Structured-light based multipath cancellation in ToF imaging

Patent metadata

Field	Value
Publication number	US-9989630-B2
Application number	US-201514710725-A
Country	US
Kind code	B2
Filing date	May 13, 2015
Priority date	May 13, 2015
Publication date	Jun 5, 2018
Grant date	Jun 5, 2018

Abstract

Representative implementations of devices and techniques provide multipath interference cancelling for imaging devices and systems. In various implementations, structured light is used to diminish, if not cancel interference. For example, the light may be structured with respect to amplitude or phase, based on an emission angle of the light.

First claim

What is claimed is:

1. An apparatus, comprising:
an imaging sensor arranged to capture light radiation reflected off one or more objects in an area during one or more frame events, the reflected light radiation being subject to multipath interference; and
a processing component arranged to control a structure of the light radiation when emitted from a light source, at least one of an amplitude or a phase offset of light rays of the light radiation being structured according to emission angles of the light rays of the light radiation, the processing component arranged to determine corrected depth values from the reflected light radiation using an emission-angle based structure of the light radiation and to calculate a distance from the one or more objects to the imaging sensor, based on the corrected depth values.

2. The apparatus of claim 1 , wherein the processing component is arranged to diminish or cancel one or more components of multipath interference of the light radiation captured during the one or more frame events, based on application of a spatially structured light radiation pattern to the light rays of the light radiation.

3. The apparatus of claim 2 , wherein the processing component is arranged to apply a spatially structured amplitude pattern to the light rays of the light radiation, wherein an amplitude of a respective light ray, of the light rays, is determined according to an emission angle of the respective light ray.

4. The apparatus of claim 3 , wherein the processing component is arranged to reconstruct distance information based on combining first information from a first frame event corresponding to a first spatially structured light pattern and second information from a second frame event corresponding to a second spatially structured light pattern, the first spatially structured light pattern being different from the second spatially structured light pattern.

5. The apparatus of claim 4 , wherein the second spatially structured light pattern is based on an inversion of the first spatially structured light pattern.

6. The apparatus of claim 2 , wherein the processing component is arranged to apply a structured phase offset to the light rays of the light radiation, wherein a phase offset of a respective light ray, of the light rays, is determined by an emission angle of the respective light ray.

7. The apparatus of claim 6 , wherein the processing component is arranged to determine the corrected depth values based on cancellation of multipath interference from destructive interference due to the phase offset of the light rays.

8. The apparatus of claim 6 , wherein the processing component is arranged to provide a compensation for depth values corresponding to light radiation captured by the imaging sensor, the compensation including a correction for a distance offset due to the phase offset applied to the light rays.

9. The apparatus of claim 1 , wherein the processing component is arranged to control a structure of light emissions having a spatially structured light, based on one or more weight and/or offset patterns, wherein a weight and/or an offset of the one or more weight and/or offset patterns is dependent on the emission angles of the light rays of the light radiation.

10. The apparatus of claim 1 , wherein the processing component is arranged to separate the reflected light radiation into amplitude and/or phase components of a fundamental wave of a sensor response function (SRF) output by a pixel of the imaging sensor.

11. The apparatus of claim 1 , wherein the imaging sensor is arranged to capture a three-dimensional image of the area using time-of-flight principles during one or more frame events.

12. A system, comprising:
an illumination module arranged to emit spatially structured light radiation to illuminate an area, at least one of an amplitude or a phase offset of light rays of the spatially structured light radiation being structured based on emission angles of the light rays of the spatially structured light radiation;
a sensor module comprising a plurality of pixels arranged to capture the spatially structured light radiation reflected off one or more objects in the area during one or more frame events, the reflected spatially structured light radiation being subject to multipath interference; and
a control module arranged to determine corrected depth values from the reflected spatially structured light radiation using an emission-angle based spatial structure of the spatially structured light radiation, and to calculate a distance from the one or more objects to individual pixels of the plurality of pixels, based on the corrected depth values determined from the reflected spatially structured light radiation captured during at least one frame event of the one or more frame events.

13. The system of claim 12 , the control module further arranged to control amplitudes and/or phase offsets of the light rays of the spatially structured light radiation emitted by the illumination module, a magnitude of the amplitudes and/or phase offsets of the light rays based on emission angles of the light rays of the spatially structured light radiation.

14. The system of claim 12 , the control module further arranged to diminish or cancel one or more components of multipath interference of the reflected spatially structured light radiation captured during the one or more frame events, based on applying a spatially structured amplitude pattern and/or a spatially structured phase offset to the spatially structured light radiation emitted by the illumination module.

15. A method, comprising:
emitting spatially structured light radiation, at least one of an amplitude or a phase offset of rays of the spatially structured light radiation being structured based on emission angles of the rays of the spatially structured light radiation;
capturing the spatially structured light radiation reflected off one or more objects within an area during at least one frame event with an imaging sensor, the reflected spatially structured light radiation being subject to multipath interference;
determining corrected depth values from the reflected spatially structured light radiation taking advantage of an emission-angle based spatial structure of the spatially structured light radiation; and
calculating a distance from the one or more objects to the imaging sensor, based on the corrected depth values determined from the reflected spatially structured light radiation captured during the at least one frame event.

16. The method of claim 15 , further comprising structuring the spatially structured light radiation such that an amplitude of the rays is dependent on an emission angle of the rays.

17. The method of claim 15 , further comprising computing a correction map based on light rays captured during the at least one frame event and one or more previous frame events.

18. The method of claim 17 , wherein a quantity of the one or more previous frame events is based on a quantity of weight patterns used to structure the spatially structured light radiation.

19. The method of claim 17 , further comprising applying the correction map to captured erroneous depth values to determine the corrected depth values.

20. The method of claim 15 , further comprising structuring the spatially structured light radiation such that the phase offset of the rays is dependent on the emission angles of the rays.

21. The method of claim 15 , further comprising determining the corrected depth values based on cancellation of

Assignees

• Infineon Technologies Ag

Inventors

• Gruenwald Johannes

Classifications

• G01S17/931

  of land vehicles · CPC title

• G01S7/4876 Primary

  by removing unwanted signals (G01S7/495 takes precedence) · CPC title

• G01S7/497

  Means for monitoring or calibrating · CPC title

• G01S17/894

  Three-dimensional [3D] imaging with simultaneous measurement of time-of-flight at a two-dimensional [2D] array of receiver pixels, e.g. time-of-flight cameras or flash lidar · CPC title

• G01S7/4911

  Transmitters · CPC title