US 9,958,585 B2 · Computer vision depth sensing at video rate using depth from defocus

Abstract

Example embodiments simultaneously acquire multiple different focus state images for a scene at a video rate. The focus state images are acquired from a static arrangement of static optical elements. The focus state images are suitable for and sufficient for determining the depth of an object in the scene using depth from defocus (DFD) processing. The depth of the object in the scene is determined from the focus state images using DFD processing. The static optical elements may be off-the-shelf components that are used without modification. The static elements may include image sensors aligned to a common optical path, a beam splitter in the common optical path, and telecentric lenses that correct light in multiple optical paths produced by the beam splitter. The multiple optical paths may differ by a defocus delta. Simultaneous acquisition of the multiple focus state images facilitates mitigating motion blur associated with conventional DFD processing.

Claims20

Dependent claims

An apparatus, comprising:

an image capture system comprising an arrangement of static optical elements that remain in a static configuration while simultaneously producing two different focus state images for a scene, where the two different focus state images are sufficient for determining the depth of an object in the scene using depth from defocus processing;
a depth sensing system that determines the depth of the object in the scene from the two different focus state images using depth from defocus processing, and
a depth reporting system that provides the distance to the object;
wherein the arrangement of static optical elements comprises a telecentric lens configured to implement telecentric correction for at least one of the two different focus state images.

1 more element

A computerized method for reconstructing a scene acquired using computer vision at a rate of at least twenty four frames per second, comprising:

acquiring a first computer vision image from a depth sensing apparatus that has an arrangement of optical components, where the first computer vision image has a first focus image state;
simultaneously acquiring a second computer vision image from the depth sensing apparatus, where the second computer vision image has a second focus image state, where the arrangement of optical components remains static during the acquisition of the first computer vision image and the second computer vision image, wherein the arrangement of optical components comprises a telecentric lens configured to implement telecentric correction for the first focus image state or the second focus image state;
computing the depth of one or more objects in the scene using depth from defocus processing on the first computer vision image and the second computer vision image;
and
reconstructing the scene based, at least in part, on the depth of the one or more objects.

2 more elements

Dependencies are inferred from the claim text.

Computer vision depth sensing at video rate using depth from defocus

Life of this patent

Computer vision depth sensing at video rate using depth from defocus

Life of this patent

Abstract

Claims20