Dynamic illumination control for depth determination
A depth camera assembly (DCA) optimizes illumination and image capture of a local area to generate depth information of the local area. The DCA determines depth information for a first portion of the local area viewable at a first pose. The DCA is moved from the first pose to a second pose, where a second portion of the local area is viewable and overlaps with the first portion. The overlapping region is not illuminated by the DCA. A non-overlapping portion of the second portion is illuminated, captured, and depth information determined.
1. A projector assembly comprising:
an array of vertical cavity surface emitting lasers (VCSELs) including a first subset of VCSELs positioned in accordance with a first layout and a second subset of VCSELs positioned in accordance with a second layout, wherein the second layout is shifted from the first layout along a first dimension; and
a tiling element configured to generate a respective structured light (SL) tile for each of the VCSELS in the array of VCSELs, and each respective SL tile is associated with a different location in a field of view of the projector assembly,
wherein SL tiles formed from light from the first subset of VCSELs forms a first SL pattern and SL tiles formed from light from the second subset of VCSELs forms a second SL pattern, and the second SL pattern is laterally shifted from the first SL pattern along the first dimension.
2. The projector assembly of claim 1 , wherein each VCSEL of the array of VCSELs is individually addressable.
3. The projector assembly of claim 1 , wherein each SL tile formed from the first subset of VCSELs has a same pattern.
4. The projector assembly of claim 1 , wherein each SL tile formed from the second subset of VCSELs has the same pattern.
5. The projector assembly of claim 1 , wherein the first SL pattern overlaid with the second SL pattern forms a SL pattern, and the SL pattern includes a first sub-pattern that has a first feature density, and a second sub-pattern that has a second feature density that is higher than the first feature density.
6. The projector assembly of claim 5 , wherein the first sub-pattern is formed from a portion of the first SL pattern, and the second sub-pattern is formed from a different portion of the first SL pattern that is overlaid with a portion of the second SL pattern.
7. The projector assembly of claim 1 , wherein the first layout is a first grid, and the second layout is a second grid, and rows of the first grid and rows of the second grid overlap, and columns of the first grid and columns of the second grid are separated by a pitch distance.
8. The projector assembly of claim 7 , wherein adjacent rows of the first grid are separated by the pitch distance.
9. The projector assembly of claim 7 , wherein adjacent VCSELs in the first grid are separated by the pitch distance, and adjacent VCSELs in the second grid are separated by the pitch distance.
10. The projector assembly of claim 9 , wherein VCSELs in the first grid that are adjacent to VCSELs in the second grid, and are in a same row, are separated by a second distance that is less than the pitch distance.
11. The projector assembly of claim 10 , wherein the second distance is half the pitch distance.
12. The projector assembly of claim 1 , wherein the tiling element is a diffraction grating.
13. The projector assembly of claim 1 , wherein a layout of the array of VCSELs mitigates pincushion distortion in the first SL pattern and in the second SL pattern.
14. A sensor comprising:
an array of vertical cavity surface emitting lasers (VCSELs) including a first subset of VCSELs positioned in accordance with a first layout and a second subset of VCSELs positioned in accordance with a second layout, wherein the second layout is shifted from the first layout along a first dimension;
wherein a tiling element is configured to use light from the array of VCSELs to generate a respective structured light (SL) tile for each of the VCSELS in the array of VCSELs, and each respective SL tile is associated with a different location in a field of view of the projector assembly, and
wherein SL tiles formed from light from the first subset of VCSELs forms a first SL pattern and SL tiles formed from light from the second subset of VCSELs forms a second SL pattern, and the second SL pattern is laterally shifted from the first SL pattern along the first dimension.
15. The sensor of claim 14 , wherein each VCSEL of the array of VCSELs is individually addressable.
16. The sensor of claim 14 , wherein the first layout is a first grid, and the second layout is a second grid, and rows of the first grid and rows of the second grid overlap, and columns of the first grid and columns of the second grid are separated by a pitch distance.
17. The sensor of claim 16 , wherein adjacent rows of the first grid are separated by the pitch distance.
18. The sensor of claim 17 , wherein adjacent VCSELs in the first grid are separated by the pitch distance, and adjacent VCSELs in the second grid are separated by the pitch distance.
19. The sensor of claim 18 , wherein VCSELs in the first grid that are adjacent to VCSELs in the second grid, and are in a same row, are separated by a second distance that is less than the pitch distance.
20. The sensor of claim 14 , wherein a layout of the array of VCSELs mitigates pincushion distortion in the first SL pattern and in the second SL pattern.