AUTOMATIC MULTIPLE DEPTH CAMERAS SYNCHRONIZATION USING TIME SHARING

摘要

Aspects relate to an depth sensing system for capturing an image containing depth information of an object. In one embodiment, a depth sensing device for use in conjunction with multiple depth sensing devices for capturing an image containing depth information of an object comprises a near-infrared transmitter comprising a laser capable of producing a near infra-red light beam, a diffractive optical element positioned to receive a light beam emitted from the laser, the diffractive optical element, and a collimating lens, and a near-infrared receiver coupled to the transmitter in a relative position, the receiver comprising a sensor assembly capable of producing an image of the received light, the depth sensing device being configured to transmit and receive near infra-red light beams during a time period that is different than any of the other of two or more transmitter-receiver pairs of devices in communication with the depth sensing device.

主权项

1. A depth sensing device for capturing an image containing depth information of a scene and for use in a depth sensing system that includes at least one other depth sensing device, comprising:
a transmitter capable of projecting light on a scene, the transmitter comprising a laser capable of producing a light beam including a series of laser pulses, each pulse having a pulse length and the series of pulses produced at a pulse frequency, and a receiver coupled to the transmitter at a known relative orientation, the receiver comprising a shutter and a sensor assembly capable of producing an image based on sensing light projected by the transmitter and reflected from the scene; and a controller comprising a processor, the controller coupled to the transmitter and the receiver, the controller configured to
determine the presence of light in the scene using the receiver,control the pulse length of the series of laser pulses,control when an exposure window begins during which the transmitter is activated to project light on the scene and activate the receiver to begin sensing light reflected from the scene, the beginning of the exposure window and the pulse length controlled based on the determined presence of the light on the scene from the at least one other depth sensing device so the exposure window is temporally different from when any other of the at least one other depth sensing devices in the system is illuminating the scene.