CN102143342B - 投影照明与图像传感器的卷帘的同步 - Google Patents
投影照明与图像传感器的卷帘的同步 Download PDFInfo
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Abstract
成像设备,包括:照明组件,包括多个辐射源和投影光学器件,其配置为将射线从所述辐射源投影至场景的各个不同区域。成像组件,包括图像传感器和目标光学器件,其配置为在所述图像传感器上形成所述场景的光学图像,所述图像传感器包括布置成多个组的传感器元件的一个阵列,这些组传感器元件由卷帘触发,以在各个相继的曝光期内从所述场景的各个不同区域捕获来自所述场景的射线,以形成所述场景的电子图像。控制器,其被连接以通过脉冲模式相续地开动所述辐射源,以使所述照明组件与所述卷帘同步地照明所述场景的各个不同区。
Description
相关申请的相互参引
本申请要求2010年2月2日递交的美国临时专利申请61/300,465的利益,上述文本以引证方式在此纳入。
技术领域
本发明大体涉及用于电子成像的系统和方法,并具体涉及用于增强所捕获图像的质量的照明方法。
背景技术
大部分廉价的CMOS图像传感器使用卷帘(rolling shutter),其中,相继行的传感器元件被相续地触发以捕获光线。因此,这一获取图像的方法并不是将每个单独帧记录为某个时间点的单个快照,而是记录为扫描过该帧的一序列图像条纹(a sequence of image stripes)。这种卷帘的结果是,并非光学图像的所有部分都在正好同一时刻被记录(虽然所述帧被存储为单个电子图像)。
卷帘的使用在图像帧中引入了瞬时剪切(temporal shear),其会在移动物体的成像中产生赝象(artifact)。Bradley等人在IEEEInternational Workshop on Projector-Camera Systems-PROCAMS 2009(迈阿密海滩,佛罗里达,2009年)的“Synchronization and RollingShutter Compensation for Consumer Video Camera Arrays”中应对了这一问题,上述文本以引证方式被纳入本说明书。该作者提出使用同步频闪照明来解决所述问题。
发明内容
下文描述的本发明的实施方案提供了用于照明目标的设备和方法,所述设备和方法在使用带有卷帘的传感器对该目标进行成像时是有利的。
因此,根据本发明的一个实施方案,提供了成像设备,包括:照明组件,包括多个辐射源和投影光学器件,其被配置为将射线从所述辐射源投影至场景的各个不同区域。成像组件,包括图像传感器和目标光学器件,其被配置为在所述图像传感器上形成所述场景的光学图像,所述图像传感器包括布置成多组的传感器元件的一个阵列,这些组传感器元件由卷帘触发,以在各个相继的曝光期内从所述场景的各个不同区捕获来自所述场景的射线,以形成所述场景的电子图像。控制器被连接以通过脉冲模式相续地开动(actuate)所述辐射源,以使所述照明组件与所述卷帘同步地照明所述场景的各个不同区。
在所公开的一些实施方案中,每一组包括一行或多行传感器元件,并且所述区域限定了以平行于所述行的方向延伸过所述场景的条纹。通常,每一条纹照明一个相应区域,该区域包含了所述场景的、由相应的一组多行传感器元件从中捕获射线的区,并且所述控制器被配置为开动所述辐射源,以使所投影的射线以垂直于所述行的方向扫掠过所述场景。
在所公开的一个实施方案中,所述卷帘限定了用于捕获整个电子图像的帧时(frame time),并且所述控制器被配置为将每个辐射源开动一个小于该帧时的一半的相应开动期(actuation period)。所述控制器可以开动每个辐射源,以使所述照明组件仅在捕获来自所述场景的每个区的射线的相应一组传感器元件的相应曝光期内照明该区。
