Illuminator with refractive optical element

1. An illumination system, comprising:

an image sensor having a photosensor configured to capture images of objects in a field of view external to the illumination system, the image sensor having an optical axis;

a light source;

a refractive diffuser configured to receive light from the light source, the refractive diffuser having a first array of convex lenses having convex surfaces facing the light source and a second array of convex lenses having convex surfaces facing away from the light source, wherein the refractive diffuser is configured to refract the light from the light source to structure the light to have gradually increasing intensity with increasing angular displacement from the optical axis; and

logic that is configured to generate a depth image having depth values to the objects based on light received by the photosensor when the light from the light source is being refractive into the field of view.

2. The illumination system of claim 1 , further comprising a collimator that receives the light from the light source, wherein the refractive diffuser is configured to receive collimated light and structure the collimated light to illuminate the field of view to compensate irradiance of images of objects in the field of view captured by the photosensor for dependence on angular displacement from the optical axis.

3. The illumination system of claim 1 , wherein the refractive diffuser is configured to diffuse the light to illuminate objects in the field of view in accordance with 1/cos 4 θ, where θ is the angular displacement from the optical axis.

4. A depth camera system comprising:

an image sensor having a photosensor that is configured to capture images of objects in a field of view, the image sensor having an optical axis;

an illuminator that comprises a light source, a collimator, and a refractive diffuser that comprises a first array of convex lenses having convex surfaces that face towards the light source and a second array of convex lenses having convex surfaces that face away from the light source;

wherein the collimator is configured to collimate light from the light source; and

wherein the refractive diffuser is configured to receive light from the light source, the first and second arrays of convex lenses being configured to refract the light from the light source to structure the light within the field of view in accordance with 1/cos 4 θ, where θ is the angular displacement from the optical axis; and

logic that is configured to generate a depth image based on the light received by the photosensor when the light is being structured within the field of view in accordance with 1/cos 4 θ.

5. The depth camera system of claim 4 , wherein the refractive diffuser is configured to structure the light such that similar objects in the same spherical surface in the field of view, but at different angular displacements from the optical axis, have substantially the same irradiance on the photosensor.

6. The depth camera system of claim 4 , wherein the refractive diffuser is configured to structure the light to compensate for dependence of irradiance of images of objects having a given exitance that are captured by the photosensor on angular displacement from the optical axis.

7. The depth camera system of claim 6 , wherein the refractive diffuser is configured to structure the light to drop off in intensity outside of the field of view.

8. A method of generating a depth image, comprising:

refracting light from a light source onto objects in a field of view (FOV) of a depth camera using a refractive diffuser having a surface that refracts the light, wherein the refractive diffuser includes a first array of convex lenses having convex surfaces that face towards the light source and a second array of convex lenses having convex surfaces that face away from the light source, including projecting the light from the light source through the first array of convex lenses and through the second array of convex lenses;

capturing portions of the refracted light that returns from objects in the field of view at a photosensor of the depth camera having an optical axis, wherein refracting the light includes refracting the light with the first and second arrays of lenses to gradually increase light intensity with increasing angular displacement from the optical axis; and

generating a depth image that includes depth values to the objects based on the captured light.

9. The method of claim 8 , wherein refracting the light includes diffusing the light in accordance with the formula 1/cos 4 θ, wherein θ is the angular displacement from the optical axis.

10. The method of claim 8 , wherein the refracting light onto objects in a field of view using a refractive diffuser includes structuring the light to falloff in intensity outside of the field of view.

11. The method of claim 8 , further comprising:

generating a light beam;

collimating the light beam, wherein refracting the light includes refracting the collimated light beam.

12. The illumination system of claim 1 , wherein the logic that is configured to generate a depth image having depth values to the objects based on light received by the photosensor includes:

logic configured to determine depth values based on time of flight, wherein the depth values are based on light intensity received at the photosensor.

13. The illumination system of claim 1 , wherein the convex surfaces of the first array of convex lenses and the convex surfaces of the second array of convex lenses face each other.

14. The illumination system of claim 13 , wherein there is an air gap between the convex surfaces of the first array of convex lenses and the convex surfaces of the second array of convex lenses.

15. The illumination system of claim 1 , wherein the convex surfaces of the first array of convex lenses and the convex surfaces of the second array of convex lenses face away from each other.

16. The illumination system of claim 15 , wherein there is an air gap between the first array of convex lenses and the second array of convex lenses.

17. The depth camera system of claim 4 , wherein the convex surfaces of the first array of convex lenses and the convex surfaces of the second array of convex lenses face each other.

18. The depth camera system of claim 4 , wherein the convex surfaces of the first array of convex lenses and the convex surfaces of the second array of convex lenses face away from each other.

19. The method of claim 9 , wherein the convex surfaces of the first array of convex lenses and the convex surfaces of the second array of convex lenses face each other, wherein the method further comprises:

projecting light from the light source into the second array of convex lenses, then out of the convex surfaces of the second array of convex lenses, then into the convex surfaces of the first array of convex lenses, and then out of the first array of convex lenses.

20. The method of claim 9 , wherein the first array of convex lenses and the second array of convex lenses face away from each other, wherein the method further comprises:

projecting light from the light source into the convex surfaces of the first array of convex lenses, then out of the first array of convex lenses, then into the second array of convex lenses, and then out of the convex surfaces of the second array of convex lenses.