JP6821200B2 - 混合モードの深度検出 - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
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- G—PHYSICS
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- 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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/20—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from infrared radiation only
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/30—Transforming light or analogous information into electric information
- H04N5/33—Transforming infrared radiation
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Description
Claims (14)
- MEMSレーザビームディスプレイであって、
前記MEMSレーザビームディスプレイの視野内に画像を投射する画像化エンジンと、
第一の深度検出モードにおいて前記視野内のターゲットまでの距離を決定するための飛行時間(TOF)深度検出器であって、前記ターゲットの粗い深度データを決定することを特徴とするTOF型深度検出器と、
第二の深度検出モードにおいて前記ターゲットまでの距離を決定するための構造化光深度検出器であって、前記ターゲットの精細な深度データを決定することを特徴とする構造化光深度検出器と、
を備え、
前記TOF型深度検出器により取得される粗い深度データから前記ターゲットのスケルトンモデルを取得し、前記スケルトンモデルを用いて構造化光パターンを方向づけるべき前記ターゲットの一または複数の領域を決定し、前記精細な深度データを取得する、深度処理回路をさらに備えていることを特徴とするMEMSレーザビームディスプレイ。 - 前記粗い深度データと前記精細な深度データとの組合せを用いて、前記ターゲットの複合三次元(3D)画像を生成するための深度処理回路をさらに備えることを特徴とする請求項1に記載のMEMSレーザビームディスプレイ。
- 前記粗い深度データを介して前記ターゲットのジェスチャ領域を特定し、且つ前記精細な深度データを用いて前記ジェスチャ領域内のジェスチャを特定する深度処理回路をさらに備えることを特徴とする請求項1に記載のMEMSレーザビームディスプレイ。
- 前記画像化エンジンは、微小電気機械システム(MEMS)スキャナ、もしくはナノスケールスキャナ、またはこれらの組合せを備えることを特徴とする請求項1に記載のMEMSレーザビームディスプレイ。
- 前記TOF型深度検出器は、前記画像化エンジンにより放射されて前記ターゲットから反射される光ビームを検出し、前記検出された光ビームに対する飛行時間計算を介して前記ターゲットまでの距離を決定する光検出器を備えていることを特徴とする請求項1に記載のMEMSレーザビームディスプレイ。
- 前記構造化光深度検出器は、前記画像化エンジンにより前記ターゲット上へ放射される構造化光パターンの反射を検出し、且つ前記検出された構造化光パターンの反射に対する距離計算を介して前記ターゲットまでの距離を決定するカメラを備えていることを特徴とする請求項1に記載のMEMSレーザビームディスプレイ。
- 前記画像化エンジンにより放射される一または複数の構造化光パターンを前記ターゲットの選択された領域へ方向づけるためのユーザからの入力を受信するアクチュエータをさらに備えていることを特徴とする請求項1に記載のMEMSレーザビームディスプレイ。
- 前記画像化エンジンは、前記視界内に赤外線(IR)ビームを放射することができ、かつ前記TOF型深度検出器は、前記ターゲットからの前記IRビームの反射を検出するためのIR光検出器を備えていることを特徴とする請求項1に記載のMEMSレーザビームディスプレイ。
- 前記画像化エンジンは、前記ターゲット上へ、可視構造化光パターン、もしくは不可視構造化光パターン、またはこれらの組合せを放射することができ、かつ前記構造化光深度検出器は、前記ターゲットから反射される、前記可視構造化光パターン、もしくは前記不可視構造化光パターン、またはこれらの組合せを検出するためのカメラを備えていることを特徴とする請求項1に記載のMEMSレーザビームディスプレイ。
- ターゲットの3次元画像を取得する方法であって、
走査ビームを視野内で前記ターゲット上に投射するステップと、
前記ターゲットから反射される前記走査ビームの反射を検出するステップと、
前記走査ビームの前記反射から前記ターゲットの粗い深度マップを決定するステップと、
前記粗い深度マップにおいて、精細な深度データを取得すべき一または複数の領域を特定するステップと、
前記一または複数の領域内に構造化光パターンを投射するステップと、
前記構造化光パターンの反射から、前記一または複数の領域内の前記ターゲットの精細な深度マップを決定するステップと、
前記粗い深度マップと前記精細な深度マップとの複合体を用いて、前記ターゲットの3次元画像を取得するステップと
を含む方法。 - 前記走査ビームを投射するステップは、赤外線(IR)ビームを投射することを含み、かつ前記検出するステップは、前記赤外線ビームの反射をIR光検出器を用いて検出することを含むことを特徴とする請求項10に記載の方法。
- 前記粗い深度マップを決定するステップは、前記走査ビームの飛行時間を計算することを含むことを特徴とする請求項10に記載の方法。
- 精細な深度マップを決定する前記ステップは、前記一または複数の領域からの前記構造化光パターンの反射から深度情報を計算することを含むことを特徴とする請求項10に記載の方法。
- 前記特定するステップは、前記粗い深度マップから前記ターゲットのスケルトンモデルを取得することを含み、前記一または複数の領域は、前記ターゲットの前記スケルトンモデル上に位置決めされることを特徴とする請求項10に記載の方法。
Applications Claiming Priority (3)
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US14/848,128 US10503265B2 (en) | 2015-09-08 | 2015-09-08 | Mixed-mode depth detection |
US14/848,128 | 2015-09-08 | ||
PCT/US2016/045374 WO2017044204A1 (en) | 2015-09-08 | 2016-08-03 | Mixed-mode depth detection |
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JP2018529124A JP2018529124A (ja) | 2018-10-04 |
JP6821200B2 true JP6821200B2 (ja) | 2021-01-27 |
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US (1) | US10503265B2 (ja) |
EP (1) | EP3347738B1 (ja) |
JP (1) | JP6821200B2 (ja) |
KR (1) | KR102595996B1 (ja) |
CN (1) | CN108027441B (ja) |
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US10503265B2 (en) | 2019-12-10 |
WO2017044204A1 (en) | 2017-03-16 |
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