在一些实施方案中,所述投影光学器件包括图案化元件(patterning element),其被配置为使射线以预定图案投影至所述场景,所述预定图案能以电子图像形式被所述成像组件探测。通常,所述控制器被配置为分析所述电子图像中的图案,以生成所述场景的深度图。在一个实施方案中,所述辐射源包括发光元件的一个矩阵,所述发光元件被布置在衬底上,并被配置为在与所述衬底垂直的方向上发射射线。在另一实施方案中,所述辐射源包括一行边缘发射元件,它们被布置在衬底上,并被配置为在与所述衬底平行的方向上发射射线,并且所述照明组件包括布置在所述衬底上的反射器,以将所述边缘发射元件发射的射线转向远离所述衬底且朝向所述图案化元件。
根据本发明的一个实施方案,还提供了一种用于成像的方法,包括:布置多个辐射源,以将射线投影至场景的各个不同区域。图像传感器,其包括布置成多组的传感器元件的一个阵列,被配置为接收所述场景的光学图像,其中这些组传感器元件从所述场景的各个不同区接收射线。这些组传感器元件由卷帘触发,以在各个相继的曝光期内捕获来自所述场景的射线,以形成所述场景的电子图像。所述辐射源被以脉冲模式相续地开动,以与所述卷帘同步地照明所述场景的各个不同区。
在一个实施方案中,配置所述图像传感器包括:将多个带有相应卷帘的图像传感器与多个相应的辐射源布置在一起,以形成场景的具有各个不同的相重叠的部分的相应电子图像,并且,开动所述辐射源包括:将所述多个相应的辐射源与所述多个图像传感器同步,以在任何给定时刻控制由所述辐射源照明的所述场景的各个区的重叠。本方法可以包括:分析由所述多个图像传感器形成的电子图像上的图案(pattern),以生成所述场景的深度图。
根据本发明的一个实施方案,还提供了成像设备,其包括多个成像单元。所述成像单元包括多个相应的辐射源和投影光学器件,其被配置为将射线从所述辐射源投影至场景的各个不同区域,以及相应的成像组件。所述成像组件包括相应的图像传感器和目标光学器件,其被配置为在各个图像传感器上形成所述场景的各个不同的相重叠的部分的相应光学图像。每一图像传感器包括布置成多组的传感器元件的一个阵列,这些组传感器元件由卷帘触发,以在各个相继的曝光期内从所述场景的各个不同区捕获来自所述场景的射线,以形成所述场景的各个电子图像。所述辐射源被以脉冲模式相续地开动,以使所述照明组件与所述卷帘同步地照明所述场景的各个不同区,同时使所述多个相应的辐射源与所述多个图像传感器同步,以在任何给定时刻控制由所述辐射源照明的所述场景的各个区的重叠。
通常,所述重叠被控制,以使在任何给定时刻由所述辐射源照明的所述场景的各个区是不重叠的。
从下文结合附图对本发明实施方案的详细描述中,将更充分地理解本发明。
附图说明
图1是根据本发明一个实施方案的成像系统的示意性侧视图;
图2是根据本发明一个实施方案的、使用条纹照明捕获的图像帧的一部分的示意图;
图3是根据本发明一个实施方案的、示出了条纹照明与卷帘操作之间的同步的时序图(timing diagram);
图4A是根据本发明一个实施方案的投影模块的示意性侧视图;
图4B是图4A的投影模块中使用的光电分组件(optoelectronicsubassembly)的示意性俯视图;
图5A和5B分别是根据本发明另一实施方案的光电分组件的示意性侧视图和俯视图;
图5C是图5A和5B的分组件中使用的棱镜的示意图;
图6是根据本发明又一实施方案的照明组件的示意性侧视图;
图7是由图6的照明组件照明的图像帧的一部分的示意图;
图8是根据本发明另一实施方案的成像系统的示意性侧视图;以及
图9是根据本发明再一实施方案的成像系统的示意图。
具体实施方式
概览
