Three-dimensional imaging system and method

A 3D imaging system, comprising:

• a laser source configured to emit a laser pulse;
• a light source;
• a first camera arranged and oriented to detect reflected photons of the laser pulse emitted by the laser source;
• a second camera arranged and oriented to detect (i) reflected photons of the laser pulse emitted by the laser source and (ii) light emitted by the light source;
• a delay generator connected to the laser source, the light source, the first camera, and the second camera, the delay generator configured to provide a plurality of signals that active at least one of the laser source, the light source, the first camera, and the second camera;
• and
• a computer communicatively coupled to the first camera and the second camera;
• wherein the first camera has a first shutter delay such that the reflected photons of the laser pulse arrive at the first camera during a full exposure period of a shutter of the first camera;
• wherein the second camera has a second shutter delay such that the reflected photons of the laser pulse arrive at the second camera during a rising edge of a shutter of the second camera;
• wherein the computer is configured to:
• receive a first output signal from the first camera;
• receive a second output signal from the second camera;
• determine a shutter jitter adjustment value for a frame captured by the second camera based on the second output signal and a jitter calibration curve;
• determine a measured arrival time for a pixel in the frame based on the first output signal, the second output signal, and a brightness-time calibration curve;
• determine an adjusted arrival time for the pixel based on the measured arrival time and the shutter jitter adjustment value;
• determine a time-of-flight for the pixel based at least partially on the adjusted arrival time;
• convert the time-of-flight to a distance;
• determine a 3D coordinate associated with the pixel based at least partially on the distance;
• and
• generate a 3D point cloud utilizing the 3D coordinate.

A method of 3D imaging, comprising:

• emitting a laser pulse via a laser source;
• shuttering a first camera and shuttering a second camera to capture a respective frame to detect reflected photons of the laser pulse;
• sending a first output signal from the first camera to a computer, the first output signal corresponding to the frame captured by the first camera;
• sending a second output signal from the second camera to the computer, the second output signal corresponding to the frame captured by the second camera;
• determining, via the computer, a time-of-flight based on the first output signal, the second output signal, and a brightness-time calibration curve;
• converting the time-of-flight to a distance;
• determining a 3D coordinate based at least partially on the distance;
• and
• generating a 3D point cloud utilizing the 3D coordinate.