Zero order light removal in active sensing systems

A device for image processing, the device comprising:

• an optical receiver configured to receive a reflection of a structured light from an object to generate an image, the coded pattern;
• and
• processing circuitry configured to:
• determine an estimated position of zero order light in the image;
• determine a spatial region of the coded pattern that corresponds to a position of the zero order light in the coded pattern;
• map the spatial region to the estimated position of the zero order light in the image to generate a corrected image;
• and
• generate a depth map for the coded pattern based on the corrected image.

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 to transmit, towards an object, a coded pattern of light;
• cause an optical receiver to receive a reflection of the coded pattern from the object to generate an image;
• and
• cause processing circuitry to:
• determine an estimated position of zero order light in the image;
• determine a spatial region of the coded pattern that corresponds to a position of the zero order light in the coded pattern;
• map the spatial region to the estimated position of the zero order light in the image to generate a corrected image;
• and
• generate a depth map for the coded pattern based on the corrected image.

A device for image processing, the device comprising:

• means for transmitting, towards an object, a coded pattern of light;
• means for receiving a reflection of the coded pattern from the object to generate an image;
• means for determining an estimated position of zero order light in the image;
• means for determining a spatial region of the coded pattern that corresponds to a position of the zero order light in the coded pattern;
• means for mapping the spatial region to the estimated position of the zero order light in the image to generate a corrected image;
• and
• means for generating a depth map for the coded pattern based on the corrected image.