Image sensor processing using a combined image and range measurement system
In one embodiment, an apparatus includes a transmitter operable to transmit a first light beam from a light source. The apparatus also includes a receiver operable to receive a plurality of return light beams and direct the plurality of return light beams through a first beam splitter to an imaging sensor and a LiDAR sensor. The imaging sensor may be operable to process a first portion of the return light beams into image profile data, and the LiDAR sensor may be operable to process a second portion of the return light beams into depth profile data. In addition, the first and second portions of the return light beams may be received from a shared field of view.
1. An apparatus comprising:
a transmitter operable to simultaneously transmit a first electromagnetic beam associated with a first wavelength range and a second electromagnetic beam associated with a second wavelength range, wherein the first wavelength range and the second wavelength range are discontinuous from each other; and
a receiver, coupled to the transmitter, operable to:
receive electromagnetic beams returned by one or more objects, the electromagnetic beams comprising a first portion corresponding to the first wavelength range associated with the first electromagnetic beam, a second portion corresponding to the second wavelength range associated with the second electromagnetic beam, and a third portion corresponding to a third wavelength range, and
direct the received electromagnetic beams through beam splitters operable to direct the first portion of the received electromagnetic beams to a first light detection and ranging (LiDAR) sensor, the second portion of the received electromagnetic beams to a second LiDAR sensor, and the third portion of the received electromagnetic beams to an imaging sensor of a camera,
wherein:
the first LiDAR sensor is operable to process the first portion of the received electromagnetic beams and output first depth profile data;
the second LiDAR sensor is operable to process the second portion of the received electromagnetic beams and output second depth profile data; and
the imaging sensor of the camera is operable to process the third portion of the received electromagnetic beams and output image profile data.
2. The apparatus of claim 1 , further comprising a data processor operable to process the first depth profile data, the second depth profile data, and the image profile data and output a three-dimensional model of an external environment.
3. The apparatus of claim 1 , wherein the first and second electromagnetic beams are simultaneously transmitted through a shared field of view, and the receiver is operable to receive the electromagnetic beams through the shared field of view.
4. The apparatus of claim 3 , wherein the first depth profile data output by the first LiDAR sensor, the second depth profile data output by the second LiDAR sensor, and the image profile data output by the imaging sensor are aligned in accordance with the shared field of view.
5. The apparatus of claim 1 , wherein each of the beam splitters comprises a dichroic mirror.
6. The apparatus of claim 1 , wherein the first and second wavelengths are associated with infrared light and the third wavelength range is associated with visible light.
7. The apparatus of claim 1 , wherein the transmitter comprises
an optical switch operable to switch between transmitting the first and second electromagnetic beams and transmitting a third electromagnetic beam associated with a fourth wavelength range.
8. The apparatus of claim 7 , wherein the receiver is further operable to:
receive an electromagnetic beam corresponding to the third electromagnetic beam returned by the one or more objects; and
direct the electromagnetic beam corresponding to the third electromagnetic beam through the beam splitters operable to further direct the electromagnetic beam to a third LiDAR sensor,
wherein:
the third LiDAR sensor is operable to process the electromagnetic beam corresponding to the third electromagnetic beam and output third depth profile data; and
the third depth profile data output by the third LiDAR sensor and the image profile data output by the imaging sensor are aligned in accordance with the shared field of view.
9. A method comprising:
transmitting, via a transmitter, a first electromagnetic beam associated with a first wavelength range and a second electromagnetic light beam associated with a second wavelength range, wherein the first electromagnetic beam and the second electromagnetic beam are simultaneously transmitted, and wherein the first wavelength range and the second wavelength range are discontinuous from each other;
receiving, via a receiver coupled to the transmitter, electromagnetic beams returned by one or more objects, the electromagnetic beams comprising a first portion corresponding to the first wavelength range associated with the first electromagnetic beam, a second portion corresponding to the second wavelength range associated with the second electromagnetic beam, and a third portion corresponding to a third wavelength range; and
directing, via beam splitters, the received electromagnetic beams to a first light detection and ranging (LiDAR) sensor, a second LiDAR sensor, and an imaging sensor, the first LiDAR sensor being operable to process the first portion of the received electromagnetic beams and output first depth profile data, the second LiDAR sensor being operable to process the second portion of the received electromagnetic beams and output second depth profile data, and the imaging sensor being operable to process the third portion of the received electromagnetic beams and output image profile data.
10. The method of claim 9 , further comprising:
processing the first depth profile data, the second depth profile data, and the image profile data into a three-dimensional model of an external environment.
11. The method of claim 9 , wherein the first and second electromagnetic beams are simultaneously transmitted through a shared field of view, and the receiver is operable to receive the electromagnetic beams through the shared field of view.
12. The method of claim 11 , wherein the first depth profile data output by the first LiDAR sensor, the second depth profile data output by the second LiDAR sensor, and the image profile data output by the imaging sensor are aligned in accordance with the shared field of view.
13. The method of claim 9 , wherein each of the beam splitters comprises a dichroic mirror.
14. The method of claim 9 , wherein the first and second wavelengths are associated with infrared light and the third wavelength range is associated with visible light.
15. The method of claim 9 , further comprising:
switching, via an optical switch, between transmitting the first and second electromagnetic beams and transmitting a third electromagnetic beam associated with a fourth wavelength range.
16. The method of claim 15 , further comprising:
transmitting, via the transmitter, the third electromagnetic beam;
receiving, via the receiver, an electromagnetic beam corresponding to the third electromagnetic beam returned by the one or more objects; and
directing, via beam splitters, the electromagnetic beam corresponding to the third electromagnetic beam to a third LiDAR sensor, the third LiDAR sensor being operable to process the electromagnetic beam corresponding to the third electromagnetic beam and output third depth profile data,
wherein the third depth profile data output by the third LiDAR sensor and the image profile data output by the imaging sensor are aligned in accordance with the shared field of view.
17. A system comprising:
a transmitter operable to simultaneously transmit a first electromagnetic beam associated with a first wavelength range and a second electromagnetic beam associated with a second wavelength range, wherein the first wavelength range and the second wavelength range are discontinuous from each other;
a receiver, coupled to the transmitter, operable to receive electromagnetic beams returned by one or more objects;
beam splitters, coupled to the receiver, operable to split the received electromagnetic beams into a first portion corresponding to the first wavelength range associated with the first electromagnetic beam, a second portion corresponding to the second wavelength range associated with the second electromagnetic beam, and a third portion corresponding to a third wavelength range;
a first light detection and ranging (LiDAR) sensor, coupled to the receiver, operable to process the first portion of the received electromagnetic beams and output first depth profile data;
a second LiDAR sensor, coupled to the receiver, operable to process the second portion of the received electromagnetic beams and output second depth profile data; and
an imaging sensor of the camera, coupled to the receiver, operable to process the third portion of the received electromagnetic beams and output image profile data.
18. The system of claim 17 , further comprising a data processor operable to process the first depth profile data, the second depth profile data, and the image profile data and output a three-dimensional model of an external environment.
19. The system of claim 17 , wherein the first and second electromagnetic beams are simultaneously transmitted through a shared field of view, and the receiver is operable to receive the electromagnetic beams through the shared field of view.
20. The system of claim 17 , wherein the first depth profile data output by the first LiDAR sensor, the second depth profile data output by the second LiDAR sensor, and the image profile data output by the imaging sensor are aligned in accordance with the shared field of view.