IL288771B2 - Depth sensing system - Google Patents

Depth sensing system

Info

Publication number
IL288771B2
IL288771B2 IL288771A IL28877121A IL288771B2 IL 288771 B2 IL288771 B2 IL 288771B2 IL 288771 A IL288771 A IL 288771A IL 28877121 A IL28877121 A IL 28877121A IL 288771 B2 IL288771 B2 IL 288771B2
Authority
IL
Israel
Prior art keywords
light
projection device
sensor
light projection
pattern
Prior art date
Application number
IL288771A
Other languages
English (en)
Hebrew (he)
Other versions
IL288771A (en
IL288771B1 (en
Original Assignee
Magic Leap Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Magic Leap Inc filed Critical Magic Leap Inc
Publication of IL288771A publication Critical patent/IL288771A/en
Publication of IL288771B1 publication Critical patent/IL288771B1/en
Publication of IL288771B2 publication Critical patent/IL288771B2/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/22—Measuring arrangements characterised by the use of optical techniques for measuring depth
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/10—Beam splitting or combining systems
    • G02B27/1006—Beam splitting or combining systems for splitting or combining different wavelengths
    • G02B27/1013—Beam splitting or combining systems for splitting or combining different wavelengths for colour or multispectral image sensors, e.g. splitting an image into monochromatic image components on respective sensors
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B5/00—Optical elements other than lenses
    • G02B5/20—Filters
    • G02B5/208—Filters for use with infrared or ultraviolet radiation, e.g. for separating visible light from infrared and/or ultraviolet radiation
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/13—Edge detection
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/10—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths
    • H04N23/11—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths for generating image signals from visible and infrared light wavelengths
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/10—Circuitry of solid-state image sensors [SSIS]; Control thereof for transforming different wavelengths into image signals
    • H04N25/11—Arrangement of colour filter arrays [CFA]; Filter mosaics
    • H04N25/13—Arrangement of colour filter arrays [CFA]; Filter mosaics characterised by the spectral characteristics of the filter elements
    • H04N25/131—Arrangement of colour filter arrays [CFA]; Filter mosaics characterised by the spectral characteristics of the filter elements including elements passing infrared wavelengths
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/10—Circuitry of solid-state image sensors [SSIS]; Control thereof for transforming different wavelengths into image signals
    • H04N25/11—Arrangement of colour filter arrays [CFA]; Filter mosaics
    • H04N25/13—Arrangement of colour filter arrays [CFA]; Filter mosaics characterised by the spectral characteristics of the filter elements
    • H04N25/133—Arrangement of colour filter arrays [CFA]; Filter mosaics characterised by the spectral characteristics of the filter elements including elements passing panchromatic light, e.g. filters passing white light
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/70—SSIS architectures; Circuits associated therewith
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/70—SSIS architectures; Circuits associated therewith
    • H04N25/702—SSIS architectures characterised by non-identical, non-equidistant or non-planar pixel layout
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/70—SSIS architectures; Circuits associated therewith
    • H04N25/703—SSIS architectures incorporating pixels for producing signals other than image signals
    • H04N25/705—Pixels for depth measurement, e.g. RGBZ
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • H04N5/2224—Studio circuitry; Studio devices; Studio equipment related to virtual studio applications
    • H04N5/2226—Determination of depth image, e.g. for foreground/background separation
    • H—ELECTRICITY
    • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10F—INORGANIC SEMICONDUCTOR DEVICES SENSITIVE TO INFRARED RADIATION, LIGHT, ELECTROMAGNETIC RADIATION OF SHORTER WAVELENGTH OR CORPUSCULAR RADIATION
    • H10F39/00—Integrated devices, or assemblies of multiple devices, comprising at least one element covered by group H10F30/00, e.g. radiation detectors comprising photodiode arrays
    • H10F39/80—Constructional details of image sensors
    • H10F39/802—Geometry or disposition of elements in pixels, e.g. address-lines or gate electrodes
    • H10F39/8023—Disposition of the elements in pixels, e.g. smaller elements in the centre of the imager compared to larger elements at the periphery
    • H—ELECTRICITY
    • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10F—INORGANIC SEMICONDUCTOR DEVICES SENSITIVE TO INFRARED RADIATION, LIGHT, ELECTROMAGNETIC RADIATION OF SHORTER WAVELENGTH OR CORPUSCULAR RADIATION
    • H10F39/00—Integrated devices, or assemblies of multiple devices, comprising at least one element covered by group H10F30/00, e.g. radiation detectors comprising photodiode arrays
    • H10F39/80—Constructional details of image sensors
    • H10F39/805—Coatings
    • H10F39/8053—Colour filters
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10048—Infrared image

