Spatially self-similar patterned illumination for depth imaging
Methods, systems, and devices involving patterned radiation are provided in accordance with various embodiments. Some embodiments include a device for projecting pattern radiation. Some embodiments include a method for estimating coordinates of a location on an object in a 3D scene. Some embodiments include a system for estimating the coordinates of a location on an object in a 3D scene. A variety of radiation patterns are provided in accordance with various embodiments. Some embodiments may relate to the use of patterned illumination to identify the angular information that may be utilized to measure depth by triangulation.
1. A device for projecting patterned radiation, comprising:
one or more pattern-generating elements configured to produce a radiation pattern, wherein the radiation pattern includes:
a plurality of spatial symbols, wherein each spatial symbol from the plurality of spatial symbols comprises a radiation distribution such that at least one characteristic of the radiation distribution varies spatially and wherein the plurality of spatial symbols are configured such that:
each respective spatial symbol from the plurality of spatial symbols is distinguishable from the other spatial symbols from the plurality of spatial symbols; and
each respective spatial symbol from the plurality of spatial symbols is related to one or more master spatial symbols.
2. The device for projecting patterned radiation of claim 1 , wherein the plurality of spatial symbols includes a plurality of arrangements of the plurality of spatial symbols.
3. The device for projecting patterned radiation of claim 2 , wherein the plurality of arrangements of the plurality of spatial symbols includes a first arrangement of the plurality of spatial symbols and a second arrangement of the plurality of spatial symbols.
4. The device for projecting patterned radiation of claim 3 , wherein the second arrangement of the plurality of spatial symbols is a repetition of the first arrangement of the plurality of spatial symbols.
5. The device for projecting patterned radiation of claim 4 , wherein the second arrangement of the plurality of spatial symbols is arranged along a first direction with respect to the first arrangement of the plurality of spatial symbols along a first linear dimension.
6. The device for projecting patterned radiation of claim 5 , wherein the second arrangement of the plurality of spatial symbols is arranged along a second direction with respect to the first arrangement of the plurality of spatial symbols.
7. The device for projecting patterned radiation of claim 3 , wherein the second arrangement of the plurality of spatial symbols is a repetition of the first arrangement of the plurality of spatial symbols with a shift applied to the plurality of spatial symbols of the first arrangement of the plurality of spatial symbols to form the second arrangement of the plurality of symbols.
8. The device for projecting patterned radiation of claim 7 , wherein the shift applied to the plurality of spatial symbols of the first arrangement of the plurality of spatial symbols to form the second arrangement of the plurality of symbols is performed on a row-to-row basis.
9. The device for projecting patterned radiation of claim 7 , wherein the shift applied to the plurality of spatial symbols of the first arrangement of the plurality of spatial symbols to form the second arrangement of the plurality of symbols is less than a symbol width.
10. The device for projecting patterned radiation of claim 3 , wherein the second arrangement of the plurality of spatial symbols includes the same symbols from the first arrangement of the plurality of spatial symbols in a different order from the first arrangement of the plurality of spatial symbols.
11. The device for projecting patterned radiation of claim 1 , wherein the plurality of spatial symbols includes one or more spatial symbols from the plurality of spatial symbols that is repeated.
12. The device for projecting patterned radiation of claim 1 , wherein the plurality of spatial symbols includes one or more spatial symbols from the plurality of spatial symbols that is rotated.
13. The device for projecting patterned radiation of claim 1 , wherein the plurality of spatial symbols includes one or more spatial symbols from the plurality of spatial symbols that is distorted.
14. The device for projecting patterned radiation of claim 1 , wherein the plurality of spatial symbols includes two or more spatial symbols from the plurality of spatial symbols that are arranged to overlap each other.
15. The device for projecting patterned radiation of claim 1 , wherein the pattern-generating element is configured to produce one or more distorted spatial symbols from the plurality of spatial symbols to compensate for distortion introduced through a projection lens.
16. The device for projecting patterned radiation of claim 1 , wherein the one or more master symbols includes a plurality of master symbols.
17. The device for projecting patterned radiation of claim 1 , wherein one or more pattern-generating elements includes a plurality of pattern generating elements configured as a plurality of projectors.
18. The device for projecting patterned radiation of claim 17 , wherein the plurality of projectors are configured to be at least pulsed or strobed.