Scanning projectors and image capture modules for 3D mapping

Patent metadata

Field	Value
Publication number	US-10218963-B2
Application number	US-201715588719-A
Country	US
Kind code	B2
Filing date	May 8, 2017
Priority date	Aug 11, 2010
Publication date	Feb 26, 2019
Grant date	Feb 26, 2019

Abstract

Apparatus for mapping includes a radiation source, which is configured to emit a beam of radiation, and a detector and optics, which define a sensing area of the detector. A scanning mirror assembly is configured to receive and scan the emitted beam over a selected angular range within a region of interest while scanning the sensing area over the selected angular range in synchronization with the scanned beam from the radiation source. A processor is configured to process signals output by the detector in order to construct a three-dimensional (3D) map of an object in the region of interest.

First claim

The invention claimed is:

1. Apparatus for mapping, comprising:
a radiation source, which is configured to emit a beam of radiation;
a detector and optics, which define a sensing area of the detector;
a scanning mirror assembly, which is configured to receive and scan the emitted beam over a selected angular range within a region of interest while scanning the sensing area over the selected angular range in synchronization with the scanned beam from the radiation source; and
a processor, which is configured to process signals output by the detector in order to construct a three-dimensional (3D) map of an object in the region of interest.

2. The apparatus according to claim 1 , wherein the processor is configured to control the scanning mirror assembly dynamically so as to modify a scan area of the apparatus.

3. The apparatus according to claim 2 , wherein the processor is configured to identify the object in a first 3D map of the region of interest, and to adjust a scan range of the scanning mirror assembly based on the first 3D map so as to map the identified object with high resolution in a second 3D map.

4. The apparatus according to claim 1 , and comprising at least one beam sensor, which is positioned at a selected angle within the angular range so as to receive the scanned beam periodically and verify thereby that the scanning mirror assembly is operating.

5. The apparatus according to claim 4 , wherein the processor is configured to inhibit emission of the beam from the radiation source when the beam sensor fails to receive the scanned beam periodically.

6. The apparatus according to claim 1 , wherein the processor is configured to process the signals in order to measure a time of flight of light pulses to and from the object.

7. The apparatus according to claim 1 , wherein the radiation source comprises:
a first radiation source, which emits an infrared beam, which is received by the detector in order to output the signals; and
a second radiation source, which emits a visible light beam, which is modulated to project a visible image onto the region of interest,
wherein the scanning mirror assembly is configured to project both the infrared beam and the visible light beam onto the region of interest simultaneously.

8. A method for mapping, comprising:
using a scanning mirror assembly, scanning a beam of radiation over a selected angular range within a region of interest while scanning a sensing area of a detector, using the scanning mirror assembly, over the selected angular range in synchronization with the scanned beam; and
processing signals output by the detector in order to construct a three-dimensional (3D) map of an object in the region of interest.

9. The method according to claim 8 , wherein scanning the beam of radiation and scanning the sensing area comprise controlling the scanning mirror assembly dynamically so as to modify a scan area of the 3D map.

10. The method according to claim 9 , and comprising identifying the object in a first 3D map of the region of interest, and adjusting a scan range of the scanning mirror assembly based on the first 3D map so as to map the identified object with high resolution in a second 3D map.

11. The method according to claim 8 , and comprising positioning at least one beam sensor at a selected angle within the angular range so as to receive the scanned beam periodically and verify thereby that the scanning mirror assembly is operating.

12. The method according to claim 11 , and comprising inhibiting emission of the beam when the beam sensor fails to receive the scanned beam periodically.

13. The method according to claim 8 , wherein processing the signals comprises measuring a time of flight of light pulses to and from the object.

14. The method according to claim 8 , wherein scanning the beam comprises scanning an infrared beam, which is received by the detector in order to output the signals, and wherein the method comprises scanning a visible light beam together with the infrared beam, while modulating the visible light beam so as to project a visible image onto the region of interest.

15. The method according to claim 14 , wherein modulating the visible light beam comprises generating the visible image responsively to the 3D map.

16. Apparatus for mapping, comprising:
an illumination module, comprising:
a first radiation source, which is configured to emit a beam of infrared radiation;
a second radiation source, which is configured to emit a visible light beam; and
a scanner, which is configured to receive and scan both the infrared beam and the visible light beam simultaneously over a selected angular range onto a region of interest;

a detector, which is configured to receive the infrared radiation that is reflected from an object in the region of interest; and
a processor, which is configured to process signals output by the detector in order to construct a three-dimensional (3D) map of the object, while modulating the visible light beam so as to project a visible image onto the region of interest.

17. The apparatus according to claim 16 , wherein the second radiation source is controlled so as to project the visible image onto the object responsively to the 3D map.

18. The apparatus according to claim 17 , wherein the visible image is tailored to a shape of the object.

19. The apparatus according to claim 16 , wherein the illumination module comprises a dichroic beam combiner, which aligns the infrared and visible light beams.

20. The apparatus according to claim 16 , wherein the processor is configured to process the signals in order to measure a time of flight of light pulses to and from the object.

Assignees

• Apple Inc

Inventors

• Shpunt Alexander
• Pesach Benny
• Akerman Ronen

Classifications

• H04N23/11

  for generating image signals from visible and infrared light wavelengths · CPC title

• G01B11/2518 Primary

  Projection by scanning of the object · CPC title

• H04N13/365

  using digital micromirror devices [DMD] · CPC title

• H04N13/254

  in combination with electromagnetic radiation sources for illuminating objects · CPC title

• H04N13/398

  Synchronisation thereof; Control thereof · CPC title