Computer Vision Depth Sensing At Video Rate Using Depth From Defocus

摘要

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.

主权项

1. 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,