Virtual multiple aperture 3-D range sensor

A range sensor for measuring a range from the range sensor to a target point on a surface comprising:

• a light source for projecting a target at the target point on the surface;
• a detector for capturing an image;
• a first optical path having a first optical axis for providing a first image of the target point to the detector the first image provided from a first viewing angle;
• a second optical path having a second different optical axis for providing a second image of the same target point to the detector from a different viewing angle such that the two different viewing angles enclose a sufficient angle to provide a large base for triangulation between two different range measurements;
• a combining optical element for combining the first optical path and the second optical path into an approximately third optical path to redirect light travelling along the first optical path and light travelling along the second optical path along approximately a same optical path, the third optical path being incident upon the detector;
• a lens for focussing the first image and the second image onto the detector;
• a processor for determining a distance measurement in dependence upon a captured image, the distance measurement determined using at least two detected target points.

A method of determining a distance between a detector and a surface comprising the steps of:

• projecting a target from a source onto the surface;
• using a detector, imaging the target through two different optical paths, each optical path having a different optical axis, and wherein the two different optical paths are combined into an approximately third optical path to redirect light travelling along the two different optical paths along approximately a same optical path, the third optical path being incident upon the detector;
• and
• determining the distance to the surface based on the location of the source, the location of the detector, and the images of the target, the distance determined using triangulation.