Systems and methods for digital imaging using computational pixel imagers with multiple in-pixel counters

1. A stereo imaging system, comprising:

a computational pixel imager (CPI) having a plurality of pixels;

a plurality of modulated light sources, including:

a first light source modulated at a first frequency F 1 and configured to illuminate an environment with first modulated light, and

a second light source modulated at a frequency F 2 different from the frequency F 1 and configured to illuminate the environment with second modulated light; and

an optical assembly configured to receive light from a light field scattered from an object in the environment, and to direct the light to the CPI,

wherein each of the pixels of the CPI includes:

a light sensor,

a plurality of counters configured to receive a photocurrent from the light sensor, to convert the photocurrent to a digital signal, and to perform digital signal processing on the digital signal,

wherein the optical assembly includes:

a focusing lens configured to receive the first modulated light scattered from the object and the second modulated light scattered from the object, and to direct the first and second modulated light to form first and second images on sensors of the sensors of the CPI, and

wherein the CPI processes the first and second modulated light to yield image data for a stereo image of the object.

2. The system of claim 1 , further comprising an optical filter arranged to filter the first and second modulated light scattered from the object.

3. The system of claim 1 , further comprising a controller configured to control the first and second light sources and the CPI, wherein the controller includes:

a first mode in which the first and second modulated light sources are controlled to illuminate the environment simultaneously, and

a second mode in which the first and second modulated light sources are controlled to illuminate the environment separately according to a predetermined temporal pattern.

4. The system of claim 3 , wherein, in the second mode, the controller controls the first and second modulated light sources to illuminate the environment in an alternating pattern such that the CPI receives the first modulated light scattered from the object temporally interleaved with the second modulated light scattered from the object.

5. The system of claim 1 , wherein the CPI is configured to subtract data corresponding to the first image from data corresponding to the second image.

6. The system of claim 1 , wherein the CPI is configured to apply an equal weight to data corresponding to the first image and data corresponding to the second image.

7. The system of claim 1 , wherein the CPI is configured to apply a first weight to data corresponding to the first image, and to apply a second weight to data corresponding to the second image, the first and second weights being different from each other.

8. The system of claim 1 , wherein the CPI processes the first modulated light scattered from the object and the second modulated light scattered from the object such that the image data for the stereo image of the object is spatially filtered.

9. The system of claim 1 , wherein the CPI processes the first modulated light scattered from the object and the second modulated light scattered from the object such that the image data for the stereo image of the object is temporally filtered.

10. A method of determining a distance to a moving object, the method comprising:

scanning an environment using a stereo imaging system that includes:

a plurality of light sources,

a CPI of a plurality of pixels, each of the pixels of the CPI including:

a light sensor, and

electronic circuitry comprising a plurality of counters, and

an optical assembly that receives light from the environment and directs the light to the light sensors of the CPI;

using the electronic circuitry of the pixels to convert photocurrent produced by the light on the light sensors to a digital signal, and to perform digital signal processing on the digital signal to reject data corresponding to one or more stationary objects in the environment;

illuminating one or more moving objects with a light modulated at a predetermined frequency F;

for at least some of the pixels of the CPI, causing one or more of the counters to be synchronized with the frequency F of the modulated light, such that a periodicity of an up-down count pattern of the one or more counters is synchronized with the frequency F;

detecting scattered light from the one or more moving objects, using the CPI to reject a signal corresponding to light that is not modulated to the frequency F, and using to the scattered light to estimate a distance to each of the one or more moving objects in real time or near real time; and

outputting distance data for the one or more moving objects.

11. The method of claim 10 , wherein the distance data is a moving image or a still image of the one or more moving objects.

12. The method of claim 10 , wherein the scanning is performed using an optical scanner rotating at a predetermined frequency.

13. The method of claim 12 , wherein the optical scanner is a multi-sided mirror device.

14. The method of claim 10 , wherein the scanning of the environment covers an angular field of view greater than about 45°.

15. The method of claim 10 , wherein the scanning of the environment covers an angular field of view greater than about 90°.

16. The method of claim 10 , wherein the scanning of the environment covers an angular field of view greater than about 120°.

17. The method of claim 10 , wherein the scanning of the environment covers an angular field of view greater than about 180°.

18. The method of claim 10 , wherein the scanning of the environment covers an angular field of view of about 250° or greater.

19. The method of claim 10 , wherein the scanning of the environment is performed by moving a mirror to direct the scattered light to the CPI.

20. The method of claim 10 , wherein the stereo imaging system is mounted on a moving vehicle.