Time of flight sensor binning
A time-of-flight sensor device generates and analyzes a high-resolution depth map frame from a high-resolution image to determine a mode of operation for the time-of-flight sensor and an illuminator and to control the time-of-flight sensor and illuminator according to the mode of operation. A binned depth map frame can be created from a binned image from the time-of-flight sensor and combined with the high-resolution depth map frame to create a compensated depth map frame.
1. A method for use with a time-of-flight sensor, the method performed via a processing device associated with the time-of-flight sensor, the method comprising:
generating a high-resolution depth map frame from a high-resolution image received from the time-of-flight sensor;
determining an illuminator power output level of an illuminator associated with the processing device, and a binning factor for a binned lower-resolution image;
generating a binned lower-resolution depth map frame from the binned lower-resolution image; and
combining information from the high-resolution depth map frame with information from the binned lower-resolution depth map frame to generate a compensated depth map frame.
2. The method of claim 1 , wherein prior to determining, analyzing the high-resolution depth map frame and the high-resolution image.
3. The method of claim 1 , wherein determining the illuminator power output level and the binning factor for the binned lower-resolution image comprises determining a mode of operation.
4. The method of claim 3 further comprising controlling the time-of-flight sensor and the illuminator according to the mode of operation.
5. The method of claim 2 , wherein analyzing the high-resolution depth map frame and the high-resolution image further comprises determining an ambient light interference level.
6. The method of claim 4 , wherein:
determining the mode of operation comprises determining whether an ambient light interference level is lower than a threshold ambient light interference level, and determining a reduced illuminator power output level in response to determining that the ambient light interference level is lower than the threshold ambient light interference level; and
controlling the illuminator according to the mode of operation comprises reducing the illuminator power output level according to the determined reduced illuminator power output level.
7. The method of claim 4 , wherein:
determining the binning factor for the binned lower-resolution image further comprises:
determining whether an ambient light interference level is higher than a threshold ambient light interference level; and
determining an increased binning factor for the binned lower-resolution image in response to determining that the ambient light interference level is higher than the threshold ambient light interference level; and
controlling the time-of-flight sensor according to the mode of operation further comprises capturing the binned lower-resolution image according to the increased binning factor.
8. The method of claim 4 , wherein:
analyzing the high-resolution depth map frame and the high-resolution image further comprises determining a depth of a foreground object;
determining the mode of operation comprises:
determining whether the depth of the foreground object is lower than a threshold depth; and
determining a reduced illuminator power output level in response to determining that the depth of the foreground object is lower than the threshold depth; and
controlling the illuminator according to the mode of operation further comprises reducing the illuminator power output level according to the determined reduced illuminator power output level.
9. The method of claim 8 , wherein analyzing the high-resolution depth map frame and the high-resolution image further comprises determining a depth of the foreground object.
10. The method of claim 4 , wherein determining the mode of operation comprises:
determining whether a depth of a foreground object is lower than a threshold depth; and
determining an increased binning factor for the binned lower-resolution image in response to determining that the depth of the foreground object is lower than the threshold depth,
wherein controlling the time-of-flight sensor according to the mode of operation further comprises capturing the binned lower-resolution image according to the increased binning factor.
11. The method of claim 1 , wherein the high-resolution image comprises a binned image with a binning factor less-than or equal to the binning factor for the binned lower-resolution image.
12. The method of claim 1 , wherein the time-of-flight sensor is a charge coupled device.