Patent · US Active

Enhanced depth mapping using visual inertial odometry

US12153140B2 · kind B2 · utility

0Cited by

8References

20Claims

0Family size

Assignee

Apple Inc. · US

Inventors

David M. Silver · Bethesda, US
Eitan Hirsh · Ramat HaSharon, IL
Moshe Laifenfeld · Haifa, IL
Tal Kaitz · Kiryat Ono, IL

Key dates

Filing date	Sep 2, 2019
Grant date	Nov 26, 2024
Priority date	—
Expiry date	Mar 7, 2042

Classification

Technology area (CPC G)Physics
CPC primaryG01S17/86
WIPO fieldMeasurement
WIPO sectorInstruments

Abstract

Imaging apparatus (22) includes a radiation source (40), which emits pulsed beams (42) of optical radiation toward a target scene (24). An array (52) of sensing elements outputs signals indicative of respective times of incidence of photons on the sensing elements. Objective optics (54) form a first image of the target scene on the array of sensing elements. An image sensor (64) captures a second image of the target scene. Processing and control circuitry (56, 58) is configured to process the second image so as to detect a relative motion between at least one object in the target scene and the apparatus, and which is configured to construct, responsively to the signals from the array, histograms of the times of incidence of the photons on the sensing elements and to adjust the histograms responsively to the detected relative motion, and to generate a depth map of the target scene based on the adjusted histograms.

Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.