Patterned illumination for three dimensional imaging
A method of operating a time-of-flight system includes projecting a light pattern from an illumination source into an environment; by an array of light sensors of a time-of-flight sensor of the time-of-flight system, detecting the light pattern reflected by an object in an environment; and generating a signal based on the light detected by a subset of the light sensors of the array of light sensors, the signal being provided to one or more processors for generation of a representation of the environment.
1 . A method of operating a time-of-flight system having an illumination source and a time-of-flight sensor, the time-of-flight sensor comprising an array of light sensors, the method comprising:
receiving calibration information regarding an identified subset of light sensors in the array of light sensors;
activating the identified subset of light sensors;
projecting a projected light pattern from the illumination source into an environment, wherein the projected light pattern comprises a plurality of dynamically generated sub-patterns,
wherein each sub-pattern impinges on a different illuminated subset of light sensors,
wherein the dynamically generated sub-patterns are generated based at least in part on the calibration information, and
wherein the calibration information comprises a plurality of macropixel definitions that are based on an alignment with a corresponding element of an illumination spot in a previously detected light pattern;
detecting, by the different illuminated subset of light sensors, a detected light pattern reflected by an object in the environment; and
generating a representation signal based on the detected light pattern by the different illuminated subset of light sensors, wherein the different illuminated subset of light sensors comprises fewer than all of the light sensors in the array of light sensors, and the representation signal being provided to one or more processors for generation of a representation of the environment.
2 . The method of claim 1 , wherein the identified subset of light sensors comprises multiple subsets of light sensors in the array of light sensors.
3 . The method of claim 2 , comprising disabling non-activated light sensors in the array of light sensors that are not included in the identified subset.
4 . The method of claim 3 , wherein the array of light sensors is grouped into macropixels, each macropixel including one or more of the activated light sensors and the non-activated light sensors, wherein activating the identified subset of light sensors comprises sequentially activating sequential subsets of light sensors in different macropixels.
5 . The method of claim 4 , comprising activating each subset of the sequential subsets based on a corresponding device light pattern generated by an illumination device.
6 . The method of claim 5 , wherein activating the identified subset of the light sensors in the array of light sensors comprises sequentially activating each of the multiple subsets of light sensors in the array of light sensors.
7 . The method of claim 6 , comprising activating a macropixel subset of the identified subset of the light sensors within each macropixel based on the corresponding light pattern from the illumination device, wherein the array of light sensors is grouped into macropixels, each macropixel including one or more of the activated light sensors.
8 . The method of claim 6 , wherein sequential activation of each of the multiple subsets of light sensors causes activation of all of the light sensors of the array of light sensors.
9 . The method of claim 2 , wherein the array of light sensors is grouped into macropixels, each macropixel including one or more activated light sensors in the identified subset, and in which generating the signal further comprises generating a macropixel signal corresponding to each macropixel based on the light detected by the activated light sensors of each macropixel.
10 . The method of claim 9 , in which generating the macropixel signal corresponding to each macropixel comprises integrating a light signal based on light detected by the activated light sensors of the macropixel over at least some of the light sensors of the macropixel.
11 . The method of claim 9 , comprising defining the macropixels based on light detected by the array of light sensors.
12 . The method of claim 1 , in which projecting the projected light pattern comprises sequentially projecting multiple distinct light patterns from the illumination source.
13 . The method of claim 12 , in which the multiple distinct light patterns together correspond to flood illumination of the environment.
14 . The method of claim 1 , in which projecting the projected light pattern comprises projecting multiple light patterns using a multiple emitter or a segmented emitter.
15 . The method of claim 14 , comprising generating the projected light pattern by at least one of a diffractive element, a patterned mask, a micro-lens array, and direct projection.
16 . The method of claim 1 , wherein the dynamically generated sub-patterns are sequentially emitted.
17 . The method of claim 1 , further comprising calibrating the array of light sensors, wherein identifying the identified subset of light sensors for activation comprises identifying threshold light sensors that detect light having an intensity exceeding a threshold.
18 . A time of flight sensor for a time-of-flight sensor system comprising:
an illumination source configured to project a light pattern into an environment;
an array of light sensors each configured to detect light reflected from an object in the environment; and
control circuitry configured to:
activate a subset of the light sensors of the array of light sensors based on the light pattern wherein the subset comprises fewer than all of the light sensors of the array;
project a projected light pattern from the illumination source into an environment, wherein the projected light pattern comprises a plurality of dynamically generated sub-patterns,
wherein each sub-pattern impinges on a different illuminated subset of light sensors,
wherein the dynamically generated sub-patterns are generated based at least in part on calibration information associated with the time of flight sensor, and
wherein the calibration information comprises a plurality of macropixel definitions that are based on an alignment with a corresponding element of an illumination spot in a previously detected light pattern;
detect, by the different illuminated subset of light sensors, a detected light pattern reflected by an object in the environment;
receive signals from the different illuminated subset of light sensors, the received signals indicative of detection of light reflected from the object in the environment; and
generate an output signal based on the received signals indicative of detection of light, the output signals being provided to one or more processors for generation of a three-dimensional image of the environment.
19 . The time of flight sensor of claim 18 , comprising at least one of a diffractive element, a patterned mark, and a micro-lens array configured to generate the light pattern.