Low-power depth sensing using dynamic illumination

One or more computer-readable non-transitory storage media embodying software that is operable when executed to:

• compute a first depth map of a scene based on a first projected pattern, a first detected pattern, and relative positions of a camera and at least one projector,
• wherein the at least one projector is configured to project a plurality of projected patterns onto the scene, the projected patterns include the first projected pattern, and the first projected pattern comprises a plurality of first projected features, wherein the first projected pattern comprises a dense pattern, and
• wherein the camera is configured to capture a plurality of images comprising the first detected pattern, and the first detected pattern corresponds to a reflection of the first projected pattern;
• project, using the at least one projector, a second projected pattern comprising a plurality of second projected features onto a portion of the scene, wherein the second projected pattern comprises a sparse pattern as compared to the dense pattern;
• capture, using the camera, a second detected pattern corresponding to a reflection of the second projected pattern;
• compute a second depth map of the portion of the scene based on the second projected pattern, the second detected pattern, and the relative positions of the camera and the at least one projector;
• and
• update the first depth map of the scene based on the second depth map of the portion of the scene.

A method comprising:

• by a computing device, computing a first depth map of a scene based on a first projected pattern, a first detected pattern, and relative positions of a camera and at least one projector,
• wherein the at least one projector is configured to project a plurality of projected patterns onto the scene, the projected patterns include the first projected pattern, and the first projected pattern comprises a plurality of first projected features, wherein the first projected pattern comprises a dense pattern, and
• wherein the camera is configured to capture a plurality of images comprising the first detected pattern, and the first detected pattern corresponds to a reflection of the first projected pattern;
• by the computing device, projecting, using the at least one projector, a second projected pattern comprising a plurality of second projected features onto a portion of the scene, wherein the second projected pattern comprises a sparse pattern as compared to the dense pattern;
• by the computing device, capturing, using the camera, a second detected pattern corresponding to a reflection of the second projected pattern;
• by the computing device, computing a second depth map of the portion of the scene based on the second projected pattern, the second detected pattern, and the relative positions of the camera and the at least one projector;
• and
• by the computing device, updating the first depth map of the scene based on the second depth map of the portion of the scene.