# US 11,310,479 B2 · Non-uniform spatial resource allocation for depth mapping

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- Number: US 11,310,479 B2
- Document ID: US11310479B2
- Status: Granted
- Kind: B2
- Application number: 17/000,318
- Filed: 2020-08-23
- Published: 2020-12-10
- Granted: 2022-04-19
- Earliest claimed: 2010-03-01
- Assignees: Apple Inc.
- Applicants: Apple Inc.
- Inventors: Alexander Shpunt; Zafrir Mor
- Web page: https://patentgrep.com/patent/US11310479B2

## CPC

- H04N 13/254: in combination with electromagnetic radiation sources for illuminating objects
- G06F 3/005: {Input arrangements through a video camera}
- G06F 3/011: {Arrangements for interaction with the human body, e.g. for user immersion in virtual reality (blind teaching G09B21/00)}
- G06T 7/521: from laser ranging, e.g. using interferometry; from the projection of structured light
- H04N 13/271: wherein the generated image signals comprise depth maps or disparity maps
- G06T 2207/10016: Video; Image sequence
- G06T 2207/30196: Human being; Person
- H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL

## Abstract

A method for depth mapping includes projecting a pattern of optical radiation into a volume of interest containing an object while varying an aspect of the pattern over the volume of interest. The optical radiation reflected from the object responsively to the pattern is sensed, and a depth map of the object is generated based on the sensed optical radiation.

## Claims

### Claim 1

A method for depth mapping, comprising:
projecting a pattern of optical radiation into a volume of interest containing an object while modulating the pattern as a function of angle over the volume of interest;
sensing a time of flight of the optical radiation reflected from the object responsively to the pattern; and
generating a depth map of the object based on the sensed time of flight.

### Claim 2 (depends on 1)

The method according to claim 1, wherein projecting the pattern comprises applying a varying spatial pattern to the projected optical radiation.

### Claim 3 (depends on 1)

The method according to claim 1, wherein projecting the pattern comprises applying a varying temporal pattern to the projected pattern.

### Claim 4 (depends on 1)

The method according to claim 1, wherein projecting the pattern comprises applying a combination of spatial and temporal patterns to the projected optical radiation.

### Claim 5 (depends on 1)

The method according to claim 1, wherein modulating the pattern comprises varying an intensity of at least a component of the pattern as a function of the angle.

### Claim 6 (depends on 1)

The method according to claim 1, wherein the pattern is modulated so as to optimize a three-dimensional (3D) resolution of the depth map.

### Claim 7

Apparatus for depth mapping, comprising:
a radiation source, which is configured to project a pattern of optical radiation into a volume of interest containing an object while modulating the pattern as a function of angle over the volume of interest;
a sensor, which is configured to output a signal that is indicative, responsively to the pattern, of a time of flight of the optical radiation reflected from the object; and
a processor, which is configured to process the signal in order to generate a depth map of the object.

### Claim 8 (depends on 7)

The apparatus according to claim 7, wherein the radiation source is configured to apply a varying spatial pattern to the projected optical radiation.

### Claim 9 (depends on 7)

The apparatus according to claim 7, wherein the radiation source is configured to apply a varying temporal pattern to the projected optical radiation.

### Claim 10 (depends on 7)

The apparatus according to claim 7, wherein the radiation source is configured to apply a combination of spatial and temporal patterns to the projected optical radiation.

### Claim 11 (depends on 7)

The apparatus according to claim 7, wherein the pattern is modulated by varying an intensity of at least a component of the pattern as a function of the angle.

### Claim 12 (depends on 7)

The apparatus according to claim 7, wherein the pattern is modulated so as to optimize a three-dimensional (3D) resolution of the depth map.