Methods and apparatus for estimation of motion and size of non-line-of-sight objects

摘要

In exemplary implementations of this invention, a time of flight camera (ToF camera) can estimate the location, motion and size of a hidden moving object, even though (a) the hidden object cannot be seen directly (or through mirrors) from the vantage point of the ToF camera (including the camera's illumination source and sensor), and (b) the object is in a visually cluttered environment. The hidden object is a NLOS (non-line-of-sight) object. The time of flight camera comprises a streak camera and a laser. In these exemplary implementations, the motion and absolute locations of NLOS moving objects in cluttered environments can be estimated through tertiary reflections of pulsed illumination, using relative time differences of arrival at an array of receivers. Also, the size of NLOS moving objects can be estimated by backprojecting extremas of NLOS moving object time responses.

主权项

1. Apparatus comprising in combination:
(a) a sensor for taking measurements of light that has traveled from an illumination source, then to a diffusely reflective surface, then to a moving object, then to the diffusely reflective surface, and then to the sensor, such that the measurements are taken when the moving object is moving relative to the sensor and to the illumination source and is visible to neither the sensor nor the illumination source; (b) the illumination source for emitting the light; and (c) one or more processors for calculating, based at least in part on the measurements, motion or size of the moving object; wherein the sensor includes a phased array.