System and method for sensing geometric and photometric attributes of a scene with multiplexed illumination and solid states optical devices
View Patent ↗An optical receiver is arranged at a location in a scene. The optical receiver includes a photo sensor configured to detect spatio-temporal modulated optical signals directed at the scene from a set of spatially dispersed optical transmitters, and to convert the optical signals from each of the optical transmitters to a corresponding electronic signal. The electronic signals can be analyzed to determine geometric properties of the location in the scene.
1. An apparatus arranged at a location in a scene, comprising:
a photo sensor arranged at the location in the scene and configured to detect spatio-temporal modulated optical signals directed at the scene from a set of spatially dispersed optical transmitters, and to convert the optical signals from each of the optical transmitters to a corresponding electronic signal, wherein an encoding of the spatio-temporal modulated signals exploit an epipolar geometric relationship between the spatially dispersed optical transmitters and the photo sensor, and wherein the photo sensor is a single photo diode; and wherein a passive binary mask in front of each of the optical transmitters encodes the spatio-temporal modulated optical signals; and
a means, connected to the photo sensor, for analyzing values of the electronic signals to determine geometric properties of the location in the scene.
2. The apparatus of claim 1 , in which the geometric properties include three-dimensional coordinates of the location and a three dimensional orientation at the location in the scene.
3. The apparatus of claim 1 , in which the geometric properties include a six-dimensional pose, wherein the pose specifies a 3D location and a 3D orientation.
4. The apparatus of claim 1 , in which the geometric properties include a rate of change of coordinates of the location and a rate of change of an orientation of the location.
5. The apparatus of claim 1 , in which the optical signals are multiplexed.
6. The apparatus of claim 1 , in which the optical signals have frequencies that are selected from the group consisting of ultraviolet, visible, near-infrared and far-infrared light.
7. The apparatus r of claim 1 , in which the optical light is modulated according to modulation selected from the group consisting of amplitude, time, wavelength, frequency, code, phase, and polarization modulation.
8. The apparatus of claim 1 , in which the optical signal is unique at all locations in the scene to generate a space labeling projection.
9. The apparatus of claim 1 , further comprising:
means for transmitting the geometric properties.
10. The apparatus of claim 1 , in which the optical receiver includes an radio frequency identification tag.
11. The apparatus of claim 1 , in which the optical receiver is mounted on a moving object.
12. The apparatus of claim 1 , further comprising:
means for transceiving with optical communication signals.
13. The apparatus of claim 1 , in which a wavelength of the optical signals is in a range of about 0.01 to 1000 micrometers.
14. The apparatus of claim 2 , in which the three dimensional orientation at the location in the scene is determined by measuring a cosine falloff of the optical signals as the photo sensor is tilted.
15. The apparatus of claim 1 , further comprising:
measuring a reflectance in the scene.
16. The apparatus of claim 1 , further comprising:
means for setting parameters of a camera according to the detected optical signals.