各类成像系统包括用于照明所关注场景的光学投影仪。例如,投影仪可以被用来将经编码的(coded)或结构化的(structured)光的图案投射到目标上,以用于三维(3D)深度绘图。在这方面,美国专利申请公开文本2008/0240502(其公开内容以引证方式纳入本说明书)描述了一种照明组件,其中光源(诸如激光二极管或LED)用光学射线透射一个透明体,以将图案投影到所述目标上。(术语“光学(optical)”“光(light)”及“照明”在此用于大体指代可见光、红外线以及紫外线中的任一种。)图像传感器捕获被投影到所述目标上的图案的图像,且处理器处理该图像,以重构所述目标的三维(3D)图。
基于图案化的光的投影的系统可能会遭受由投影仪功率限制引起的低信号/背景比,尤其是在环境光强的情况下。本发明的实施方案通过以同步空间扫掠(spatial sweep)将射线投影至所关注场景来应对这一问题,该同步空间扫掠被安排时序,以利用图像传感器的卷帘,从而改进该系统的信号/背景比。
在本发明的一些实施方案中,卷帘被操作,以使得图像传感器中的不同组(通常是相继的行)的传感器元件在相继的不同曝光期内捕获射线,所述曝光期远小于全帧期(total frame period)(通常小于全帧期的一半,并可以小于全帧期的10%)。每个这样的组从场景的各个不同区采集射线,所述射线通过目标光学器件聚焦至图像传感器。照明组件被控制,以与卷帘同步地将所投影的射线扫掠在所述场景的那些区上,以使所述场景的每个区在对应组的传感器元件激活的特定时间内是被照明的。因此,在所述场景的每个区,所述照明组件的输出功率集中在对应的传感器元件能够从该区采集射线的特定曝光期内。通过卷帘来限制曝光期降低了所采集的环境射线的总量,而不浪费任何所投影的射线。因此,该系统的信号/背景比被显著加强,甚至不必增加照明的平均功率。
在下文公开的实施方案中,所述照明组件包括一个辐射源阵列,并带有投影光学器件,所述投影光学器件将来自辐射源的射线投影至场景的各个不同区域。所投影的射线的空间扫掠是通过使辐射源以脉冲模式相续地发射来实现的。由每一辐射源照明的场景的各个区域与该场景中的、由这些组的传感器元件中的一组或多组感测到的区重叠。因此,每一辐射源仅在对应的传感器元件组激活的时间内发出脉冲。这一辐射源阵列的相续脉冲操作在射线空间扫掠的最优时序选择方面提供了充分的灵活性,并提供了高可靠性——其中不需要活动部件或有源光学元件(除了辐射源自身)来实现该扫掠。
虽然下述的实施方案具体地涉及3D传感系统中的图案化的光的投影,但本发明的原理可以类似地被用于加强其他基于投影的成像系统的性能。这些实施方案中的卷帘被假定为逐行地激活(activate)图像传感器中的传感器元件,正如在本领域已知的常规CMOS图像传感器中那样;但本发明的原理可以类似地与下述传感器一起使用,所述传感器使用其他种类的对传感器元件组的相续激活——诸如逐块(block-by-block)激活。
系统描述
图1是根据本发明一个实施方案的成像系统20的示意性侧视图。在该图中以及后续的整个说明中使用了一组X-Y-Z轴,以辅助理解图中的方向,其中X-Y平面是系统20的正平面(frontal plane),Z轴垂直于该平面朝向场景延伸。不过,轴的选择是任意的,并且仅出于描述本发明实施方案的方便而选择。
照明组件22将图案化的射线场(radiation field)24投影至一个场景中的目标26(在本例中是该系统使用者的一只手)。成像组件28捕获视场30中的场景的图像。控制器31或其他电子处理器处理所述图像以生成图标26的3D深度图。在上述US2008/0240502和PCT国际申请WO2007/105205(其公开内容也以引证方式在此纳入)中描述了这类绘图过程的更多细节。使用者的手(和/或使用者身体的其他部分)的3D图可以用在基于姿势的(gesture-based)计算机界面中,不过这类功能超出了本专利申请的范围。
