System and method for speckle reduction in laser projectors
A method for applying power in a plurality of pulses to the projection source to control the projection source to emit coherent light during an exposure interval comprising at least two sub-intervals, the applied power causing the projection source to have different temperatures during first and second sub-intervals of the at least two sub-intervals; and emitting light from the projection source, wherein the projection source emits light having different wavelengths during the first and second sub-intervals in accordance with the different temperatures of the projection source.
1. A stereo camera system comprising:
a processor;
a plurality of cameras coupled to the processor and configured to have overlapping fields of view, the cameras comprising a first camera and a second camera;
a coherent light projection source coupled to the processor and configured to emit light toward the fields of view of the cameras; and
memory coupled to the processor, the memory storing instructions that, when executed by the processor, cause the processor to:
apply power in a plurality of pulses to the projection source to control the projection source to emit coherent light during an exposure interval comprising at least two sub-intervals, the applied power causing the projection source to have different temperatures during first and second sub-intervals of the at least two sub-intervals, wherein the projection source emits light having different wavelengths during the first and second sub-intervals in accordance with the different temperatures of the projection source; and
control the first camera and the second camera to concurrently capture, respectively, a first image and a second image over the exposure interval.
2. The stereo camera system of claim 1 , wherein the at least two sub-intervals comprise at least ten sub-intervals.
3. The stereo camera system of claim 2 , wherein the at least two sub-intervals comprise at least fifty sub-intervals.
4. The stereo camera system of claim 1 , wherein the coherent light projection source is a single mode laser diode.
5. The stereo camera system of claim 4 , further comprising a diffractive optics system,
wherein the coherent light projection source is configured to emit light through the diffractive optics system.
6. The stereo camera system of claim 1 , wherein the memory further stores instructions that, when executed by the processor, cause the processor to control the projection source using a pulse width modulated signal,
wherein the power applied during the first sub-interval corresponds to a first pulse of the pulse width modulated signal, and
wherein the power applied during the second sub-interval corresponds to a second pulse of the pulse width modulated signal.
7. The stereo camera system of claim 6 , wherein the different wavelengths comprise first and second wavelengths respectively controlled in accordance with the energy of the first and second pulses.
8. The stereo camera system of claim 6 , wherein the pulse width modulated signal is generated pseudo-randomly.
9. The stereo camera system of claim 6 , wherein the pulse width modulated signal has a pattern during the exposure interval.
10. The stereo camera system of claim 6 , wherein a duty ratio of the pulse width modulated signal is controlled in accordance with a target projection power of the projection source.
11. The stereo camera system of claim 1 , wherein the different wavelengths comprise first and second wavelengths and wherein the difference in wavelength between the first wavelength and the second wavelength is greater than 1.5 nm.
12. The stereo camera system of claim 1 , wherein the projection source contains no moving parts.
13. The stereo camera system of claim 1 , wherein the images captured by the cameras are provided to a depth sensing application.
14. A method for capturing images, comprising:
applying power in a plurality of pulses to a projection source to control the projection source to emit coherent light during an exposure interval comprising at least two sub-intervals, the applied power causing the projection source to have different temperatures during first and second sub-intervals of the at least two sub-intervals, wherein the projection source emits light having different wavelengths during the first and second sub-intervals in accordance with the different temperatures of the projection source; and
controlling a first camera and a second camera to concurrently capture, respectively, a first image and a second image over the exposure interval, the first camera and second camera having overlapping fields of view, the projection source being configured to emit light toward the fields of view of the cameras.
15. The method of claim 14 , wherein the at least two sub-intervals comprise at least ten sub-intervals.
16. The method of claim 15 , wherein the at least two sub-intervals comprise at least fifty sub-intervals.
17. The method of claim 14 , wherein the power applied during the first sub-interval corresponds to a first pulse of a pulse width modulated signal, and
wherein the power applied during the second sub-interval corresponds to a second pulse of the pulse width modulated signal.
18. The method of claim 17 , wherein the different wavelengths comprise first and second wavelengths respectively controlled in accordance with the energy of the first and second pulses.
19. The method of claim 17 , wherein the pulse width modulated signal is generated pseudo-randomly.
20. The method of claim 14 , wherein the different wavelengths comprise first and second wavelengths and wherein the difference in wavelength between the first wavelength and the second wavelength is greater than 1.5 nm.
21. A method for operating a coherent light projection source, comprising:
applying power in a plurality of pulses to the projection source to control the projection source to emit coherent light during an exposure interval comprising at least two sub-intervals, the applied power causing the projection source to have different temperatures during first and second sub-intervals of the at least two sub-intervals; and
emitting light from the projection source, wherein the projection source emits light having different wavelengths during the first and second sub-intervals in accordance with the different temperatures of the projection source,
wherein the first sub-interval is less than 1/10th the length of the exposure interval.
22. The method of claim 21 , wherein the at least two sub-intervals comprise at least ten sub-intervals.
23. The method of claim 22 , wherein the at least two sub-intervals comprise at least fifty sub-intervals.
24. The method of claim 21 , wherein the power applied during the first sub-interval corresponds to a first pulse of a pulse width modulated signal, and
wherein the power applied during the second sub-interval corresponds to a second pulse of the pulse width modulated signal.
25. The method of claim 24 , wherein the different wavelengths comprise first and second wavelengths respectively controlled in accordance with the energy of the first and second pulses.
26. The method of claim 24 , wherein the pulse width modulated signal is generated pseudo-randomly.
27. The method of claim 21 , wherein the exposure interval is 30 milliseconds,
wherein the first sub-interval is less than 7 microseconds, and
wherein the second sub-interval is less than 7 microseconds.