector and a lookup table; and identifying a planar surface in the scene using the estimated depths. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method, comprising:
at a camera device having a memory configured to store information, a lens assembly arranged to direct light from a scene, a plurality of image sensing elements configured to receive light from the scene via the lens assembly, a plurality of infrared illuminators configured to transmit infrared light, and a processor, coupled to the plurality of image sensing elements and the plurality of infrared illuminators; operating the plurality of infrared illuminators and the image sensing element in a first mode whereby infrared light transmitted by the plurality of infrared illuminators and reflected from the scene is used to generate a two-dimensional image of the scene; and operating the plurality of infrared illuminators and the image sensing element in a second mode, including; sequentially activating a plurality of distinct subsets of the illuminators, each subset illuminating a different portion of the scene; for each subset of illuminators, measuring an intensity of reflected light from the scene for each pixel of a plurality of pixels, wherein each pixel corresponds to one or more image sensing elements of the plurality of image sensing elements; for each pixel; generating a light intensity vector based on the measured intensities for the pixel, wherein the light intensity vector has a component corresponding to each subset of illuminators; and estimating a pixel depth in the scene using the light intensity vector and a lookup table; and identifying a planar surface in the scene using the estimated pixel depths. - View Dependent Claims (16, 17)
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18. A non-transitory computer-readable storage medium storing one or more programs configured for execution by a camera device having a memory configured to store information, a lens assembly arranged to direct light from a scene, plurality of image sensing elements configured to receive light from the scene via the lens assembly, a plurality of infrared illuminators configured to transmit infrared light, and a processor, coupled to the plurality of image sensing elements and the plurality of infrared illuminators, wherein the one or more programs comprise instructions for:
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operating the plurality of infrared illuminators and the image sensing element in a first mode whereby infrared light transmitted by the plurality of infrared illuminators and reflected from the scene is used to generate a two-dimensional image of the scene; and operating the plurality of infrared illuminators and the image sensing element in a second mode, including; sequentially activating a plurality of distinct subsets of the illuminators, each subset illuminating a different portion of the scene; for each subset of illuminators, measuring an intensity of reflected light from the scene for each pixel of a plurality of pixels, wherein each pixel corresponds to one or more image sensing elements of the plurality of image sensing elements; for each pixel; generating a light intensity vector based on the measured intensities for the pixel, wherein the light intensity vector has a component corresponding to each subset of illuminators; and estimating a pixel depth in the scene using the light intensity vector and a lookup table; and identifying a planar surface in the scene using the estimated pixel depths. - View Dependent Claims (19, 20)
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Specification