Optical system, apparatus and method for operating an apparatus using helmholtz reciprocity

1. An apparatus comprising

an optical system according with an illumination unit and an imaging unit configured to image a scene including at least one object into at least a first image and a second image by using Helmholtz reciprocity; and

a processor configured to obtain disparity information concerning the first image and the second image on the basis of a comparison of intensity sum values along corresponding lines in the first image and the second image and configured to retrieve depth information concerning the object from the disparity information, wherein

the processor is configured to obtain the disparity information by:

integrating in the first image an intensity of the captured light along the corresponding lines, to obtain intensity sum profiles of the first image;

integrating in the second image the intensity of the captured light along the corresponding lines, to obtain intensity sum profiles of the second image;

selecting for each pair of corresponding lines of the first image and the second image the corresponding intensity sum profile of the first image and the corresponding intensity sum profile of the second image;

determining from the selected intensity sum profile of the first image for each intensity sum value a first position on the integration path within the first image at which the intensity sum value is reached;

determining from the selected intensity sum profile of the second image for each intensity sum value a second position on the integration path within the second image at which the intensity sum value is reached; and

determining for each intensity sum value the disparity from the first position and the second position.

2. The apparatus according to claim 1 , wherein

the illumination unit comprises at least one aperture whose opening defines a light emitting solid angle.

3. The apparatus according to claim 1 wherein light emitting solid angles of the illumination unit are obtained by emitting light through a variable blocking structure.

4. The apparatus according to claim 1 , wherein

an optical device comprises the illumination unit and the imaging unit.

5. The apparatus according to claim 4 , wherein

an optical element within the optical device is configured to align an optical axis of the illumination unit and an optical axis of the imaging unit.

6. The apparatus according to claim 1 , further comprising

a plurality of illumination units arranged symmetrically around the imaging unit.

7. The apparatus according to claim 3 , wherein the variable blocking structure is a liquid crystal display device.

8. The apparatus according to claim 1 , wherein the corresponding lines are corresponding epipolar lines.

9. The apparatus according to claim 1 , wherein at least one end of the corresponding lines within the first image and the second image is predetermined by a first illumination unit and a second illumination unit included in the illumination unit.

10. A method for operating an apparatus including an optical system, the method comprising:

imaging a scene including at least one object into at least a first image and a second image by using Helmholtz reciprocity;

obtaining disparity information concerning the first image and the second image on the basis of a comparison of intensity sum values along corresponding lines in the first image and the second image; and

retrieving depth information concerning the object from the disparity information, wherein

obtaining the disparity information comprises

integrating in the first image an intensity along the corresponding lines to obtain intensity sum profiles of the first image;

integrating in the second image the intensity along the corresponding lines to obtain intensity sum profiles of the second image

selecting for each pair of corresponding lines of the first image and the second image the corresponding intensity sum profile of the first image and the corresponding intensity sum profile of the second image;

determining from the selected intensity sum profile of the first image for each value of integrated intensity a first position on the integration path within the first image at which the value of integrated intensity is reached;

determining from the selected intensity sum profile of the second image for each value of integrated intensity a second position on the integration path within the second image at which the value of integrated intensity is reached; and

determining for each value of integrated intensity the disparity from the first position and the second position.

11. The method according to claim 10 , wherein the corresponding lines are corresponding epipolar lines.

12. The method according to claim 10 , wherein at least one end of the corresponding lines within the first image and the second image is provided by illuminating the object.

13. The method according to claim 10 , wherein imaging the scene comprises:

emitting light into at least one light emitting solid angle to illuminate the object; and

receiving light reflected from the object from a light receiving solid angle, which is at least as large as each of the light emitting solid angles; wherein

at least one end of the corresponding lines within the first image and the second image is predetermined by a boundary of the at least one light emitting solid angle mapped to the light receiving solid angle.