Using a depth map of a monitored scene to identify floors, walls, and ceilings

摘要

A camera system includes memory, a lens assembly to direct light from a scene onto an image sensing element, an image sensing element configured to receive light from the scene via the lens assembly, at least one infrared illuminator configured to transmit infrared light, and a processor, coupled to the image sensing element and the at least one infrared illuminator. The processor is configured to operate the illuminators and the image sensing element in a first mode whereby infrared light transmitted by the illuminators and reflected from the scene is used to generate a two-dimensional image of the scene. The processor is also configured to operate the illuminators and the image sensing element in a second mode whereby infrared light transmitted by the illuminators and reflected from the scene is used to identify a planar surface in the scene.

主权项

1. A camera device, comprising:
a memory configured to store information; a lens assembly arranged to direct light from a scene; a plurality of image sensing elements configured to receive light from the scene via the lens assembly; a plurality of infrared illuminators configured to transmit infrared light; and a processor, coupled to the plurality of image sensing elements and the plurality of infrared illuminators and configured to:
operate the plurality of infrared illuminators and the image sensing element in a first mode whereby infrared light transmitted by the plurality of infrared illuminators and reflected from the scene is used to generate a two-dimensional image of the scene; andoperate the plurality of infrared illuminators and the image sensing element in a second mode, including:
sequentially activating a plurality of distinct subsets of the illuminators, each subset illuminating a different portion of the scene;for each subset of illuminators, measuring an intensity of reflected light from the scene for each image sensing element of the plurality of image sensing elements;for each image sensing element:
generating a light intensity vector based on the measured intensities for the element, wherein the light intensity vector has a component corresponding to each subset of illuminators; andestimating a depth in the scene using the light intensity vector and a lookup table; andidentifying a planar surface in the scene using the estimated depths.