Method of scanning a scene and corresponding scanning device
AssigneeMensi
InventorsGrégory Lepere, Pascal Souffez
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Abstract
The present invention provides devices and methods for multi-dimensional scanning of a scene. In particular, this invention provides scanning devices and methods employing controllable light beam scanning devices capable of sending a light beam onto a scene, and of receiving corresponding light returned from the scene, and controllers capable of operating the scanning device at selected beam orientations, and of gaining distance information from the scanning device at the beam orientations. The controller can dynamically define beam orientations using the distance information gained from preceding beam orientations.
Claims5
A method of scanning a scene, said method comprising:
- a. sending a light beam to the scene according to a beam orientation, and gaining distance information from the return of said light beam,
- b. selectively repeating step a. with a plurality of other beam orientations in one scanning of the scene, wherein step b. comprises:
- b1. after one or more repetitions of step a. in the one scanning, defining the next beam orientation using distance information gained at one or more preceding beam orientations of the one scanning,
- c. forming a first angular sector from the beam orientations of steps a. and b.,
- d. selectively repeating steps a. and b. at further beam orientations, said further beam orientations forming a further angular sector derived from a selected portion of said first angular sector, with a lateral shift related to the angular deviations between the beam orientations in said portion of said first angular sector, wherein step d. comprises:
- d1. determining angular domains within said first angular sector, each angular domain comprising beam orientations having distance information within a respective distance range,
- d2. selecting said portion of said first angular sector from one or more angular domains having higher distance ranges,
- d3. defining said further angular sector from said portion, with a lateral shift derived from said higher distance ranges.
Dependencies are inferred from the claim text.