CMOS image sensor for RGB imaging and depth measurement with laser sheet scan
An imaging unit includes a light source and a pixel array. The light source projects a line of light that is scanned in a first direction across a field of view of the light source. The line of light oriented in a second direction that is substantially perpendicular to the first direction. The pixel array is arranged in at least one row of pixels that extends in a direction that is substantially parallel to the second direction. At least one pixel in a row is capable of generating two-dimensional color information of an object in the field of view based on a first light reflected from the object and is capable of generating three-dimensional (3D) depth information of the object based on the line of light reflecting from the object. The 3D-depth information includes time-of-flight information.
1. An imaging unit, comprising:
a light source that projects a line of light that is scanned in a first direction across a field of view of the light source, the line of light oriented in a second direction that is substantially perpendicular to the first direction; and
a pixel array arranged in at least one row of pixels that extends in a direction that is substantially parallel to the second direction, at least one pixel in a row capable of generating two-dimensional (2D) color information of an object in the field of view of the light source based on a first light reflected from the object and capable of generating three-dimensional (3D) depth information of the object based on the line of light reflecting from the object, the 3D-depth information comprising time-of-flight information.
2. The imaging unit of claim 1 , further comprising a time-to-digital converter coupled to the pixel, the time-to-digital converter generating the 3D-depth information based on the pixel detecting the line of light being reflected from the object.
3. The imaging unit of claim 1 , wherein the 3D-depth information comprises timestamp information.
4. The imaging unit of claim 1 , further comprising a plurality of time-to-digital converters, each pixel in a row of the pixel array being coupled to a corresponding time-to-digital converter that generates the 3D-depth information for the pixel based on the pixel detecting the line of light being reflected from the object.
5. The imaging unit of claim 4 , further comprising a controller coupled to the light source and the plurality of time-to-digital converters, the controller controlling the time-to-digital converters to be synchronized with the line of light that is scanned across the field of view of the light source.
6. The imaging unit of claim 1 , further comprising a time-to-digital converter coupled to a group of pixels capable of generating 2D-color information and 3D-depth information, the time-to-digital converter generating the 3D-depth information based on at least one pixel of the group of pixels detecting the line of light being reflected from the object.
7. The imaging unit of claim 1 , wherein the first direction comprises substantially a horizontal direction with respect to the field of view of the light source, and the second direction comprises substantially a vertical direction with respect to the field of view of the light source.
8. The imaging unit of claim 1 , wherein the first direction comprises substantially a vertical direction with respect to the field of view of the light source, and the second direction comprises substantially a horizontal direction with respect to the field of view of the light source.
9. An image sensor unit, comprising:
a pixel array arranged in at least one row of pixels that extends in a first direction, at least one pixel in a row capable of generating two-dimensional (2D) color information of an object based on a first light reflected from the object in a field of view of the pixel array and capable of generating 3D-depth information of the object based on a line of light reflecting from the object, the 3D-depth information comprising time-of-flight information, the light of light being oriented in a second direction that is substantially perpendicular to the first direction, and the line of light being scanned across the field of view of the pixel array in substantially the first direction; and
a time-to-digital converter coupled to the pixel, the time-to-digital converter generating the 3D-depth information based on the pixel detecting the line of light being reflected from the object.
10. The image sensor unit of claim 9 , further comprising a plurality of time-to-digital converters, each pixel in a row of the pixel array being coupled to a corresponding time-to-digital converter that generates the 3D-depth information for the pixel based on the pixel detecting the line of light being reflected from the object.
11. The image sensor unit of claim 10 , further comprising a controller coupled to the plurality of time-to-digital converters, the controller controlling the time-to-digital converters to be synchronized with the line of light that is scanned across the field of view of the pixel array.
12. The image sensor unit of claim 9 , wherein the 3D-depth information comprises timestamp information.
13. The image sensor unit of claim 9 , wherein the time-to-digital converter is coupled to a group of pixels capable of generating 2D-color information and 3D-depth information, the time-to-digital converter generating the 3D-depth information based on at least one pixel of the group of pixels detecting the line of light being reflected from the object.
14. The image sensor unit of claim 9 , wherein the first direction comprises substantially a horizontal direction with respect to the field of view of the pixel array, and the second direction comprises substantially a vertical direction with respect to the field of view of the pixel array.
15. The image sensor unit of claim 9 , wherein the first direction comprises substantially a vertical direction with respect to the field of view of the pixel array, and the second direction comprises substantially a horizontal direction with respect to the field of view of the pixel array.
16. The image sensor unit of claim 9 , further comprising a light source that projects the line of light that is scanned in the first direction across a field of view of the pixel array.
17. A method, comprising:
projecting from a light source a line of light oriented in a first direction across a field of view of a light source in a second direction that is substantially perpendicular to the first direction; and
generating at a pixel two-dimensional (2D) color information of an object in the field of view of the light source based on a first light reflected from the object and three-dimensional (3D) depth information of the object based on the line of light reflecting from the object, the pixel being capable of generating 2D color information of the object and 3D-depth information of the object, the pixel further being part of a pixel array that is arranged in at least one row of pixels that extends in a direction that is substantially parallel to the second direction, the pixel being in a row of the pixel array, and the 3D-depth information comprising time-of-flight information.
18. The method of claim 17 , wherein a time-to-digital converter is coupled to the pixel, the method further comprising:
generating at the time-to-digital converter the 3D-depth information based on the pixel detecting the line of light being reflected from the object.
19. The method of claim 17 , wherein the first direction comprises substantially a horizontal direction with respect to the field of view of the light source, and the second direction comprises substantially a vertical direction with respect to the field of view of the light source.
20. The method of claim 17 , wherein the first direction comprises substantially a vertical direction with respect to the field of view of the light source, and the second direction comprises substantially a horizontal direction with respect to the field of view of the light source.