Intensity-Based Depth Sensing System and Method

摘要

A system for determining a depth image representing distances to points of a scene includes a light source for generating and directing a set of light pulses toward the scene and a set of sensors for detecting and integrating light reflected from the scene. Each sensor is associated with a point in the scene and generates a signal indicative of an amount of light reflected from the point in the scene and reaching the sensor during a period of time. The system includes at least one processor for coordinating operations of the light source and the set of sensors and for determining the depth image having intensity values representing the distances to the points in the scene. The processor commands the light source to generate the set of light pulses including a first pulse with a first intensity profile having portions of identical lengths with different integrated intensities.

主权项

1. A system for determining a depth image representing distances to points of a scene, comprising:
a light source for generating and directing a set of light pulses toward the scene; a set of sensors for detecting and integrating light reflected from the scene, each sensor is associated with a point in the scene and generates a signal indicative of a portion of each light pulse reflected from the point in the scene and reaching the sensor during a corresponding period of time; and at least one processor for coordinating operations of the light source and the set of sensors, such that each light pulse is integrated within the corresponding period of time, and for determining, based on a magnitude of the signal associated with each point, the depth image having intensity values representing the distances to the points in the scene, wherein the processor commands the light source to generate the set of light pulses including a first pulse with a first intensity profile having portions of identical lengths with different integrated intensities.