成像组件28包括目标光学器件36,其在图像传感器38(诸如CMOS集成电路图像传感器)上形成了包含目标26的场景的光学图像。所述图像传感器包括布置成多行的传感器元件40的一个阵列。响应于由光学器件36聚焦至所述传感器元件的射线,所述传感器元件产生相应的信号,其中图像传感器38输出的电子图像中的每个像素的像素值对应于来自相应传感器元件40的信号。所述传感器元件被卷帘逐行地激活和禁用(deactivate),所述卷帘的时序由控制器31来设置。这类卷帘操作是许多CMOS图像传感器的标准特征。
照明组件22包括:投影模块32,其产生一束图案化的光;以及投影光学器件34,其将所述光束投影至场24。模块32通常包括多个辐射源,以及用于生成图案的光学器件。控制器31与图像传感器38的卷帘同步地以脉冲模式相续地开动辐射源。模块32的设计以及其与卷帘同步的操作在下文详细描述。
图2是根据本发明一个实施方案的、由系统20捕获图像帧42的一部分的示意图。帧42包括像素44矩阵,每一像素对应于由图像传感器38中的对应传感器元件40生成的信号。因此,每一行像素44对应于该场景中的、由相应行传感器元件从中捕获射线的区。
照明组件22生成多个照明条纹46、48、50、52......。每个这样的条纹由一个相应的辐射源或辐射源组生成。(可以用于生成这类多条纹照明的辐射源的示例布置在以下图中示出。)由每一条纹限定的区域覆盖了很多个成行的像素44的区。换言之,每一条纹照明了该场景的某个由对应行中的图像传感器从中捕获射线的区。虽然为了简化起见,图2中示出的是条纹46、48、50、52正好彼此相邻且不重叠,但在实际系统中,通常在条纹之间存在重叠量,以确保该场景的所有区都被照明。
图3是根据本发明一个实施方案的时序图,其示出了图2中示出的一类条纹照明与图像传感器38的卷帘操作之间的同步。轨迹56对应于相继行的传感器元件的卷帘操作,其中当对应的轨迹为高时所述元件是激活的(即,将接收到的光子转化为图像传感器输出信号中的电子)。给定行激活的时期在这里指示该行的曝光期。相继行的曝光期是交错的(staggered),以使每一行在前一行激活之后的很短时间内即被激活。所述行被布置成组58、60......,每一组对应于由条纹46、48......之一覆盖的区域。
轨迹62、64......对应于生成条纹46、48......的相应辐射源的开动。换言之,当轨迹62为高时,生成条纹46的辐射源被开动,以此类推。对于所述行的每一组58、60......,对应的辐射源的开动期被设置为整个落在该组中所有行的曝光期内。因此,所述照明组件仅在从该场景的每一区捕获射线的传感器元件的曝光期内照明该区,而不会浪费任何照明。
轨迹64正好在轨迹62降低时升高,且照明组件22中的所有的辐射源均是如此。因此,所述照明组件的条纹输出在垂直于像素44(和传感器元件40)的行的方向上扫掠过该场景,在每个图像帧中完成一次这样的扫掠,同步于图像传感器38的卷帘的扫掠。每一辐射源的占空比(duty cycle)大约是1∶N,其中N是条纹数(每一条纹被一个相应的辐射源或辐射源组照明)。在图3中的时序图中,每一照明条纹的开动期是约1/(N*FR),而每行传感器元件40的曝光期是约2/(N*FR),其中FR是帧率,诸如30帧/秒。这些时序关系通常最优化地使用可获得的照明功率,并提供信号/背景比的最大可能的增强。
替代地,在帧率、开动期和曝光时间之间也可以使用其他时序关系。在照明条纹和传感器行之间的几何关系不能维持得如图2那样精确的情况下,尤其是当相继条纹部分地重叠时,这些替代时序安排可以是有利的。
带有边缘发射器的照明模块
