Multiple channel locating

摘要

Methods, systems, and apparatuses are provided for estimating a location on an object in a three-dimensional scene. Multiple radiation patterns are produced by spatially modulating each of multiple first radiations with a distinct combination of one or more modulating structures, each first radiation having at least one of a distinct radiation path, a distinct source, a distinct source spectrum, or a distinct source polarization with respect to the other first radiations. The location on the object is illuminated with a portion of each of two or more of the radiation patterns, the location producing multiple object radiations, each object radiation produced in response to one of the multiple radiation patterns. Multiple measured values are produced by detecting the object radiations from the location on the object due to each pattern separately using one or more detector elements. The location on the object is estimated based on the multiple measured values.

主权项

1. A method for estimating a location on an object in a three dimensional scene, the method comprising:
producing a plurality of radiation patterns; illuminating one or more detection locations on a reference object within a calibration scene with at least a portion of each of two or more of the plurality of radiation patterns, the illuminated location on the reference object producing a plurality of first reference object radiations, wherein each first reference object radiation is produced in response to one of the plurality of radiation patterns; measuring at least a portion of two or more of the plurality of radiation patterns at one or more detection locations in space, wherein measuring at least the portion of two or more of the plurality of radiation patterns at one or more detection locations in space further comprises: detecting the plurality of first reference object radiations; and producing a first illumination vector comprising a plurality of first illumination values utilizing the detected plurality of first reference object radiations; producing one or more illumination vectors, each comprising at least a portion of a plurality of illumination values measured at the one or more detection locations in space; illuminating the location on the object with at least a portion of each of two or more of the plurality of radiation patterns, the illuminated location on the object producing a plurality of object radiations, wherein each object radiation is produced in response to one of the plurality of radiation patterns; detecting the plurality of object radiations; producing a plurality of measured values utilizing the plurality of detected object radiations; and estimating the location on the object based on the plurality of measured values and the one or more illumination vectors.