Systems and methods for optical demodulation in a depth-sensing device
An exemplary imaging device includes an optical sensor having an optical axis, a lens positioned to focus light from a scene onto the optical sensor, a matrix of variable-phase optical elements that are dimensioned to introduce at least two different phase delays into a wavefront of a light signal received from the scene through the lens, a housing that secures the matrix of variable-phase optical elements between the optical sensor and the lens, and a processing subsystem programmed to determine a phase difference associated with the light signal based on the at least two different phase delays. Related systems and methods are also provided.
1. A method comprising:
receiving a first electronic signal from a first pixel of an optical sensor, the first electronic signal characterizing a first portion of a reflected light signal having a first phase delay;
receiving a second electronic signal from a second pixel of the optical sensor, the second electronic signal characterizing a second portion of the reflected light signal having a second phase delay;
receiving a third electronic signal from a third pixel of the optical sensor, the third electronic signal characterizing a third portion of the reflected light signal having a third phase delay;
receiving a fourth electronic signal from a fourth pixel of the optical sensor, the fourth electronic signal characterizing a fourth portion of the reflected light signal having a fourth phase delay;
performing optical quadrature demodulation of the reflected light signal based on the first, second, third, and fourth phase delays; and
generating a three-dimensional image of a scene based on the optical quadrature demodulation.
2. The method of claim 1 , wherein the first portion, the second portion, the third portion, and the fourth portion of the reflected light signal are received substantially simultaneously by the optical sensor.
3. The method of claim 1 , further comprising activating emission of a pulsed light signal into a scene, the pulsed light signal being reflected off objects in the scene as the reflected light signal.
4. The method of claim 1 , wherein variable-phase optical elements included in a matrix are dimensioned to:
direct the first portion of the reflected light signal having the first phase delay to the first pixel of the optical sensor, and
direct the second portion of the reflected light signal having the second phase delay to the second pixel of the optical sensor.
5. The method of claim 4 , wherein the matrix of variable-phase optical elements is disposed between the optical sensor and a lens positioned to focus reflected light onto the optical sensor.
6. The method of claim 4 , further comprising activating a positioning system to move the matrix of variable-phase optical elements from a first position to a second position different from the first position.
7. The method of claim 6 , wherein:
receiving the first electronic signal from the first pixel of the optical sensor and receiving the second electronic signal from the second pixel of the optical sensor comprises receiving the first electronic signal and the second electronic signal while the matrix of variable-phase optical elements is in the first position; and
receiving the third electronic signal from the third pixel of the optical sensor and receiving the fourth electronic signal from the fourth pixel of the optical sensor comprises receiving the third electronic signal and the fourth electronic signal while the matrix of variable-phase optical elements is in the second position.
8. A system comprising:
at least one physical processor; and
physical memory comprising computer-executable instructions that, when executed by the physical processor, cause the physical processor to:
receive a first electronic signal from a first pixel of an optical sensor, the first electronic signal characterizing a first portion of a reflected light signal having a first phase delay;
receive a second electronic signal from a second pixel of the optical sensor, the second electronic signal characterizing a second portion of the reflected light signal having a second phase delay;
receive a third electronic signal from a third pixel of the optical sensor, the third electronic signal characterizing a third portion of the reflected light signal having a third phase delay;
receive a fourth electronic signal from a fourth pixel of the optical sensor, the fourth electronic signal characterizing a fourth portion of the reflected light signal having a fourth phase delay;
perform optical quadrature demodulation of the reflected light signal based on the first, second, third, and fourth phase delays;
generate a three-dimensional image of a scene based on the optical quadrature demodulation.
9. The system of claim 8 , wherein the first portion, the second portion, the third portion, and the fourth portion of the reflected light signal are received substantially simultaneously by the optical sensor.
10. The system of claim 8 , wherein the computer-executable instructions, when executed by the physical processor, further cause the physical processor to activate emission of a pulsed light signal into a scene, the pulsed light signal being reflected off objects in the scene as the reflected light signal.
11. The system of claim 8 , wherein variable-phase optical elements included in a matrix are dimensioned to:
direct the first portion of the reflected light signal having the first phase delay to the first pixel of the optical sensor, and
direct the second portion of the reflected light signal having the second phase delay to the second pixel of the optical sensor.
12. The system of claim 11 , wherein the matrix of variable-phase optical elements is disposed between the optical sensor and a lens positioned to focus reflected light onto the optical sensor.
13. The system of claim 11 , wherein the computer-executable instructions, when executed by the physical processor, further cause the physical processor to activate a positioning system to move the matrix of variable-phase optical elements from a first position to a second position different from the first position.
14. The system of claim 13 , wherein the computer-executable instructions, when executed by the physical processor, further cause the physical processor to:
receive the first electronic signal from the first pixel of the optical sensor and receive the second electronic signal from the second pixel of the optical sensor while the matrix of variable-phase optical elements is in the first position; and
receive the third electronic signal from the third pixel of the optical sensor and receive the fourth electronic signal from the fourth pixel of the optical sensor while the matrix of variable-phase optical elements is in the second position.
15. A non-transitory computer-readable medium comprising one or more computer-executable instructions that, when executed by at least one processor of a computing device, cause the computing device to:
receive a first electronic signal from a first pixel of an optical sensor, the first electronic signal characterizing a first portion of a reflected light signal having a first phase delay;
receive a second electronic signal from a second pixel of the optical sensor, the second electronic signal characterizing a second portion of the reflected light signal having a second phase delay;
receive a third electronic signal from a third pixel of the optical sensor, the third electronic signal characterizing a third portion of the reflected light signal having a third phase delay;
receive a fourth electronic signal from a fourth pixel of the optical sensor, the fourth electronic signal characterizing a fourth portion of the reflected light signal having a fourth phase delay;
perform optical quadrature demodulation of the reflected light signal based on the first, second, third, and fourth phase delays; and
generate a three-dimensional image of a scene based on the optical quadrature demodulation.
16. The non-transitory computer-readable medium of claim 15 , wherein the first portion, the second portion, the third portion, and the fourth portion of the reflected light signal are received substantially simultaneously by the optical sensor.
17. The non-transitory computer-readable medium of claim 15 , further comprising activating emission of a pulsed light signal into a scene, the pulsed light signal being reflected off objects in the scene as the reflected light signal.
18. The non-transitory computer-readable medium of claim 15 , wherein variable-phase optical elements included in a matrix are dimensioned to:
direct the first portion of the reflected light signal having the first phase delay to the first pixel of the optical sensor, and
direct the second portion of the reflected light signal having the second phase delay to the second pixel of the optical sensor.
19. The non-transitory computer-readable medium of claim 18 , further comprising activating a positioning system to move the matrix of variable-phase optical elements from a first position to a second position different from the first position.
20. The non-transitory computer-readable medium of claim 19 , wherein:
receiving the first electronic signal from the first pixel of the optical sensor and receiving the second electronic signal from the second pixel of the optical sensor comprises receiving the first electronic signal and the second electronic signal while the matrix of variable-phase optical elements is in the first position; and
receiving the third electronic signal from the third pixel of the optical sensor and receiving the fourth electronic signal from the fourth pixel of the optical sensor comprises receiving the third electronic signal and the fourth electronic signal while the matrix of variable-phase optical elements is in the second position.