根据本发明的一个实施方案,图4A是照明模块32的示意性侧视图,而图4B是用在照明模块32中的光电分组件的示意性俯视图。模块32包括一行边缘发射光电元件70,诸如激光二极管,它们形成在衬底72诸如硅晶片上。(在图4A的侧视图中仅示出这些元件中的一个。)元件70在平行于衬底的方向上发射射线。该衬底上的反射器74将元件70发出的射线转向为远离该衬底(该衬底被定向在X-Y平面)朝向Z轴。所述反射器可以在衬底72上被整体形成,如图4A所示,或者它可以包括布置在衬底上和对准光电元件70的分立元件。反射器74可以简单地包括一个平直的反射表面,或者它可以包括一个或多个弯曲表面或多个平直表面,以扩散或聚焦射线,如图4B以及5C所示。
聚光透镜76将来自光电元件70的射线准直和引导穿过一个或多个图案化元件78。所述图案化元件导致来自元件70的射线以预定图案投影到该场景上,该预定图案能以电子图像形式被成像组件28检测。该图像中的图案被处理以计算该场景的深度图。图案化元件78可以包括一个图案化的透明体,该透明体可以包括一个微透镜阵列(MLA),例如,如在上述US 2008/0240502或WO 2007/105205中所述,并且/或者包括一个或多个衍射光学元件(DOE),如美国专利申请公开文本2009/0185274中所述,其公开内容以引证方式在此纳入。附加地或替代地,当元件70发射相干射线时,图案化元件78可以包括一个散射体,该散射体在该场景上投射激光光斑图案。
每一光电元件70发射了形成各条纹80、82、84......的射线,如图4B所示。(虽然该图示出了六个这样的元件和相应条纹,但也可以根据应用需要使用更多或更少的元件和条纹。)反射器74可以略微弯曲,如该图所示,以使所述条纹扩散至更宽的区,并使相邻的条纹在它们的边缘处重叠。如上所述,在成像组件28捕获每一图像帧的期间,控制器31(图1)激活元件70以相续地发射射线,与图像传感器38的卷帘同步。因此,该场景的每一区域在对应行的传感器元件40的曝光期内被照明。
在图案化元件78包括MLA或其他透明体的实施方案中,每一条纹80、82、84......穿过该透明体的各个不同区域,从而对应于该透明体所含图案来生成总体照明图案的各个部分。投影光学器件34将这一图案投影到目标上。
另一方面,在图案化元件78包括DOE的实施方案中,透镜76或者元件78之一(或光电元件70的几何结构)通常被配置为,针对由每个光电元件发出的光束,产生适当的“载体(carrier)”角。在这样的实施方案中,由不同光电元件发射的光束使用透镜76的不同部分,因此透镜76可以被设计为,使已准直的光束以相应的、对应于期望的垂直出射的角度出射。替代地,所述照明模块可以包括一些其他类型的光学器件,诸如带有与光电元件相同数量的不同区域的闪耀光栅(blazedgrating)。
在上述美国临时专利申请61/300,465中描述了照明模块32的构造的其他细节,此外也描述了其他类似类型的模块。
根据本发明的另一实施方案,图5A和5B分别是光电分组件90的示意性侧视和俯视图,而图5C是分组件90中使用的棱镜92的示意图。分组件90可以用于替代模块32中的对应部件。
光电分组件90包括一行边缘发射光电元件70,诸如激光二极管,它们可以被制造在适合的衬底上,如在前述实施方案中那样。不过,在分组件90中,由元件70发射的射线从棱镜92的内表面94(通常带有适合的反射涂层)上内部地反射。来自元件70的射线经由弯曲的入口表面96进入棱镜92。因此,由元件70生成的各光束98分散开来,并与相邻光束部分地重叠。控制器31开动元件70以在每一图像帧期间与图像传感器38的卷帘同步地相续地发射射线。
带有表面发射器的照明模块
图6是根据本发明另一实施方案的照明组件100的示意性侧视图。组件100可以用于系统20中替代照明组件22。组件100包括二维光电元件110矩阵形式的辐射源,所述光电元件布置在衬底102上并以垂直于该衬底的方向发射射线。虽然图6仅示出了沿X轴排列的元件单行114,但组件100实际上包括了并列的多个该类行,从而在X-Y平面中形成了栅格。图6示出了一个8×8栅格,但替代地可以使用更大或更小的、且并不必须是方形或直线形的矩阵。
