# US 10,872,461 B2 · Method and device for obtaining 3D images > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,872,461 B2 - Document ID: US10872461B2 - Status: Granted - Kind: B2 - Application number: 16/244,486 - Filed: 2019-01-10 - Published: 2020-03-05 - Granted: 2020-12-22 - Earliest claimed: 2018-08-31 - Assignees: Samsung Electronics Co., Ltd. - Applicants: Samsung Electronics Co., Ltd. - Inventors: Andrii But; Ivan Safonov; Konstantin Morozov; Ruslan Iermolenko; Yaroslav Lavrenyuk - Web page: https://patentgrep.com/patent/US10872461B2 ## CPC - G06T 7/521: from laser ranging, e.g. using interferometry; from the projection of structured light - G06T 15/10: Geometric effects - G01S 17/08: for measuring distance only (indirect measurement G01S17/46; active triangulation systems G01S17/48) - G01S 17/48: Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves - G01S 17/89: for mapping or imaging - G06T 7/11: Region-based segmentation - G06T 7/596: {from three or more stereo images} - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract A method and device are provided for obtaining a 3D image. The method includes sequentially projecting a plurality of beams to an object, each of the plurality of projected beams corresponding to a respective one of a plurality of sectors included in a pattern; detecting a plurality of beams reflected off of the object corresponding to the plurality of projected beams; identifying time-of-flight (ToF) of each of the plurality of projected beams based on the plurality of detected beams; identifying a distortion of the pattern, which is caused by the object, based on the plurality of detected beams; and generating a depth map for the object based on the distortion of the pattern and the ToF of each of the plurality of projected beams, wherein the plurality of detected beams are commonly used to identify the ToF and the distortion of the pattern. ## Claims ### Claim 1 A method for obtaining a three-dimensional (3D) image by a device including a beam projector and a beam detector, the method comprising: sequentially projecting, from the beam projector, a plurality of beams to an object, wherein each of the plurality of beams is modulated based on a corresponding one of a plurality of sectors included in a pattern, and is projected; detecting, by the beam detector, a plurality of beams reflected off of the object corresponding to the plurality of projected beams; identifying time-of-flight (ToF) of each of the plurality of projected beams based on the plurality of detected beams; identifying a distortion of the pattern, which is caused by the object, based on the plurality of detected beams; and generating a depth map for the object based on the distortion of the pattern and the To of each of the plurality of projected beams, wherein the plurality of detected beams are commonly used to identify the To and the distortion of the pattern. ### Claim 2 (depends on 1) The method of claim 1, wherein generating the depth map comprises: generating a first depth map based on the identified ToF; generating a second depth map based on the identified distortion of the pattern; and generating the depth map based on the first depth map and the second depth map. ### Claim 3 (depends on 1) The method of claim 1, wherein identifying the distortion of the pattern comprises: obtaining a reflected pattern by the object based on the plurality of detected beams; comparing the reflected pattern with the pattern; and identifying the distortion of the pattern based on a result of the comparing. ### Claim 4 (depends on 1) The method of claim 1, wherein the plurality of sectors include a first sector corresponding to a first resolution, and a second sector corresponding to a second resolution, which is higher than the first resolution, wherein a first beam corresponding to the first sector is projected according to a first period, and a second beam corresponding to the second sector is projected according to a second period, and wherein the second period is shorter than the first period. ### Claim 5 (depends on 4) The method of claim 4, wherein the second sector corresponds to a region of interest (ROI). ### Claim 6 (depends on 1) The method of claim 1, wherein the plurality of detected beams are detected in synchronization with sequential projection of the plurality of projected beams, based on a sync signal. ### Claim 7 (depends on 6) The method of claim 6, wherein the plurality of sectors include a first sector corresponding to a first resolution and a second sector corresponding to a second resolution, which is higher than the first resolution, wherein upon projecting a first beam corresponding to the first sector, the sync signal has a first frequency, and upon projecting a second beam corresponding to the second sector, the sync signal has a second frequency, and wherein the first frequency is lower than the second frequency. ### Claim 8 (depends on 1) The method of claim 1, further comprising generating the pattern by modifying an original pattern, wherein modifying the original pattern comprises at least one of shifting the original pattern, modifying a resolution of all of the original pattern, or modifying a resolution of part of the original pattern. ### Claim 9 (depends on 1) The method of claim 1, wherein the plurality of sectors include a first sector and a second sector, and wherein a first beam projected corresponding to the first sector and a second beam projected corresponding to the second sector are modulated differently. ### Claim 10 A device for obtaining a 3D image, the device comprising: a beam projector; a beam detector; and a controller configured to: control the beam projector sequentially project a plurality of beams to an object, wherein each of the plurality of beams is modulated based on a corresponding one of a plurality of sectors included in a pattern and is projected, detect, by the beam detector, a plurality of beams reflected off of the object corresponding to the plurality of projected beams, identify time-of-flight (ToF) of each of the plurality of projected beams based on the plurality of detected beams, identify a distortion of the pattern, which is caused by the object, based on the plurality of detected beams, and generate a depth map for the object based on the distortion of the pattern and the ToF of each of the plurality of projected beams, wherein the plurality of detected beams are commonly used to identify the ToF and the distortion of the pattern. ### Claim 11 (depends on 10) The device of claim 10, wherein the controller is further configured to: generate a first depth map based on the identified ToF, generate a second depth map based on the identified distortion of the pattern, and generate the depth map based on the first depth map and the second depth map. ### Claim 12 (depends on 10) The device of claim 10, wherein the controller is further configured to identify the distortion of the pattern by obtaining a reflected pattern based on the plurality of detected beams, comparing the reflected pattern with the pattern, and identifying the distortion of the pattern based on a result of the comparing. ### Claim 13 (depends on 10) The device of claim 10, wherein the plurality of sectors include a first sector corresponding to a first resolution, and a sector corresponding to a second resolution, which is higher than the first resolution, wherein a first beam corresponding to the first sector is projected according to a first period, and a second beam corresponding to the second sector is projected in a second period, and wherein the second period is shorter than the first period. ### Claim 14 (depends on 13) The device of claim 13, wherein the second sector corresponds to a region of interest (ROI). ### Claim 15 (depends on 10) The device of claim 10, wherein the plurality of detected beams are detected in synchronization with the projection of the plurality of projected beams, based on a sync signal. ### Claim 16 (depends on 15) The device of claim 15, wherein the plurality of sectors include a first sector corresponding to a first resolution and a second sector corresponding to a second resolution, which is higher than the first resolution, wherein upon projecting a first beam corresponding to the first sector, the sync signal has a first frequency, and upon projecting a second beam corresponding to the second sector, the sync signal has a second frequency, and wherein the first frequency is lower than the second frequency. ### Claim 17 (depends on 10) The device of claim 10, wherein the controller is further configured to generate the pattern by modifying an original pattern, and wherein modifying the original pattern comprises at least one of shifting the original pattern, modifying a resolution of all of the original pattern, or modifying a resolution of part of the original pattern. ### Claim 18 (depends on 10) The device of claim 10, wherein the plurality of sectors include a first sector and a second sector, and wherein a first beam projected corresponding to the first sector and a second beam projected corresponding to the second sector are modulated differently.