Depth sensor module and depth sensing method
The invention relates to a depth sensor module and depth sensing method. The depth sensor module and method is adapted to include a light detector part and emitting part with a least two light sources spatially offset in the direction of the triangulation baseline. In some of the embodiments, the pixel field of the image sensor in the light detector part consists of time-of-flight pixels. Depth measurements derived by triangulation can be used to calibrate depth maps generated by the time-of-flight measurements.
1. A depth sensor module comprising:
a light emitting part for illuminating objects and a light detector part, the light emitting part and the light detector part being spatially offset in the direction of a triangulation baseline, wherein the light emitting part comprises at least two light sources spatially offset in the direction of the triangulation baseline, wherein the light detector part is configured to acquire light and to provide along the direction of the triangulation baseline an intensity distribution of the acquired light,
the module further including control and evaluation circuitry operable to enable a triangulation evaluation by determining a zero-crossing point of a difference between two intensity distributions of acquired light originating from two of the at least two light sources of the light emitting part and operable to perform the triangulation evaluation based on the determined zero-crossing point.
2. The depth sensor module according to claim 1 , wherein the at least two light sources are configured to be controlled individually.
3. The depth sensor module according to claim 1 , wherein the at least two light sources are comprised in a single die.
4. The depth sensor module according to claim 1 , wherein a first and a second of the at least two light sources are operable to emit a first light beam having a first light intensity distribution and a second light beam having a second light intensity distribution, respectively, wherein the first and second light intensity distributions are mutually symmetric with respect to a plane aligned perpendicularly to the triangulation baseline.
5. The depth sensor module according to claim 1 , wherein the light emitting part is operable to alternatingly
illuminate objects with a first one of the at least two light sources while not illuminating the objects with a second one of the at least two light sources; and
illuminate objects with a second one of the at least two light sources while not illuminating the objects with a first one of the at least two light sources.
6. The depth sensor module according to claim 1 , wherein the light detector part includes an image sensor configured to acquire light.
7. The depth sensor module according to claim 6 , wherein the image sensor comprises a time-of-flight image sensor.
8. The depth sensor module according to claim 1 , wherein the depth sensor module is configured to enable time-of-flight measurements.
9. The depth sensor module according to claim 1 , wherein the light emitting part includes at least one optical feedback pixel.
10. The depth sensor module according to claim 1 , wherein the depth sensor module is a proximity sensor.
11. A depth sensing method using a depth sensor module having a light emitting part for illuminating objects and a light detector part, the light emitting part and the light detector part being spatially offset in the direction of a triangulation baseline, wherein the light emitting part includes at least two light sources spatially offset in the direction of the triangulation baseline, wherein the method comprises:
emitting light using the light emitting part,
acquiring light using the light detector part, and
obtaining an intensity distribution of the acquired light along the direction of the triangulation baseline,
performing a triangulation evaluation using the intensity distribution of the acquired light, wherein performing the triangulation evaluation comprises determining a zero-crossing point of a difference between a first and a second intensity distributions of acquired light originating from a first and a second of the at least two light sources of the light emitting part, respectively.
12. The depth sensing method according to claim 11 , wherein a first and a second of the at least two light sources are operated to emit a first light beam having a first light intensity distribution and a second light beam having a second light intensity distribution, respectively, wherein the first and second light intensity distributions are mutually symmetric with respect to a plane aligned perpendicularly to the triangulation baseline.
13. The depth sensing method according to claim 11 comprising alternatingly
illuminating objects with a first one of the at least two light sources while not illuminating the objects with a second one of the at least two light sources; and
illuminating objects with a second one of the at least two light sources while not illuminating the objects with a first one of the at least two light sources.
14. The depth sensing method according to claim 11 , comprising controlling the at least two light sources individually.
15. The depth sensing method according to claim 11 , wherein the light detector part comprises an image sensor, and wherein light is acquired using the image sensor.
16. The depth sensing method according to claim 11 , comprising performing a time-of-flight measurement.
17. The depth sensing method according to claim 11 , wherein the light emitting part comprises at least one optical feedback pixel, and wherein the method comprises performing an optical-feedback measurement using the at least one optical feedback pixel.
18. The depth sensing method according to claim 11 , wherein the depth sensor module is a proximity sensor, and wherein the method comprises carrying out proximity measurements.