Real time position sensing of objects

• US 9,753,126 B2
• Filed: 12/19/2016
• Issued: 09/05/2017
• Est. Priority Date: 12/18/2015
• Status: Active Grant

• Current Assignee: Gerard Dirk Smits
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Smits, Gerard Dirk
• Primary Examiner(s): RATCLIFFE, LUKE D
• Application Number:
  US15/384,227
• Publication Number:
  US 20170176575A1
• Time in Patent Office: 260 Days
• CPC Class Codes: G01S 17/003 Bistatic lidar systems; Multistatic lidar systems
• CPC Class Codes: G01S 17/10 using transmission of interrupted, pulse-modulated waves determination of distance by phase measurements G01S17/32
• CPC Class Codes: G01S 17/48 Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
• CPC Class Codes: G01S 7/4808 Evaluating distance, position or velocity data
• CPC Class Codes: G01S 7/484 Transmitters

Abstract

Embodiments are directed toward measuring a three dimensional range to a target. A transmitter emits light toward the target. An aperture may receive light reflections from the target. The aperture may direct the reflections toward a sensor that comprises rows of pixels that have columns. The sensor is offset a predetermined distance from the transmitter. Anticipated arrival times of the reflections on the sensor are based on the departure times and the predetermined offset distance. A portion of the pixels are sequentially activated based on the anticipated arrival times. The target'"'"'s three dimensional range measurement is based on the reflections detected by the portion of the pixels.

Claims

1. A method for measuring a three dimensional range to a target, comprising:

emitting, by a transmitter, light toward the target;

receiving, by an aperture, one or more reflections of the light from the target;

directing, by the aperture, the one or more reflections toward a sensor that comprises a plurality of pixels arranged in one or more rows having a plurality of columns, wherein the sensor is positioned at a location that is offset by a predetermined distance from another location of the transmitter;

determining, by the one or more processor devices, one or more departure times of the emitted light towards the target;

determining, by the one or more processor devices, one or more anticipated arrival times of the one or more light reflections on the sensor based on the one or more departure times and the predetermined offset distance;

sequentially activating, by the one or more processor devices, one or more portions of the plurality of pixels arranged in the one or more rows based on the one or more anticipated arrival times; and

employing a disparity for a first portion of the one or more rows of pixels that exceeds a disparity threshold to determine, by the one or more processor devices, that the range to the target is a particular distance based on the disparity for the first portion of the one or more rows of pixels, wherein the target'"'"'s three dimensional range measurement is based on the one or more light reflections detected by the one or more portions of the plurality of pixels.

2. The method of claim 1, further comprising:

determining, by the one or more processor devices, that the first portion of the one or more rows of pixels contains one or more pixels that indicate capture of the one or more light reflections; and

determining, by the one or more processor devices, that the range to the target is the particular distance based on the determined first portion of the one or more rows of pixels.

3. The method of claim 1, further comprising

determining, by the one or more processor devices, the disparity for the first portion of the one or more rows of pixels that indicate capture of the one or more reflections;

and

determining, by the one or more processor devices, that the range to the target is the particular distance based on the determined disparity for the first portion of the one or more pixel rows.

4. The method of claim 1, further comprising:

determining, by the one or more processor devices, that the first portion of the one or more rows of pixels contains one or more pixels that indicate capture of the one or more reflections;

determining, by the one or more processor devices, the disparity for the first portion of the one or more rows of pixels; and

comparing, by the one or more processor devices, the disparity for the first portion of the one or more rows of pixels to the disparity threshold.

5. The method of claim 1, further comprising:

when the disparity for the first portion of the one or more rows of pixels is below the disparity threshold, determining, by the one or more processor devices, a time of flight for the emitted light; and

determining, by the one or more processor devices, that the range to the target is the particular distance based on the determined time of flight for the emitted light.

6. The method of claim 1, further comprising:

when the disparity for the first portion of the one or more rows of pixels is below the disparity threshold, emitting, by the transmitter, one or more bursts of light;

determining, by the one or more processor devices, one or more times of flight of the one or more bursts of light based on the sensor indicating capture of one or more reflections of the one or more bursts of light; and

determining, by the one or more processor devices, that the range to the target is the particular distance based on the one or more determined times of flight of the one or more bursts of light.

7. The method of claim 1, further comprising:

transmitting, by the transmitter, temporally separate bursts of light, wherein each of the bursts includes light of a distinct color as compared to each other burst in the temporally separate bursts of light;

determining, by the one or more processor devices, for each respective one of the distinct colors, each portion of the one or more rows of pixels that contain one or more pixels that indicate capture of light having one or more of the distinct colors;

for each respective portion of the one or more pixel rows that contains one or more pixels that indicate capture of light of one or more of the distinct colors, determining, by the one or more processor devices, a respective disparity for the respective portion of the one or more rows of pixels; and

determining, by the one or more processor devices, that the range to the target is the particular distance based on the respective disparity for each respective portion of the one or more rows of pixels that contain one or more pixels that indicate capture of light having the one or more distinct colors.

