Three-dimensional imaging and sensing using a dynamic vision sensor and pattern projection

An imaging system, comprising:

• a plurality of pixels, each pixel comprising:
• a first photosensitive element, and
• a system for detecting three-dimensional images, the imaging system further comprising:
• a projector configured to project a plurality of lines comprising electromagnetic pulses onto a scene;
• an image sensor comprising a plurality of pixels and configured to detect reflections in the scene caused by the projected plurality of lines;
• and
• at least one processor configured to:
• detect one or more first events from the image sensor based on the detected reflections and corresponding to one or more first pixels of the image sensor,
• detect one or more second events from the image sensor based on the detected reflections and corresponding to one or more second pixels of the image sensor,
• identify a projected line corresponding to the one or more second events and the one or more first events, and
• calculate three-dimensional image points based on the identified line.

A method for detecting three-dimensional images, comprising:

• determining a plurality of patterns corresponding to a plurality of lines comprising electromagnetic pulses emitted by a projector onto a scene;
• detecting, from an image sensor, one or more first events based on reflections caused by the plurality of electromagnetic pulses and corresponding to one or more first pixels of the image sensor;
• detecting, from the image sensor, one or more second events based on the reflections and corresponding to one or more second pixels of the image sensor;
• identifying a projected line corresponding to the one or more second events and the one or more first events;
• calculating three-dimensional rays for the one or more first pixels and the one or more second pixels based on the identified line;
• and
• calculating three-dimensional image points for the one or more first pixels and the one or more second pixels based on the three-dimensional rays and a plane equation associated with one of the plurality of lines corresponding to the identified line.