# US 2021/0243371 A1 · Method and apparatus of depth detection, and computer-readable storage medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0243371 A1 - Document ID: US20210243371A1 - Status: Published application - Kind: A1 - Application number: 17/235,918 - Filed: 2021-04-20 - Published: 2021-08-05 - Earliest claimed: 2018-11-02 - Assignees: Guangdong Oppo Mobile Telecommunications Corp., Ltd. - Applicants: Guangdong Oppo Mobile Telecommunications Corp., Ltd. - Inventors: Yuan LIN; Fan DENG; Chiuman HO - Web page: https://patentgrep.com/patent/US20210243371A1 ## CPC - G06T 7/521: from laser ranging, e.g. using interferometry; from the projection of structured light - H04N 23/698: for achieving an enlarged field of view, e.g. panoramic image capture - G06T 7/50: Depth or shape recovery - H04N 5/2226: {Determination of depth image, e.g. for foreground/background separation (determining depth by image analysis in general G06T7/50; segmentation by image analysis in general G06T7/10)} - H04N 23/20: for generating image signals from infrared radiation only - G06T 2207/10048: Infrared image - G06T 2207/30201: Face - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract Spherical or hemispherical non-visible light depth detection includes projecting a hemispherical non-visible light static structured light pattern, in response to projecting the hemispherical non-visible light static structured light pattern, detecting non-visible light, determining three-dimensional depth information based on the detected non-visible light and the projected hemispherical non-visible light static structured light pattern, and outputting the three-dimensional depth information. ## Claims ### Claim 1 A method of depth detection, comprising: projecting hemispherical non-visible light; in response to projecting the hemispherical non-visible light, detecting reflected non-visible light; determining three-dimensional depth information based on the detected reflected non-visible light and the projected hemispherical non-visible light; and outputting the three-dimensional depth information. ### Claim 2 (depends on 1) The method of claim 1, wherein projecting the hemispherical non-visible light includes projecting a hemispherical non-visible light static structured light pattern. ### Claim 3 (depends on 2) The method of claim 2, wherein projecting the hemispherical non-visible light static structured light pattern includes: emitting infrared light from an infrared light source; refracting the emitted infrared light to form a hemispherical field of projection; and rectifying the infrared light of the hemispherical field of projection to form the hemispherical non-visible light static structured light pattern. ### Claim 4 (depends on 2) The method of claim 2, wherein detecting the reflected non-visible light includes: receiving light including reflected infrared light corresponding to the projected hemispherical non-visible light static structured light pattern; filtering the received light to exclude visible light and pass through the reflected infrared light corresponding to the projected hemispherical non-visible light static structured light pattern; and focusing the reflected infrared light corresponding to the projected hemispherical non-visible light static structured light pattern to a planar surface of an infrared light sensor. ### Claim 5 (depends on 2) The method of claim 2, wherein projecting the hemispherical non-visible light static structured light pattern includes projecting a spherical non-visible light static structured light pattern by: projecting a first hemispherical non-visible light static structured light pattern in a first direction along an optical axis; and projecting a second hemispherical non-visible light static structured light pattern in a second direction along the optical axis, the second direction opposite the first direction. ### Claim 6 (depends on 5) The method of claim 5, wherein detecting the non-visible light includes detecting the non-visible light by an infrared sensor, and wherein: projecting the first hemispherical non-visible light static structured light pattern includes projecting the first hemispherical non-visible light static structured light pattern using dots having a first shape; and projecting the second hemispherical non-visible light static structured light pattern includes projecting the second hemispherical non-visible light static structured light pattern using dots having a second shape, wherein the first shape and the second shape are distinguishable by the infrared sensor. ### Claim 7 (depends on 5) The method of claim 5, wherein: projecting the first hemispherical non-visible light static structured light pattern includes projecting the first hemispherical non-visible light static structured light pattern at a first temporal location; and projecting the second hemispherical non-visible light static structured light pattern includes projecting the second hemispherical non-visible light static structured light pattern at a second temporal location subsequent to the first temporal location. ### Claim 8 (depends on 2) The method of claim 2, wherein detecting the non-visible light includes: detecting a first portion of the non-visible light along an optical axis in a first direction by a first hemispherical non-visible light detector; and detecting a second portion of the non-visible light along the optical axis in a second direction by a second hemispherical non-visible light detector, the second direction opposite the first direction. ### Claim 9 (depends on 1) The method of claim 1, wherein projecting the hemispherical non-visible light includes projecting the hemispherical non-visible light using a hemispherical fisheye non-visible light flood projection unit, and wherein determining three-dimensional depth information based on the detected reflected non-visible light and the projected hemispherical non-visible light includes: identifying a temporal projection point associated with projecting the hemispherical non-visible light; identifying a temporal reception point associated with detecting the reflected non-visible light; and identifying a difference between the temporal projection point and the temporal reception point as depth information for a spatial point corresponding to the detected reflected non-visible light. ### Claim 10 A non-transitory computer-readable storage medium, comprising executable instructions that, when executed by a processor, facilitate performance of operations, the operations comprising: projecting a hemispherical non-visible light static structured light pattern; in response to projecting the hemispherical non-visible light static structured light pattern, detecting non-visible light; determining three-dimensional depth information based on the detected non-visible light and the projected