Performance of a time of flight (ToF) laser range finding system using acoustic-based direction of arrival (DoA)
An acoustic-based Direction of Arrival (DoA) system uses acoustic information to determine the direction of incoming sound, such as a person talking. The direction of the sound is then used to focus a laser-based time of flight (ToF) system to narrow the area of laser illumination, improving the signal to noise ratio because laser illumination is focused on the direction of the sound. The DoA system also provides elevation information pertaining to the source of the sound, to further narrow the required field of view of the laser ToF system.
1. An assembly comprising:
plural computerized devices;
at least one computerized device of the plural computerized devices comprising at least one laser emitter configured to output signals useful for generating distances to other devices;
at least some of the plural computerized devices being programmed with instructions to emit sounds detectable by other computerized devices to aim respective laser emitters of the other devices.
2. The assembly of claim 1 , wherein one computerized device of the plural computerized devices comprises at least one camera providing signals to at least one processor representative of reflections of light emitted by the respective laser emitter.
3. The assembly of claim 1 , wherein at least some of the plural computerized devices comprise at least one respective microphone providing signals representative of the sounds emitted by other devices.
4. The assembly of claim 1 , wherein at least one of the plural computerized devices comprises two and only two microphones.
5. The assembly of claim 1 , wherein at least one of the plural computerized devices comprises at least one directional microphone.
6. The assembly of claim 1 , wherein at least some of the computerized devices are programmed to determine at least an elevational direction to an object emitting sound based at least in part on sounds emitted by the object.
7. The assembly of claim 1 , wherein at least some of the computerized devices are programmed to determine a range to an object based on a time of transmission of the signals from the respective laser emitter and a time of reception of a reflection of the signals from the respective laser emitter.