Imaging arrangement and corresponding methods and systems for depth map generation
An imaging system includes multiple LED modules, a single image sensor, a controller, a processing unit and a depth map generator. Each LED module has a distinct angular emission profile and emits light having a distinct wavelength range. The image sensor detects light originating from at least two of the LED modules after reflection by an object in a field of view of the image sensor to provide an image sensor output. The controller controls the LED modules to turn on and off such that only one LED module emits light at a time. The processing unit processes the image sensor output to identify an intensity profile for the reflected light from each of the LED modules. The depth map generator determines an angular position of the object based at least on the intensity profile for the reflected light from each of the LED modules.
1. An imaging system comprising:
a single image sensor configured to detect light within a field of view of the single image sensor to provide an image sensor output;
a plurality of LED modules, each of the plurality of LED modules having a distinct angular emission profile within the field of view of the single image sensor and configured to emit light having a distinct wavelength range such that the plurality of LED modules collectively emit light over the entire field of view of the single image sensor, wherein the plurality of LED modules comprises a first LED module having an angular emission profile that decreases monotonically as a function of angle and a second LED module having an angular emission profile that increases monotonically as a function of angle;
a controller configured to control the plurality of LED modules to turn on and off such that only one of the plurality of LED modules emits light at the same time;
a processing unit configured to process the image sensor output to identify an intensity profile for the reflected light from each of the plurality of LED modules; and
a depth map generator configured to determine an angular position of the object based at least on the intensity profile for the reflected light from each of the plurality of LED modules.
2. The imaging system according to claim 1 , wherein the single image sensor is a one-dimensional image sensor.
3. The imaging system according to claim 2 , wherein the one-dimensional image sensor is oriented horizontally relative to the object.
4. The imaging system according to claim 3 , wherein a combined light emission from each of the plurality of LED modules covers an entire field of view of the one-dimensional image sensor.
5. The imaging system according to claim 1 , wherein the angular emission profile of the first LED module is an inverse of the angular emission profile of the second LED module.
6. The imaging system according to claim 1 , wherein a maximum light intensity of the first LED module is directed into a left half of the field of view of the single image sensor, and a maximum light intensity of the second LED module is directed into a right half of the field of view of the single image sensor.
7. The imaging system according to claim 1 , further comprising a plurality of optical elements, each of the plurality of optical elements being optically coupled to a respective one of the plurality of LED modules, and the angular emission profile of each of the plurality of LED modules is determined by the optical element optically coupled to that LED module.
8. The imaging system according to claim 1 , wherein the single image sensor is sensitive over an entire wavelength range of all of the plurality of LED modules.
9. The imaging system according to claim 1 , wherein the depth map generator is configured to estimate a distance to the object based on a phase difference between light emitted by each of the plurality of LED modules and light received by the single image sensor.
10. A method of generating a depth map, the method comprising:
providing an imaging system comprising:
a single image sensor configured to detect light within a field of view of the single image sensor to provide an image sensor output,
a plurality of LED modules, each of the plurality of LED modules having a distinct angular emission profile within the field of view of the image sensor and configured to emit light having a distinct wavelength range such that the plurality of LED modules collectively emit light over the entire field of view of the single image sensor, wherein the plurality of LED modules comprises a first LED module having an angular emission profile that decreases monotonically as a function of angle and a second LED module having an angular emission profile that increases monotonically as a function of angle, and
actuating each of the plurality of LED modules to turn on and off such that only one of the plurality of LED modules emits light at the same time to illuminate the field of view of the single image sensor;
processing an output of the single image sensor to identify an intensity profile for light originating from each of the plurality of LED modules; and
determining an angular position of the object based on the intensity profile for the light originating from each of the plurality of LED modules.
11. The method according to claim 10 , wherein the determining the angular position of the object comprises determining the angular position of the object from a maximum amplitude of the identified intensity profile.
12. The method according to claim 10 , further comprising determining a distance to the object based at least on a phase difference between light emitted by at least one of the plurality of LED modules and light received by the single image sensor.
13. The method according to claim 10 , further comprising recording intensity levels of the reflected light at the single image sensor.
14. An autonomous robotic appliance comprising:
a single image sensor configured to detect light within a field of view of the single image sensor to provide an image sensor output;
a plurality of LED modules, each of the plurality of LED modules having a distinct angular emission profile within the field of view of the single image sensor and configured to emit light having a distinct wavelength range such that the plurality of LED modules collectively emit light over the entire field of view of the single image sensor, wherein the plurality of LED modules comprises a first LED module having an angular emission profile that decreases monotonically as a function of angle and a second LED module having an angular emission profile that increases monotonically as a function of angle;
at least one controller configured to:
control the plurality of LED modules to continually turn on and off such that only one of the plurality of LED modules emits light at the same time, and
control the single image sensor to continually detect the light originating from the at least two of the plurality of LED modules;
a processing unit configured to continually process the image sensor output, responsive to a control signal provided by at least one of the at least one controller, to continually identify intensity profiles for the reflected light from each of the plurality of LED modules; and
a depth map generator configured to continually determine an angular position of the object based at least on the intensity profile for the reflected light from each of the plurality of LED modules,
the at least one controller further configured to control a path of the autonomous robotic household appliance based at least on the determined angular position of the object.
15. The autonomous robotic appliance of claim 14 , wherein the single image sensor is a one-dimensional image sensor.
16. The autonomous robotic appliance of claim 15 , wherein the one-dimensional image sensor is oriented horizontally relative to the object.
17. The autonomous robotic appliance of claim 16 , wherein a combined light emission from each of the plurality of LED modules covers an entire field of view of the one-dimensional image sensor.
18. The autonomous robotic appliance of claim 14 , wherein the angular emission profile of the first LED module is an inverse of the angular emission profile of the second LED module.