Ultrasonic depth imaging
First Claim
Patent Images
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.
2 Assignments
0 Petitions
Accused Products
Abstract
Examples are disclosed herein that relate to depth imaging techniques using ultrasound One example provides an ultrasonic depth sensing system configured to, for an image frame, emit an ultrasonic pulse from each of a plurality of transducers, receive a reflection of each ultrasonic pulse at a microphone array, perform transmit beamforming and also receive beamforming computationally after receiving the reflections, form a depth image, and output the depth image for the image frame.
-
Citations
19 Claims
-
1. An ultrasonic depth sensing system configured to output a depth image, the ultrasonic depth sensing system comprising
a 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. - View Dependent Claims (2, 3, 4, 5, 6, 7)
-
-
8. A method of ultrasonic depth sensing, comprising:
for an image frame, emitting an ultrasonic pulse from each of a plurality of transducers; for each ultrasonic pulse, receiving a reflection of the ultrasonic pulse at a microphone array; performing receive beamforming to detect one or more echoes from a direction determined by the receive beamforming; for a selected echo of the one or more echoes, performing sound source localization using a reflection corresponding to the selected echo; comparing a direction determined by the sound source localization to the direction determined by the receive beamforming; 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 outputting the depth image for the image frame. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16)
-
17. A method of ultrasonic depth sensing, comprising:
for an image frame, emitting an ultrasonic pulse from each of a plurality of transducers; for each ultrasonic pulse, receiving a reflection of the ultrasonic pulse at a microphone array; performing transmit beamforming after receiving the reflection of all ultrasonic pulses for the image frame at the microphone array; performing receive beamforming to detect one or more echoes from a direction of the receive beamforming; for a selected echo of the one or more echoes, performing sound source localization using a reflection corresponding to the selected echo; comparing a direction determined by the sound source localization to the direction of the receive beamforming; 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 of the receive beamforming; not assigning the depth value to the pixel if the direction determined by the sound source localization is not within the threshold distance of the direction of the receive beamforming; and outputting the depth image for the image frame. - View Dependent Claims (18, 19)
Specification