# US 10,771,768 B2 · Systems and methods for improved depth sensing > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,771,768 B2 - Document ID: US10771768B2 - Status: Granted - Kind: B2 - Application number: 15/380,745 - Filed: 2016-12-15 - Published: 2018-06-21 - Granted: 2020-09-08 - Earliest claimed: 2016-12-15 - Assignees: QUALCOMM Incorporated - Applicants: QUALCOMM Incorporated - Inventors: Kalin Atanassov; Sergiu Goma; Stephen Michael Verrall - Web page: https://patentgrep.com/patent/US10771768B2 ## CPC - H04N 13/271: wherein the generated image signals comprise depth maps or disparity maps - G06T 7/521: from laser ranging, e.g. using interferometry; from the projection of structured light - H04N 5/907: using static stores, e.g. storage tubes or semiconductor memories (H04N5/91 takes precedence) - H04N 13/254: in combination with electromagnetic radiation sources for illuminating objects - H04N 13/296: Synchronisation thereof; Control thereof - G06T 2207/10028: Range image; Depth image; 3D point clouds - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract Methods and systems disclosed provide improved depth sensing for an imaging device. In some aspects, a plurality of transmitters including a first transmitter are configured to generate a structured light pattern with a first depth of field at a first resolution and a second structured light pattern with a second depth of field at the first resolution, wherein the second depth of field is wider than the first depth of field. A receiver, such as an imaging sensor, is configured to focus within the first depth of field to receive the first structured light pattern and capture a first image representing the first structured light pattern and to focus within the second depth of field to receive the second structured light pattern and capture a second image representing the second structured light pattern. An electronic hardware processor is configured to generate a depth map of the scene based on the first image and the second image. ## Claims ### Claim 1 An imaging device comprising: a plurality of transmitters including: a first transmitter configured to transmit a first structured light pattern focused at a first distance and having a first depth of field; and a second transmitter configured to transmit 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 transmitted after transmitting the first structured light pattern; a receiver configured to: focus within the first depth of field at the first distance to capture a first image of a scene, the first image representing the first structured light pattern; and focus within the second depth of field at the second distance to capture a second image of the scene, the second image representing the second structured light pattern; and an electronic hardware processor configured to generate a depth map of the scene based on the first image and the second image. ### Claim 2 (depends on 1) The imaging device of claim 1, wherein the electronic hardware processor is further configured to adjust image capture parameters of a third image based on the generated depth map, and to capture the third image using the image capture parameters. ### Claim 3 (depends on 2) The imaging device of claim 2, wherein the electronic hardware processor is configured to adjust one or more of an aperture, shutter speed, or illumination parameter of the third image based on the depth map. ### Claim 4 (depends on 2) The imaging device of claim 2, wherein the electronic hardware processor is further configured to store one or more of the depth map and the third image to a stable storage. ### Claim 5 (depends on 1) The imaging device of claim 1, wherein the first transmitter is configured to generate the first structured light pattern to have a first maximum resolution at the first distance from the imaging device and the second transmitter is configured to generate the second structured light pattern to have a second maximum resolution lower than the first structured light pattern at the second distance from the imaging device. ### Claim 6 (depends on 1) The imaging device of claim 1, wherein the first depth of field overlaps with the second depth of field. ### Claim 7 (depends on 6) The imaging device of claim 6, wherein the first depth of field is contained within the second depth of field. ### Claim 8 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. ### Claim 9 (depends on 8) The method of claim 8, further comprising: determining image capture parameters based on the depth map; adjusting one or more of an aperture, shutter speed, or illumination parameter to capture a third image based on the depth map; capturing, using the imaging sensor, the third image of the scene based on the image capture parameters; and storing the third image to a stable storage. ### Claim 10 (depends on 8) The method of claim 8, further comprising storing the depth map to a stable storage. ### Claim 11 (depends on 8) The method of claim 8, further comprising generating the first structured light pattern to have a first maximum resolution at the first distance from the imaging device and the second light emitter is configured to generate the second structured light pattern to have a second maximum resolution lower than the first structured light pattern at the second distance from the imaging device. ### Claim 12 (depends on 8) The method of claim 8, further comprising generating the first depth of field to overlap with the second depth of field. ### Claim 13 (depends on 12) The method of claim 12, further comprising generating the first depth of field to be contained within the second depth of field. ### Claim 14 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. ### Claim 15 (depends on 14) The non-transitory computer readable storage medium of claim 14, the method further comprising generating the first structured light pattern to have a first maximum resolution at the first distance from the imaging device and the second light emitter is configured to generate the second structured light pattern to have a second maximum resolution lower than the first structured light pattern at the second distance from the imaging device.