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Ultrasonic depth imaging

  • US 9,945,946 B2
  • Filed: 09/11/2014
  • Issued: 04/17/2018
  • Est. Priority Date: 09/11/2014
  • Status: Active Grant
First Claim
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1. An ultrasonic depth sensing system configured to output a depth image, the ultrasonic depth sensing system comprisinga transducer array comprising a plurality of transducers;

  • a microphone array comprising a plurality of microphones; and

    a computing device comprising a logic subsystem and a storage subsystem including instructions executable by the logic subsystem to control the ultrasonic depth sensing system to,for an image frame,emit an ultrasonic pulse from each of a plurality of transducers,for each ultrasonic pulse, receive a reflection of the ultrasonic pulse at a microphone array, wherein receiving the reflection comprises receiving one or more echoes corresponding to the reflection,perform transmit beamforming and receive beamforming computationally after receiving the reflections,form the depth image based upon echoes detected by the receive beamforming, wherein forming the depth image comprises, for a selected echo, performing sound source localization and comparing a direction determined by the sound source localization to a direction of the receive beamforming, and assigning a depth value determined for the selected echo to a pixel of a depth image if the direction determined by the sound source localization is within a threshold distance of the direction determined by the receive beamforming; and

    output the depth image for the image frame.

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