US 2022/0065624 A1 · DEPTH SENSING USING LINE PATTERN GENERATORS

Abstract

A distance measurement system includes two or more line pattern generators (LPGs), a camera, and a processor. Each LPG emits a line pattern having a first set of dark portions separated by a respective first set of bright portions. A first line pattern has a first angular distance between adjacent bright portions, and a second line pattern has a second angular distance between adjacent bright portions. The camera captures at least one image of the first line pattern and the second line pattern. The camera is a first distance from the first LPG and a second distance from the second LPG. The processor identifies a target object illuminated by the first and second line patterns and determines a distance to the target object based on the appearance of the target object as illuminated by the first and second line patterns.

Claims20

Dependent claims

A system for measuring a distance to an object, the system comprising:

a first pattern generator configured to emit a first pattern, the first pattern having a first angular distance between adjacent bright portions in the first pattern;
a second pattern generator configured to emit a second pattern, the second pattern having a second angular distance between adjacent bright portions in the second pattern;
and
a processor configured to:
receive at least one image of the first pattern and the second pattern;
identify, in the at least one image, a target object illuminated by the first pattern and the second pattern,
identify, in the at least one image, a background illuminated by the first pattern and the second pattern,
determine a first phase difference between the target object illuminated by the first pattern and the background illuminated by the first pattern,
determine a second phase difference between the target object illuminated by the second pattern and the background illuminated by the second pattern, and
calculate a distance to the target object based on the first phase difference and the second phase difference.

7 more elements

A method for measuring a distance to an object, the method comprising:

receiving at least one image of a target object illuminated by a first pattern and a second pattern, the first pattern emitted by a first pattern generator and the first pattern having a first angular distance between adjacent bright portions in the first pattern, and the second pattern emitted by a second pattern generator and the second pattern having a second angular distance between adjacent bright portions in the second pattern;
identifying, in the at least one image, the target object illuminated by the first pattern and the second pattern;
identifying, in the at least one image, a background illuminated by the first pattern and the second pattern;
determining a first phase difference between the target object illuminated by the first pattern and the background illuminated by the first pattern;
determining a second phase difference between the target object illuminated by the second pattern and the background illuminated by the second pattern;
and
calculating a distance to the target object based on the first phase difference and the second phase difference.

4 more elements

A non-transitory computer readable medium storing instructions for measuring a distance to an object, the instructions, when executed by a processor, cause the processor to:

receive at least one image of a target object illuminated by a first pattern and a second pattern, the first pattern emitted by a first pattern generator and the first pattern having a first angular distance between adjacent bright portions in the first pattern, and the second pattern emitted by a second pattern generator and the second pattern having a second angular distance between adjacent bright portions in the second pattern;
identify, in the at least one image, the target object illuminated by the first pattern and the second pattern;
identify, in the at least one image, a background illuminated by the first pattern and the second pattern;
determine a first phase difference between the target object illuminated by the first pattern and the background illuminated by the first pattern;
determine a second phase difference between the target object illuminated by the second pattern and the background illuminated by the second pattern;
and
calculate a distance to the target object based on the first phase difference and the second phase difference.

4 more elements

Dependencies are inferred from the claim text.

Depth sensing using line pattern generators

Life of this patent

Depth sensing using line pattern generators

Life of this patent

Abstract

Claims20