Apparatus for mapping an object includes an illumination assembly, which includes a single transparency containing a fixed pattern of spots. A light source transilluminates the single transparency with optical radiation so as to project the pattern onto the object. An image capture assembly captures an image of the pattern that is projected onto the object using the single transparency. A processor processes the image captured by the image capture assembly so as to reconstruct a three-dimensional (3D) map of the object.

Depth mapping using projected patterns

A depth camera system uses a structured light illuminator and multiple sensors such as infrared light detectors, such as in a system which tracks the motion of a user in a field of view. One sensor can be optimized for shorter range detection while another sensor is optimized for longer range detection. The sensors can have a different baseline distance from the illuminator, as well as a different spatial resolution, exposure time and sensitivity. In one approach, depth values are obtained from each sensor by matching to the structured light pattern, and the depth values are merged to obtain a final depth map which is provided as an input to an application. The merging can involve unweighted averaging, weighted averaging, accuracy measures and/or confidence measures. In another approach, additional depth values which are included in the merging are obtained using stereoscopic matching among pixel data of the sensors.

Depth camera based on structured light and stereo vision

A device for processing data includes a first input port for receiving color image data from a first image sensor and a second input port for receiving depth-related image data from a second image sensor. Processing circuitry generates a depth map using the depth-related image data. At least one output port conveys the depth map and the color image data to a host computer.

Integrated processor for 3D mapping

Imaging apparatus includes an illumination subassembly, which is configured to project onto an object a pattern of monochromatic optical radiation in a given wavelength band. An imaging subassembly includes an image sensor, which is configured both to capture a first, monochromatic image of the pattern on the object by receiving the monochromatic optical radiation reflected from the object and to capture a second, color image of the object by receiving polychromatic optical radiation, and to output first and second image signals responsively to the first and second images, respectively. A processor is configured to process the first and second signals so as to generate and output a depth map of the object in registration with the color image.

Three-dimensional mapping and imaging

A method for depth mapping includes projecting a pattern of optical radiation onto an object. A first image of the pattern on the object is captured using a first image sensor, and this image is processed to generate pattern-based depth data with respect to the object. A second image of the object is captured using a second image sensor, and the second image is processed together with another image to generate stereoscopic depth data with respect to the object. The pattern-based depth data is combined with the stereoscopic depth data to create a depth map of the object.

Depth Mapping Based on Pattern Matching and Stereoscopic Information

A method for forming a three-dimensional (3D) map of an object, including illuminating the object from a light source so as to project a pattern onto the object, capturing an image of the pattern using an array of detector elements, and processing the captured image so as to measure respective offsets of elements of the pattern in the captured image relative to a reference pattern, the offsets including at least a first offset of a first element of the pattern and a second offset of a second element of the pattern, measured respectively in first and second, mutually-perpendicular directions in a plane of the array. The method further includes computing a correction factor in response to the first offset, applying the correction factor to the second offset so as to find a corrected offset, and computing depth coordinates of the object in response to the corrected offset.

Error compensation in three-dimensional mapping

A method for depth mapping includes capturing an electronic image of a scene using an imaging device. The electronic image is processed to generate depth data with respect to the scene. The gain of the imaging device is set responsively to the depth data.

Depth-based gain control

A method for depth mapping includes acquiring first depth data with respect to an object using a first depth mapping technique and providing first candidate depth coordinates for a plurality of pixels, and acquiring second depth data with respect to the object using a second depth mapping technique, different from the first depth mapping technique, and providing second candidate depth coordinates for the plurality of pixels A weighted voting process is applied to the first and second depth data in order to select one of the candidate depth coordinates at each pixel A depth map of the object is output, including the selected one of the candidate depth coordinates at each pixel

Multi-modal depth mapping

L'invention porte sur un procede pour la cartographie de profondeur qui comprend la projection d'un motif de rayonnement optique sur un objet (22). Une premiere image du motif sur l'objet est capturee a l'aide d'un premier capteur d'image (40), et cette image est traitee pour generer des donnees de profondeur basees sur un motif par rapport a l'objet. Une seconde image de l'objet est capturee a l'aide d'un second capteur d'image (46), et la seconde image est traitee avec une autre image pour generer des donnees de profondeur stereoscopiques par rapport a l'objet. Des donnees de profondeur basees sur le motif sont combinees aux donnees de profondeur stereoscopiques pour creer une carte de profondeur de l'objet.

Daniel Cohen

Papers

Depth Mapping Based on Pattern Matching and Stereoscopic Information

Error compensation in three-dimensional mapping

Depth-based gain control

Multi-modal depth mapping

Cartographie de profondeur basée sur une correspondance de motifs et des informations stéréoscopiques