hemispherical non-visible light static structured light pattern; and outputting the three-dimensional depth information. ### Claim 11 (depends on 10) The non-transitory computer-readable storage medium of claim 10, wherein projecting the hemispherical non-visible light static structured light pattern includes: emitting infrared light from an infrared light source; refracting the emitted infrared light to form a hemispherical field of projection; and rectifying the infrared light of the hemispherical field of projection to form the hemispherical non-visible light static structured light pattern. ### Claim 12 (depends on 10) The non-transitory computer-readable storage medium of claim 10, wherein detecting the non-visible light includes: receiving light including reflected infrared light corresponding to the projected hemispherical non-visible light static structured light pattern; filtering the received light to exclude visible light and pass through the reflected infrared light corresponding to the projected hemispherical non-visible light static structured light pattern; and focusing the reflected infrared light corresponding to the projected hemispherical non-visible light static structured light pattern to a planar surface of an infrared light sensor. ### Claim 13 (depends on 10) The non-transitory computer-readable storage medium of claim 10, wherein projecting the hemispherical non-visible light static structured light pattern includes projecting a spherical non-visible light static structured light pattern by: projecting a first hemispherical non-visible light static structured light pattern in a first direction along an optical axis; and projecting a second hemispherical non-visible light static structured light pattern in a second direction along the optical axis, the second direction opposite the first direction. ### Claim 14 (depends on 13) The non-transitory computer-readable storage medium of claim 13, wherein detecting the non-visible light includes detecting the non-visible light by an infrared sensor, and wherein: projecting the first hemispherical non-visible light static structured light pattern includes projecting the first hemispherical non-visible light static structured light pattern using dots having a first shape; and projecting the second hemispherical non-visible light static structured light pattern includes projecting the second hemispherical non-visible light static structured light pattern using dots having a second shape, wherein the first shape and the second shape are distinguishable by the infrared sensor. ### Claim 15 (depends on 13) The non-transitory computer-readable storage medium of claim 13, wherein: projecting the first hemispherical non-visible light static structured light pattern includes projecting the first hemispherical non-visible light static structured light pattern at a first temporal location; and projecting the second hemispherical non-visible light static structured light pattern includes projecting the second hemispherical non-visible light static structured light pattern at a second temporal location subsequent to the first temporal location. ### Claim 16 (depends on 10) The non-transitory computer-readable storage medium of claim 10, wherein detecting the non-visible light includes: detecting a first portion of the non-visible light along an optical axis in a first direction by a first hemispherical non-visible light detector; and detecting a second portion of the non-visible light along the optical axis in a second direction by a second hemispherical non-visible light detector, the second direction opposite the first direction. ### Claim 17 An apparatus of depth detection, comprising: a hemispherical non-visible light projector; a hemispherical non-visible light sensor; a non-transitory computer readable medium; and a processor configured to execute instructions stored on the non-transitory computer readable medium to: control the hemispherical non-visible light projector to project a hemispherical non-visible light static structured light pattern; in response to controlling the hemispherical non-visible light projector to project a hemispherical non-visible light static structured light pattern, control the hemispherical non-visible light sensor to detect non-visible light; determine three-dimensional depth information based on the detected non-visible light and the projected hemispherical non-visible light static structured light pattern; and output the three-dimensional depth information. ### Claim 18 (depends on 17) The apparatus of claim 17, wherein the processor is configured to execute instructions stored on the non-transitory computer readable medium to control the hemispherical non-visible light projector to project a hemispherical non-visible light static structured light pattern by: emitting infrared light from an infrared light source; refracting the emitted infrared light to form a hemispherical field of projection; and rectifying the infrared light of the hemispherical field of projection to form the hemispherical non-visible light static structured light pattern. ### Claim 19 (depends on 17) The apparatus of claim 17, wherein the processor is configured to execute instructions stored on the non-transitory computer readable medium to control the hemispherical non-visible light sensor to detect non-visible light by: receiving light including reflected infrared light corresponding to the projected hemispherical non-visible light static structured light pattern; filtering the received light to exclude visible light and pass through the reflected infrared light corresponding to the projected hemispherical non-visible light static structured light pattern; and focusing the reflected infrared light corresponding to the projected hemispherical non-visible light static structured light pattern to a planar surface of an infrared light sensor. ### Claim 20 (depends on 17) The apparatus of claim 17, wherein: the hemispherical non-visible light projector comprises a spherical non-visible light projector; the hemispherical non-visible light sensor comprises a spherical non-visible light sensor; and the processor is configured to execute instructions stored on the non-transitory computer readable medium to control the spherical non-visible light projector to project a spherical non-visible light static structured light pattern by: projecting a first hemispherical non-visible light static structured light pattern using dots having a first shape in a first direction along an optical axis; and projecting a second hemispherical non-visible light static structured light pattern using dots having a second shape in a second direction along the optical axis, the second direction opposite the first direction, and the first shape and the second shape are distinguishable by the spherical non-visible light sensor.