3D camera with foreground object distance sensing
View Patent ↗There is disclosed a stereographic camera system and a method of operating a stereographic camera system. The stereoscopic camera system may include a left camera and a right camera having respective left and right lenses and an IOD mechanism to set an interocular distance between the left and right cameras. A foreground distance sensor may provide an output indicative of a distance to a closest foreground object. A controller may causes the IOD mechanism to set the interocular distance based on, in part, the output of the foreground distance sensor.
1. A stereoscopic camera system, comprising:
a left camera and a right camera including respective left and right lenses
an IOD mechanism to set an interocular distance between the left and right cameras
a foreground object distance sensor that provides an output indicative of a distance to a closest foreground object
a controller that causes the IOD mechanism to set the interocular distance equal to or less than a maximum interocular distance based on, in part, the output of the foreground distance sensor and a focus distance of the left and right lenses, wherein the controller determines the maximum interocular distance from the formula:
IOD MAX =( FOD ×CD×MD×W)/[(CD− FOD )×FL]
wherein
IOD MAX =the maximum interocular distance
W=a width of an image sensor within each camera
FL=a focal length of the lenses
FOD=the distance to the closest foreground object as indicated by the output of the foreground distance sensor
MD=a predetermined maximum disparity as a fraction of the width of the scene recorded by the stereographic camera
CD=a convergence distance of the stereographic camera.
2. The stereoscopic camera system of claim 1 , further comprising:
a convergence angle mechanism to set a convergence angle between the left and right camera
wherein the controller causes the convergence angle mechanism to set the convergence angle based on the interocular distance and the convergence distance.
3. The stereoscopic camera system of claim 1 , wherein
the foreground distance sensor is configured to sense distances to objects within a field of view of the stereoscopic camera and objects proximate to the field of view of the stereoscopic camera.
4. A method of operating a stereoscopic camera system comprising:
sensing a distance to a closest foreground object
automatically setting an interocular distance between left and right cameras equal to or less than a maximum interocular distance based on, in part, the sensed distance to the closest foreground object and a focus distance of respective left and right lenses of the left and right cameras
automatically setting the interocular distance further comprising_determining the maximum interocular distance from the formula:
IOD MAX =( FOD ×CD×MD× W )/[(CD− FOD )×FL]
wherein
IOD MAX =the maximum interocular distance
W=a width of an image sensor within each camera
FL=a focal length of the lenses
FOD=the sensed distance to the closest foreground object as indicated by the output of a foreground distance sensor
MD=a predetermined maximum disparity as a fraction of the width of the scene recorded by the stereographic camera
CD=a convergence distance of the stereographic camera.
5. The method of operating a stereoscopic camera system of claim 4 , further comprising:
setting a convergence angle between the left and right camera based on the interocular distance and the convergence distance.
6. The method of operating a stereoscopic camera system of claim 4 , wherein
sensing a distance to a closest foreground object further comprises sensing distances to objects within a field of view of the stereoscopic camera and objects proximate to the field of view of the stereoscopic camera.
7. A computing device, comprising:
a processor
memory coupled to the processor
a camera interface for connection to a stereoscopic camera including left and right cameras having respective left and right lenses
a sensor interface for connection to a foreground distance sensor
a storage device coupled to the processor, the storage device storing instructions which, when executed by the processor, cause the computing device to perform actions including:
receiving, via the sensor interface, data indicating a distance to a closest foreground object sending, via the camera interface, data to set an interocular distance IOD of the stereographic camera, the interocular distance determined, at least in part based on the distance to the closest foreground object and a focus distance of the left and right lenses, wherein
the interocular distance is set equal to or less than a maximum interocular distance determined from the formula:
IOD MAX =( FOD ×CD×MD× W )/[(CD− FOD )×FL]
wherein
IOD MAX =the maximum interocular distance
W=a width of an image sensor within each camera
FL=a focal length of the lenses
FOD=the distance to the closest foreground object as indicated by the data received from the foreground distance sensor
MD=a predetermined maximum disparity as a fraction of the width of the scene recorded by the stereographic camera
CD=a convergence distance of the stereographic camera.
8. The computing device of claim 7 , the actions performed further comprising:
sending data via the camera interface to set a convergence angle between the left and right camera based on the interocular distance and the convergence distance.
9. The computing device of claim 7 , wherein
the data indicating a distance to a closest foreground object indicates the distance to a closest object within or proximate to a field of view of the stereoscopic camera.