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US 11,057,608 B2Granted
Depth map generation in structured light system
AssigneeQUALCOMM Incorporated
InventorsJames Wilson Nash, Kalin Mitkov Atanassov
Life of this patent
Estimating the term…
Abstract
Techniques are disclosed for depth map generation in a structured light system where an optical transmitter is tilted relative to an optical receiver. The optical transmitter has a transmitter optical axis around which structured light spreads, and the optical receiver has a receiver optical axis around which a reflection of the structured light can be captured. The transmitter optical axis and the receiver optical axis intersect one another. A processing circuit compensates for the angle in the tilt in the reflected pattern to generate the depth map.
Claims25
A method of image processing, the method comprising:
- transmitting structured light, with an optical transmitter, the optical transmitter having a first angle of view relative to a transmitter optical axis;
- receiving, with an optical receiver, a reflection of the structured light, the optical receiver having a second angle of view relative to a receiver optical axis, wherein the optical transmitter is angled relative to the optical receiver so that the transmitter optical axis intersects the receiver optical axis forming an angle therebetween, and wherein a position of the optical transmitter relative to the optical receiver is constant;
- scaling, with processing circuitry, a position of an element in the received reflection of the structured light that is received at the optical receiver, wherein scaling the position of the element in the received reflection comprises scaling the position of the element in the received reflection based on the angle of the optical transmitter relative to the optical receiver and a focal length of the optical receiver, and wherein the position of the element in the received reflection corresponds to a position of the element in the transmitted structured light;
- and
- generating a depth map for one or more images based at least on the scaled reflection.
2 more elements
A device for image processing, the device comprising:
- an optical transmitter configured to transmit structured light, the optical transmitter having a first angle of view relative to a transmitter optical axis;
- an optical receiver configured to receive a reflection of the structured light, the receiver having a second angle of view relative to a receiver optical axis, wherein the optical transmitter is angled relative to the optical receiver so that the transmitter optical axis intersects the receiver optical axis forming an angle therebetween, and wherein a position of the optical transmitter relative to the optical receiver is constant;
- and
- a processing circuit configured to:
- scale a position of an element in the received reflection of the structured light that is received at the optical receiver, wherein to scale the position of the element in the received reflection, the processing circuit is configured to scale the position of the element in the received reflection based on the angle of the optical transmitter relative to the optical receiver and a focal length of the optical receiver, and wherein the position of the element in the received reflection corresponds to a position of the element in the transmitted structured light;
- and
- generate a depth map for one or more images based at least on the scaled reflection.
4 more elements
A computer-readable storage medium including instructions stored thereon that when executed cause one or more processors of a device for image processing to:
- cause an optical transmitter of the device to transmit structured light, the optical transmitter having a first angle of view relative to a transmitter optical axis, wherein the optical transmitter is angled relative to an optical receiver of the device so that the transmitter optical axis intersects a receiver optical axis forming an angle therebetween, and wherein a position of the optical transmitter relative to the optical receiver is constant;
- scale a position of an element in a received reflection of the structured light that is received at the optical receiver, wherein the instruction that cause the one or more processors to scale the position of the element in the received reflection comprise instructions that cause the one or more processors to scale the position of the element in the received reflection based on the angle of the optical transmitter relative to the optical receiver and a focal length of the optical receiver, and wherein the position of the element in the received reflection corresponds to a position of the element in the transmitted structured light;
- and
- generate a depth map for one or more images based at least on the scaled reflection, wherein the received reflection is received by the optical receiver, the optical receiver having a second angle of view relative to the receiver optical axis.
1 more element
A device for image processing, the device comprising:
- means for transmitting structured light, the means for transmitting having a first angle of view relative to a transmitter optical axis;
- means for receiving a reflection of the structured light, the means for receiving having a second angle of view relative to a receiver optical axis, wherein the means for transmitting is angled relative to the means for receiving so that the transmitter optical axis intersects the receiver optical axis forming an angle therebetween, and wherein a position of the means for transmitting is constant relative to the means for receiving;
- means for scaling a position of an element in the received reflection of the structured light that is received at the optical receiver, wherein the means for scaling the position of the element in the received reflection comprises means for scaling the position of the element in the received reflection based on the angle of the means for transmitting relative to the means for receiving and a focal length of the means for receiving, and wherein the position of the element in the received reflection corresponds to a position of the element in the transmitted structured light;
- and
- means for generating a depth map for one or more images based at least on the scaled reflection.
2 more elements
Dependencies are inferred from the claim text.