US 12,597,094 B2Granted

Active depth sensing

AssigneeQUALCOMM Incorporated

InventorsJian Ma, Shen-Ge Wang, Liming Wu, Matthieu Jean Olivier Dupre, Sergiu Radu Goma

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Abstract

Systems and techniques are described for depth sensing. For example, a method can include obtaining a first depth image of a scene. The first depth image of the scene is associated with a first illumination configuration including illuminating the scene with a first type of illumination. The method can include obtaining a second depth image of the scene, wherein the second depth image is associated with a second illumination configuration, different from the first illumination configuration. The second illumination configuration includes illuminating the scene with a second type of illumination. The method can include determining, based on the second depth image, multipath interference (MPI) associated with the first depth image. The method can further include generating based on determining the MPI associated with the first depth image an adjusted depth image including one or more pixels from the first depth image and one or more adjusted pixels.

Claims28

Dependent claims

An apparatus for depth sensing comprising:

a memory;
and
at least one processor coupled to the memory, the at least one processor configured to:
obtain a first depth image of a scene, wherein the first depth image of the scene is associated with a first illumination configuration, wherein the first illumination configuration comprises illuminating the scene with a first type of illumination;
obtain a second depth image of the scene, wherein the second depth image is associated with a second illumination configuration, the second illumination configuration being different from the first illumination configuration, wherein the second illumination configuration comprises illuminating the scene with a second type of illumination, wherein the second type of illumination is different from the first type of illumination;
determine that a numerical correspondence between a pixel of the first depth image and a corresponding pixel of the second depth image exceeds a multipath interference (MPI) threshold;
and
generate, based on determining the numerical correspondence between the pixel of the first depth image and the corresponding pixel of the second depth image exceeds the MPI threshold, an adjusted depth image, wherein generating the adjusted depth image comprises replacing the pixel of the first depth image with an adjusted depth pixel.

5 more elements

Dependencies are inferred from the claim text.

Facts

Application: 18/069,183Filed 20 Dec 2022 · us provisional application
Priority: 14 Oct 2022
Published: US 2024/0127401 A118 Apr 2024
Granted: 7 Apr 2026
Term ends: Not estimatedThe source records don’t support an estimate.

Classification13 codes

G01S 17/894
For mapping or imaging: three-dimensional [3D] imaging with simultaneous measurement of time-of-flight at a two-dimensional [2D] array of receiver…
G06T 5/50
Image enhancement or restoration: using two or more images, e.g. averaging or subtraction
G01S 7/4815
Of transmitters alone: using multiple transmitters
G01S 7/484
Details of pulse systems: transmitters