TIME-OF-FLIGHT DEPTH IMAGING

• Main Authors: ADLER AVISHAI, KATZ SAGI
• Format: Patent
• Language: English
• Published: 02.01.2014
• Subjects: ACCESSORIES THEREFOR; ANALOGOUS ARRANGEMENTS USING OTHER WAVES; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USINGWAVES OTHER THAN OPTICAL WAVES; APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FORPROJECTING OR VIEWING THEM; CALCULATING; CINEMATOGRAPHY; COMPUTING; COUNTING; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; ELECTROGRAPHY; HOLOGRAPHY; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHOTOGRAPHY; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; TESTING

Techniques are provided for determining depth to objects. A depth image may be determined based on two light intensity images. This technique may compensate for differences in reflectivity of objects in the field of view. However, there may be some misalignment between pixels in the two light intensity images. An iterative process may be used to relax a requirement for an exact match between the light intensity images. The iterative process may involve modifying one of the light intensity images based on a smoothed version of a depth image that is generated from the two light intensity images. Then, new values may be determined for the depth image based on the modified image and the other light intensity image. Thus, pixel misalignment between the two light intensity images may be compensated.