8. A system to measure a three dimensional range to a target, comprising:

a transmitter that emits light toward the target;

an aperture that receives one or more reflections of the light from the target, wherein the aperture directs the one or more reflections toward a sensor;

a sensor that comprises a plurality of pixels arranged in one or more rows having a plurality of columns, wherein the sensor is positioned at a location that is offset by a predetermined distance from another location of the transmitter;

one or more memory devices that store instructions;

one or more processor devices that execute the stored instructions to perform actions, including;

determining one or more departure times of the emitted light towards the target;

determining one or more anticipated arrival times of the one or more light reflections on the sensor based on the one or more departure times and the predetermined offset distance;

sequentially activating one or more portions of the plurality of pixels arranged in the one or more rows based on the one or more anticipated arrival times; and

employing a disparity for a first portion of the one or more rows of pixels that exceeds a disparity threshold to determine that the range to the target is a particular distance based on the disparity for the first portion of the one or more rows of pixels, wherein the target'"'"'s three dimensional range measurement is based on the one or more light reflections detected by the one or more portions of the plurality of pixels.

9. The system of claim 8, further comprising:

determining that the first portion of the one or more rows of pixels contains one or more pixels that indicate capture of the one or more light reflections; and

determining that the range to the target is the particular distance based on the determined first portion of the one or more rows of pixels.

10. The system of claim 8, further comprising

determining the disparity for the first portion of the one or more rows of pixels that indicate capture of the one or more reflections;

and

determining that the range to the target is the particular distance based on the determined disparity for the first portion of the one or more pixel rows.

11. The system of claim 8, further comprising:

determining that the first portion of the one or more rows of pixels contains one or more pixels that indicate capture of the one or more reflections;

determining the disparity for the first portion of the one or more rows of pixels; and

comparing the disparity for the first portion of the one or more rows of pixels to the disparity threshold.

12. The system of claim 8, further comprising:

when the disparity for the first portion of the one or more rows of pixels is below the disparity threshold, determining a time of flight for the emitted light; and

determining that the range to the target is the particular distance based on the determined time of flight for the emitted light.

13. The system of claim 8, further comprising:

when the disparity for the first portion of the one or more rows of pixels is below the disparity threshold, emitting one or more bursts of light;

determining one or more times of flight of the one or more bursts of light based on the sensor indicating capture of one or more reflections of the one or more bursts of light; and

determining that the range to the target is the particular distance based on the one or more determined times of flight of the one or more bursts of light.

14. The system of claim 8, further comprising:

transmitting temporally separate bursts of light, wherein each of the bursts includes light of a distinct color as compared to each other burst in the temporally separate bursts of light;

determining, for each respective one of the distinct colors, each portion of the one or more rows of pixels that contain one or more pixels that indicate capture of light having one or more of the distinct colors;

for each respective portion of the one or more pixel rows that contains one or more pixels that indicate capture of light of one or more of the distinct colors, determining a respective disparity for the respective portion of the one or more rows of pixels; and

determining that the range to the target is the particular distance based on the respective disparity for each respective portion of the one or more rows of pixels that contain one or more pixels that indicate capture of light having the one or more distinct colors.

15. A non-transitory processor readable storage media that includes instructions for measuring a three dimensional range to a target, wherein execution of the instructions by one or more processor devices cause the one or more processor devices to perform actions, comprising:

emitting, by a transmitter, light toward the target;

receiving, by an aperture, one or more reflections of the light from the target;

directing, by the aperture, the one or more reflections toward a sensor that comprises a plurality of pixels arranged in one or more rows having a plurality of columns, wherein the sensor is positioned at a location that is offset by a predetermined distance from another location of the transmitter;

determining, by the one or more processor devices, one or more departure times of the emitted light towards the target;

determining, by the one or more processor devices, one or more anticipated arrival times of the one or more light reflections on the sensor based on the one or more departure times and the predetermined offset distance;

sequentially activating, by the one or more processor devices, one or more portions of the plurality of pixels arranged in the one or more rows based on the one or more anticipated arrival times; and

employing a disparity for a first portion of the one or more rows of pixels that exceeds a disparity threshold to determine, by the one or more processor devices, that the range to the target is a particular distance based on the disparity for the first portion of the one or more rows of pixels, wherein the target'"'"'s three dimensional range measurement is based on the one or more light reflections detected by the one or more portions of the plurality of pixels.

16. The media of claim 15, further comprising:

determining, by the one or more processor devices, that the first portion of the one or more rows of pixels contains one or more pixels that indicate capture of the one or more light reflections; and

determining, by the one or more processor devices, that the range to the target is the particular distance based on the determined first portion of the one or more rows of pixels.

17. The media of claim 15, further comprising

determining, by the one or more processor devices, the disparity for the first portion of the one or more rows of pixels that indicate capture of the one or more reflections;

and

determining, by the one or more processor devices, that the range to the target is the particular distance based on the determined disparity for the first portion of the one or more pixel rows.

18. The media of claim 15, further comprising:

transmitting, by the transmitter, temporally separate bursts of light, wherein each of the bursts includes light of a distinct color as compared to each other burst in the temporally separate bursts of light;

determining, by the one or more processor devices, for each respective one of the distinct colors, each portion of the one or more rows of pixels that contain one or more pixels that indicate capture of light having one or more of the distinct colors;

for each respective portion of the one or more pixel rows that contains one or more pixels that indicate capture of light of one or more of the distinct colors, determining, by the one or more processor devices, a respective disparity for the respective portion of the one or more rows of pixels; and

determining, by the one or more processor devices, that the range to the target is the particular distance based on the respective disparity for each respective portion of the one or more rows of pixels that contain one or more pixels that indicate capture of light having the one or more distinct colors.