Designing and constructing dot projectors for three-dimensional sensor modules

1. A method comprising:

determining, for an optical dot projector having a plurality of light emitters, a relationship between locations of the plurality of light emitters with respect to a substrate of the optical dot projector and corresponding first locations of dots projected by the dot projector onto an imaging plane;

determining, based on the relationship, an optical grating approximating one or more optical characteristics of one or more optical elements of the optical dot projector;

determining second locations of dots corresponding to a replacement of the one or more optical elements of the optical dot projector by the optical grating;

determining, based on the second locations of dots, modified locations of the plurality of light emitters with respect to the substrate to reduce a distortion in a spatial pattern of the dots projected by the dot projector; and

constructing a plurality of optical dot projectors, each having a respective plurality of light emitters arranged according to the determined modified locations.

2. The method of claim 1 , wherein the relationship comprises a transfer function indicating the first locations of dots projected by the dot projector onto the imaging plane as a function of the locations of the plurality of light emitters with respect to the substrate of the optical dot projector.

3. The method of claim 1 , wherein the plurality of light emitters comprises a plurality of vertical cavity surface emitting laser (VSCEL) emitters arranged on the substrate.

4. The method of claim 1 , wherein the optical grating is determined based on a curvature of the first locations of dots with respect to a horizontal dimension of the imaging plane.

5. The method of claim 4 , wherein the optical grating is further determined based on a curvature of the first locations of dots with respect to a vertical dimension of the imaging plane.

6. The method of claim 1 , wherein the one or more optical elements comprises one or more diffractive optical elements.

7. The method of claim 1 , wherein determining the optical grating approximating the optical characteristics of the one or more optical elements of the optical dot projector comprises determining a first periodicity of the optical grating with respect to a first dimension.

8. The method of claim 7 , wherein determining the optical grating approximating the optical characteristics of the one or more optical elements of the optical dot projector further comprises determining a second periodicity of the optical grating with respect to a second dimension, the second dimension being orthogonal to the first dimension.

9. The method of claim 1 , further comprising constructing a plurality of optical sensor modules, wherein constructing the plurality of optical sensor modules comprises, for each optical sensor module, packaging a respective optical dot projector of the plurality of optical dot projects and a respective image sensor in the optical sensor module.

10. The method of claim 1 , wherein determining the relationship comprises:

projecting, using the optical dot project, the dots onto the imaging plane;

measuring the locations of the plurality of light emitters with respect to the substrate of the optical dot projector;

measuring the first locations of the dots with respect to the imaging plane; and

determining the relationship based on the measured locations of the plurality of light emitters with respect to the substrate of the optical dot projector and the measured first locations of the dots with respect to the imaging plane.