与前述实施方案不同,元件110包括表面发射器件,诸如发光二极管(LED)或垂直共振腔表面放射激光(VCSEL)二极管,它们将射线直接发射至Z方向。显微镜阵列(或其他适合的显微光学器件,诸如基于全内反射的显微结构)112被对准元件110,使得各显微镜从每个元件采集射线,并将其引导到光学模块104中。所述光学模块包括如上所述的适合的图案元件106,以及投影透镜108——其将所形成的图案投影在场景上。
图7是根据本发明一个实施方案的、由组件100照明的图像帧的一部分的示意图。每个微透镜112将射线从对应的光电元件110扩散至场景的、对应于一组像素44的区域。(通常在相邻区域之间存在一些重叠,如在前述实施方案中那样。)元件110被布置成多行114、116......。根据例如图3中示出的方案,在典型的操作中,控制器31与图像传感器38的卷帘同步地轮流开动每行中的所有光电元件。因此,如前述,每一像素44的区域在对应的传感器元件40的曝光期内被照明。
虽然为了清晰的目的,上述实施方案在系统20的语境下描述了照明和传感的某些特定的结构性配置,但本发明的原理也可以类似地应用在其他类型的系统和配置中。
多个传感器的同步
图8是根据本发明另一实施方案的成像系统120的示意性侧视图。在这一系统中,同步控制器121同步了多个传感单元122、124、126、128的操作。这些传感单元通常均包括照明组件和成像组件,它们的操作与系统20中一致。每一传感单元122、124、126、128将各图案化光束132、134、136、138投影到场景130上,并形成该场景的被相应图案照明的部分的各个图像,
为了完整地覆盖场景130,所投影的图案化的光束通常在重叠区域140重叠。在常规操作中,图案的重叠会使得传感单元122、124、126、128无法在区域140内可靠地探测它们自身的图案,因此在这些区域损失了3D信息。一种克服这一问题的方法可以是,在不同波长下操作这些传感单元,以使每个单元仅传感其自身的图样。但这一解决方案会是繁冗的并需要昂贵的光电器件和光学滤镜。
因此,在系统120中,控制器121控制了所述照明组件以及传感单元122、124、126、128中成像组件卷帘的时序,以在任意给定时刻控制被照明的区域之间的重叠。通常,所述传感单元被控制以使得它们照明和捕获来自各非重叠条纹142、144、146、148的射线。在每个传感单元中,照明条纹和由卷帘触发以接收射线的传感区是如前述的内在同步的。此外,所有传感单元的时序被协同以避免干扰。因此,例如,所有传感单元同步地激活它们相应的条纹142,接着是条纹144,等等,使得在任何给定时刻,每一重叠区域140中仅有单个传感单元是激活的。每一传感单元提供关于其自身的那部分场景130的3D绘图数据,并且处理单元(诸如控制器121或其他计算机)将数据接合(stitch)在一起成为一幅合成深度图。
图8中示出的方案仅是可能的同步样式的一个实施例,也可以执行另外的结构和时序样式以实现类似的目标。例如,同步传感单元可以被布置成二维阵列,以覆盖场景130的更宽区。根据传感单元的结构布置和时序,多个同步传感单元的系统可以用于,在基本任何期望的尺寸和轮廓的更大区中,或者替代地或附加地以更大的速度,捕获深度信息。
替代地,传感单元122、124、126、128可以一起操作而不需要一个中央控制器以调整同步性。例如,每一传感单元可以调整其自身的时序以使其深度读数(reading)最大化。因此,整个系统将趋于最优的同步性。附加地或替代地,所述传感单元可以使用令牌环型协议(tokenring type protocol)来彼此通信,而不需要中央控制。