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Optics & Photonics (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • Health & Medical Sciences (AREA)
  • Toxicology (AREA)
  • Human Computer Interaction (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Measurement Of Optical Distance (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Measuring Pulse, Heart Rate, Blood Pressure Or Blood Flow (AREA)
IL288771A 2016-03-01 2017-02-28 Depth sensing system IL288771B2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201662301847P 2016-03-01 2016-03-01
PCT/US2017/020030 WO2017151671A1 (en) 2016-03-01 2017-02-28 Depth sensing systems and methods

Publications (3)

Publication Number Publication Date
IL288771A IL288771A (en) 2022-02-01
IL288771B1 IL288771B1 (en) 2023-05-01
IL288771B2 true IL288771B2 (en) 2023-09-01

Family

ID=59724237

Family Applications (3)

Application Number Title Priority Date Filing Date
IL288771A IL288771B2 (en) 2016-03-01 2017-02-28 Depth sensing system
IL261149A IL261149B (en) 2016-03-01 2018-08-14 Depth sensing systems and methods
IL281676A IL281676B (en) 2016-03-01 2021-03-21 Depth sensing systems and methods

Family Applications After (2)

Application Number Title Priority Date Filing Date
IL261149A IL261149B (en) 2016-03-01 2018-08-14 Depth sensing systems and methods
IL281676A IL281676B (en) 2016-03-01 2021-03-21 Depth sensing systems and methods

Country Status (10)

Country Link
US (3) US10565717B2 (cg-RX-API-DMAC10.html)
EP (2) EP3902249B1 (cg-RX-API-DMAC10.html)
JP (3) JP6695440B2 (cg-RX-API-DMAC10.html)
KR (1) KR20180118189A (cg-RX-API-DMAC10.html)
CN (2) CN108779978B (cg-RX-API-DMAC10.html)
AU (2) AU2017227599A1 (cg-RX-API-DMAC10.html)
CA (1) CA3014766A1 (cg-RX-API-DMAC10.html)
IL (3) IL288771B2 (cg-RX-API-DMAC10.html)
NZ (2) NZ785500A (cg-RX-API-DMAC10.html)
WO (1) WO2017151671A1 (cg-RX-API-DMAC10.html)

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CN116777901B (zh) * 2017-12-29 2026-03-03 上海联影医疗科技股份有限公司 一种用于医学成像中的生成对象的三维模型的系统
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Also Published As

Publication number Publication date
IL261149A (en) 2018-10-31
IL261149B (en) 2021-04-29
IL288771A (en) 2022-02-01
AU2021266266A1 (en) 2021-12-09
JP6695440B2 (ja) 2020-05-20
US11475583B2 (en) 2022-10-18
US20170256069A1 (en) 2017-09-07
JP2022009902A (ja) 2022-01-14
US10565717B2 (en) 2020-02-18
CA3014766A1 (en) 2017-09-08
NZ785500A (en) 2023-03-31
EP3902249A1 (en) 2021-10-27
US20200143553A1 (en) 2020-05-07
AU2017227599A1 (en) 2018-08-30
NZ745309A (en) 2023-03-31
EP3423784A1 (en) 2019-01-09
CN108779978B (zh) 2020-12-11
US20210183087A1 (en) 2021-06-17
EP3902249B1 (en) 2025-01-29
IL288771B1 (en) 2023-05-01
JP2019512678A (ja) 2019-05-16
IL281676B (en) 2022-01-01
US10964039B2 (en) 2021-03-30
JP7270702B2 (ja) 2023-05-10
EP3423784A4 (en) 2019-01-09
IL281676A (en) 2021-05-31
CN108779978A (zh) 2018-11-09
KR20180118189A (ko) 2018-10-30
EP3423784B1 (en) 2021-07-28
CN112399028B (zh) 2025-04-29
JP2020144136A (ja) 2020-09-10
CN112399028A (zh) 2021-02-23
JP6972224B2 (ja) 2021-11-24
WO2017151671A1 (en) 2017-09-08

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