Time-of-flight camera system and method to improve measurement quality of weak field-of-view signal regions
A time-of-flight camera system is described. The time-of-flight camera system includes an illuminator to illuminate a region within the time-of-flight camera system's field of view. The time-of-flight camera system includes an image sensor to receive optical signals from the illumination for determining depth profile information within the field of view using time-of-flight measurement techniques. The image sensor has circuitry to determine one or more regions within the field of view where a received optical signal from the illuminating was weak. The illuminator is also to re-illuminate the one or more regions with stronger light than the one or more regions received during the illuminating. Each of the one or more regions being smaller than the region. The image sensor is also to receive optical signals from the re-illumination for determining depth profile information within the one or more regions.
1. A computer-implemented method comprising:
obtaining, by a illumination technique selection module of a depth camera, a set of one or more parameters that characterize a time criticality of a time-of-flight measurement;
selecting, by the illumination technique selection module and based at least on the set of one or more parameters, a particular illumination technique, from among multiple candidate illumination techniques, with which to illuminate a sub-region within the field of view of the depth camera; and
transmitting, by the illumination technique selection module, an indication that the particular illumination technique has been selected.
2. The method of claim 1 , wherein the set of one or more parameters indicates that the object of interest is larger than a previously-illuminated sub-region within the field of view of the depth camera.
3. The method of claim 1 , wherein the set of one or more parameters indicates that the object of interest is smaller than a previously-illuminated sub-region within the field of view of the depth camera.
4. The method of claim 1 , wherein the selected, particular illumination technique comprises a technique that illuminates a single, entire partition of the field of view of the depth camera, at one time.
5. The method of claim 1 , wherein the selected, particular illumination technique comprises a technique that illuminates multiple, entire partitions of the field of view of the depth camera, at one time.
6. The method of claim 1 , wherein the set of one or more parameters indicates one or more pixels within the field of view of the depth camera that registered weak reflection signals in response to a previous illumination of the entire field of view of the depth camera.
7. The method of claim 1 , wherein the selected, particular illumination technique comprises a technique that illuminates multiple, overlapping sub-regions of the field of view of the depth camera over time, comprising illuminating, at a first time, an entirety of a first partition within the field of view and only a portion of a second partition within the field of view, and illuminating, at a second time, only a portion of the first partition within the field of view and an entirety of the second partition within the field of view.
8. The method of claim 1 , wherein the selected, particular illumination technique comprises a technique that illuminates multiple, non-overlapping sub-regions of the field of view of the depth camera over time.
9. The method of claim 1 , wherein the selected, particular illumination technique comprises a technique that increases illumination power to a particular sub-region of the field of view of the depth camera, relative to a previous illumination of the particular sub-region.
10. The method of claim 1 , wherein the selected, particular illumination technique comprises a technique that decreases illumination power to a particular sub-region of the field of view of the depth camera, relative to a previous illumination of the particular sub-region.
11. The method of claim 1 , wherein the selected, particular illumination technique comprises a technique that illuminates a single partition within the field of view of the depth camera over time by illuminating multiple, overlapping sub-regions of the partition over time, comprising, during first through nth times, illuminating a different, respective portion of the single partition within the field of view, wherein the different, respective portions of the single partition that are illuminated during the first through nth times collectively cover an entirety of the single partition and one or more portions of one or more other partitions.
12. The method of claim 1 , wherein the selected, particular illumination technique comprises a technique that illuminates multiple partitions within the field of view of the depth camera over time by illuminating, for each of the multiple partitions, overlapping sub-regions of the partition over time, comprising, for a particular one of the multiple partitions and during first through nth times, illuminating a different, respective portion of the particular one of the multiple partitions, wherein the different, respective portions of the particular one of the multiple partitions that are illuminated during the first through nth times collectively cover an entirety of the particular one of the multiple partitions and one or more portions of one or more other partitions.
13. A system comprising:
one or more computers and one or more storage devices storing instructions that are operable, when executed by the one or more computers, to cause the one or more computers to perform operations comprising:
obtaining, by a illumination technique selection module of a depth camera, a set of one or more parameters that characterize a time criticality of a time-of-flight measurement;
selecting, by the illumination technique selection module and based at least on the set of one or more parameters, a particular illumination technique, from among multiple candidate illumination techniques, with which to illuminate a sub-region within the field of view of the depth camera; and
transmitting, by the illumination technique selection module, an indication that the particular illumination technique has been selected.
14. The system of claim 13 , wherein the set of one or more parameters indicates that the object of interest is larger than a previously-illuminated sub-region within the field of view of the depth camera.
15. The system of claim 13 , wherein the set of one or more parameters indicates that the object of interest is smaller than a previously-illuminated sub-region within the field of view of the depth camera.
16. The system of claim 13 , wherein the selected, particular illumination technique comprises a technique that illuminates a single, entire partition of the field of view of the depth camera, at one time.
17. The system of claim 13 , wherein the selected, particular illumination technique comprises a technique that illuminates multiple, entire partitions of the field of view of the depth camera, at one time.
18. The system of claim 13 , wherein the set of one or more parameters indicates one or more pixels within the field of view of the depth camera that registered weak reflection signals in response to a previous illumination of the entire field of view of the depth camera.
19. The system of claim 13 , wherein the selected, particular illumination technique comprises a technique that illuminates multiple, overlapping sub-regions of the field of view of the depth camera over time, comprising illuminating, at a first time, an entirety of a first partition within the field of view and only a portion of a second partition within the field of view, and illuminating, at a second time, only a portion of the first partition within the field of view and an entirety of the second partition within the field of view.
20. A non-transitory computer-readable medium storing software comprising instructions executable by one or more computers which, upon such execution, cause the one or more computers to perform operations comprising:
obtaining, by a illumination technique selection module of a depth camera, a set of one or more parameters that characterize a time criticality of a time-of-flight measurement;
selecting, by the illumination technique selection module and based at least on the set of one or more parameters, a particular illumination technique, from among multiple candidate illumination techniques, with which to illuminate a sub-region within the field of view of the depth camera; and
transmitting, by the illumination technique selection module, an indication that the particular illumination technique has been selected.