图9是根据本发明另一实施方案的成像系统150的示意图。这一实施方案在其操作原理上与图8的实施方案类似:多个传感单元152、154......将相应的图案化的光束156、158......投影至一个场景,同时也控制它们相应的照明组件和卷帘的时序,以照明和捕获来自相应的条纹序列的射线。光束156和158在重叠区域162重叠。虽然出于简化目的,仅有两个传感单元在图9示出,但在这一场合中可以布置任何适合数量的传感单元。
但是,与图8中示出的平行偏移不同,在系统150中,传感单元152和154以及它们的光束156和158在垂直于照明和卷帘的扫描方向上彼此偏移(在图9中示出的视图中是垂直扫描和水平偏移)。因此,大部分或全部条纹160可以与相邻传感器单元的某些条纹重叠。传感单元152、154......的扫描因此被同步,以使每一条纹与它所重叠的相邻条纹在不同时期内被照明。如图9所示,不同的传感单元的条纹160之间不需要精确重叠,这些条纹也不需要正好平行。通常来说,传感单元可以被布置为任何期望的布置,只要同步安排可以使得重叠条纹在时间上不重合。
将认识到的是,上述的实施方案通过实施例的方式描述,而本发明并不限于上文特别示出和描述的。相反,本发明的范围包括上文描述的各种特征的结合和亚结合,并包括本领域普通技术人员在阅读上文的描述之后能够作出的未被现有领域公开的变形和修改。
Claims (18)
1.一种成像设备,包括:
照明组件,包括多个辐射源和投影光学器件,所述辐射源包括发光元件的一个矩阵,所述发光元件被布置在衬底上并被配置为在与所述衬底垂直的方向上发射射线,所述投影光学器件被配置为将射线从所述辐射源投影至场景的各个不同区域,其中所述投影光学器件包括图案化元件,其被配置为使射线以预定图案投影至所述场景;
成像组件,包括图像传感器和目标光学器件,其被配置为在所述图像传感器上形成所述场景的光学图像,所述图像传感器包括布置成多组的传感器元件的一个阵列,这些传感器元件由卷帘触发,以在各个相继的曝光期内从所述场景的各个不同区捕获来自所述场景的射线,以形成所述场景的电子图像,其中所述预定图案能以电子图像形式被所述成像组件探测;和
控制器,其被连接以通过脉冲模式相续地开动所述辐射源,以使所述照明组件与所述卷帘同步地照明所述场景的各个不同区。
2.根据权利要求1所述的成像设备,其中每一组包括一行或多行传感器元件,并且其中所述区域限定了以平行于所述行的方向延伸过所述场景的条纹。
3.根据权利要求2所述的成像设备,其中每一条纹照明一个相应区域,该区域包含了所述场景的、由相应的一组多行传感器元件从中捕获射线的区。
4.根据权利要求2所述的成像设备,其中所述控制器被配置为开动所述辐射源,以使所投影的射线以垂直于所述多行的方向扫掠过所述场景。
5.根据权利要求1所述的成像设备,其中所述卷帘限定了用于捕获整个电子图像的帧时,并且其中所述控制器被配置为将每个辐射源开动一个小于该帧时的一半的相应开动期。
6.根据权利要求5所述的成像设备,其中所述控制器被配置为开动每个辐射源,以使所述照明组件仅在捕获来自所述场景的每个区的射线的相应一组传感器元件的相应曝光期内照明该区。
7.根据权利要求1所述的成像设备,其中所述控制器被配置为分析所述电子图像中的图案,以生成所述场景的深度图。
8.一种用于成像的方法,包括:
布置多个辐射源,所述辐射源包括发光元件的一个矩阵,所述发光元件被布置在衬底上,并被配置为在与所述衬底垂直的方向上发射射线,以将射线以预定图案投影至场景的各个不同区域;
配置图像传感器,所述图像传感器包括布置成多组的传感器元件的一个阵列,以接收所述场景的光学图像,其中所述多组传感器元件从所述场景的各个不同区接收射线;
用卷帘触发所述多组传感器元件,以在各个相继的曝光期内捕获来自所述场景的射线,以形成所述场景的电子图像,其中该预定图案能以电子图像形式被探测;以及
