Integrated three-dimensional vision sensor

摘要

A three-dimensional scene sensor comprises: a deformable optical system modifying focal distance by control signal, optics imaging the scene by analog image sensor for depths corresponding to distances; the image sensor comprising a matrix of pixels grouped into sub-matrices of macro-pixels being a sub-assembly of pixels, each macro-pixel operating independently for acquisition and reading of data; a matrix of elementary processors, each macro-pixel directly connected to a dedicated processor wherein pixel data for the macro-pixel are transmitted and processed by the processor, each processor carries out, for each pixel, local processing operations calculating depth information for macro-pixel, the processors operating in parallel and independently such that the depth information is processed and calculated in parallel over all macro-pixels of the image sensor, the processors connected to at least one processing unit allowing calculations using high-level input data, calculated starting from the pixel data directly produced by the image sensor.

主权项

1. A three-dimensional scene sensor comprising:
a deformable optical system allowing a modification of a focal distance as a function of a control signal, said optical system imaging said scene on an analog image sensor for a plurality of depths corresponding to a plurality of values of focal distance, said analog image sensor carrying out one image acquisition for each value of focal distance, the images being analyzed in order to determine depth information, said analog image sensor comprising a matrix of pixels, said pixels being grouped into sub-matrices called macro-pixels composed of a sub-assembly of pixels, each macro-pixel operating independently of its neighbors for the acquisition and a reading of data from said pixels for each portion of image, one portion of image being respectively associated with one macro-pixel, a matrix of elementary processors, each macro-pixel being directly connected via an interface to a dedicated elementary processor in such a manner that the pixel data relating to said pixels belonging to said macro-pixel are transmitted and processed by said processor, each of said elementary processors comprising a local memory, a neighborhood manager and a plurality of local processing units in such a manner as to carry out, for each of the pixels of the macro-pixel to which said processor is connected and for each portion of image, local processing operations taking into account the neighboring pixels, said local processing operations allowing depth information to be calculated for said macro-pixel, said processors operating in parallel and independently of one another such that for each portion of image the depth information is processed and calculated in parallel and independently over all of the macro-pixels of said image sensor, each elementary processor being capable of modifying certain parameters of the image sensor corresponding to the associated macro pixel, said processors being designed to be connected to at least one processing unit allowing calculations to be carried out using high-level input data, obtained starting from depth information calculated by said elementary processors.