Systems and methods for improved depth sensing

A method of capturing an image with an imaging device, comprising:

• generating, using a first light emitter, a first structured light pattern, focused at a first distance and having a first depth of field, onto a scene;
• focusing, via an electronic hardware processor, an imaging sensor within the first depth of field at the first distance to capture a first image representing the scene illuminated by the first structured light pattern;
• generating, using a second light emitter, a second structured light pattern focused at a second distance and having a second depth of field, wherein the second depth of field is wider than the first depth of field, the second distance is different than the first distance, and the second structured light pattern is generated after generating the first structured light pattern;
• focusing the imaging sensor within the second depth of field at the second distance to capture a second image representing the scene illuminated by the second structured light pattern;
• and
• generating, using the electronic hardware processor, a depth map of the scene based on the first image and the second image.

A non-transitory computer readable storage medium comprising instructions that when executed cause a processor to perform a method of capturing an image with an imaging device, the method comprising:

• generating, using a first light emitter, a first structured light pattern, focused at a first distance and having a first depth of field, onto a scene;
• focusing, via an electronic hardware processor an imaging sensor within the first depth of field at the first distance to capture a first image representing the scene illuminated by the first structured light pattern;
• generating, using a second light emitter, a second structured light pattern focused at a second distance and having a second depth of field, wherein the second depth of field is wider than the first depth of field the second distance is different than the first distance, and the second structured light pattern is generated after generating the first structured light pattern;
• focusing the imaging sensor within the second depth of field at the second distance to capture a second image representing the scene illuminated by the second structured light pattern;
• and
• generating, using the electronic hardware processor, a depth map of the scene based on the first image and the second image.