以脉冲模式相续地开动所述辐射源,以与所述卷帘同步地照明所述场景的各个不同区。
9.根据权利要求8所述的方法,其中每一组包括一行或多行传感器元件,并且其中所述区域限定了以平行于所述行的方向延伸过所述场景的条纹。
10.根据权利要求9所述的方法,其中每一条纹照明一个相应区域,该区域包含了所述场景的、由相应的一组多行传感器元件从中捕获射线的区。
11.根据权利要求9所述的方法,其中开动所述辐射源使得所投影的射线以垂直于所述多行的方向扫掠过所述场景。
12.根据权利要求8所述的方法,其中所述卷帘限定了用于捕获整个电子图像的帧时,并且其中开动所述辐射源包括将每个辐射源开动一个小于该帧时的一半的相应开动期。
13.根据权利要求12所述的方法,其中开动每个辐射源包括:仅在捕获来自所述场景的每个区的射线的相应一组传感器元件的相应曝光期内照明该区。
14.根据权利要求8所述的方法,还包括:分析所述电子图像中的图案,以生成所述场景的深度图。
15.根据权利要求8所述的方法,其中配置所述图像传感器包括,将多个带有相应卷帘的图像传感器与多个相应辐射源布置在一起,以形成场景的具有各个不同的相重叠的部分的相应电子图像,并且
其中开动所述辐射源包括,将所述多个相应的辐射源与所述多个图像传感器同步,以在任何给定时间控制由所述辐射源照明的所述场景的各个区的重叠。
16.根据权利要求15所述的方法,还包括:分析由所述多个图像传感器形成的电子图像上的图案,以生成所述场景的深度图。
17.一种成像设备,包括:
多个成像单元,包括:
相应的照明组件,包含多个相应辐射源和投影光学器件,投影光学器件被配置为将射线从所述辐射源投影至场景的各个不同区域;以及
相应的成像组件,包括相应的图像传感器和目标光学器件,其被配置为在各个图像传感器上形成所述场景的各个不同的相重叠的部分的相应光学图像,每一图像传感器包括布置成多组的传感器元件的一个阵列,这些传感器元件由卷帘触发,以在各个相继的曝光期内从所述场景的各个不同区域捕获来自所述场景的射线,以形成所述场景的各个电子图像,
其中所述辐射源以脉冲模式相续开动,以使所述照明组件与所述卷帘同步地照明所述场景的各个不同区,同时也使所述多个相应的辐射源与所述多个图像传感器同步,以在任何给定时刻控制由所述辐射源照明的所述场景的各个区的重叠,以使在任何给定时刻由所述辐射源照明的场景的各个区是不重叠的。
18.根据权利要求17所述的成像设备,还包括控制器,其被配置为分析由所述多个成像单元中的图像传感器形成的电子图像上的图案,以生成所述场景的深度图。
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CN102193295A (zh) | 2011-09-21 |
CN102193295B (zh) | 2014-12-10 |
CN104360571B (zh) | 2016-05-11 |
US20180070073A1 (en) | 2018-03-08 |
US10609357B2 (en) | 2020-03-31 |
JP2011160420A (ja) | 2011-08-18 |
US20130147921A1 (en) | 2013-06-13 |
US20110187878A1 (en) | 2011-08-04 |
EP2363686A1 (en) | 2011-09-07 |
CN102143342A (zh) | 2011-08-03 |
US10063835B2 (en) | 2018-08-28 |
US20190068951A1 (en) | 2019-02-28 |
CN104360571A (zh) | 2015-02-18 |
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