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公开(公告)号：US10311588B2
公开(公告)日：2019-06-04
申请号：US15112200
申请日：2015-01-19
申请人： MANTISVISION LTD.
发明人： Gur Arie Bittan , Yonatan Samet
摘要： There is provided in accordance with an aspect of the presently disclosed subject matter, a method operating a depth sensing device. The method includes obtaining a current pulse timing on each of a first and a second depth sensing devices; and allocating an exclusive pulse timeslot to each of said first and second devices, so that during a portion of a frame which corresponds to any one of the pulse timeslots only a respective one of said first device and said second device emits a pulse.
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公开(公告)号：US10417786B2
公开(公告)日：2019-09-17
申请号：US15859790
申请日：2018-01-02
申请人： MANTISVISION LTD.
发明人： Eyal Gordon , Michael Slutsky , Yonatan Samet
IPC分类号： G06K9/00 , G06T7/80 , H04N13/246 , G06K9/20 , G06K9/32 , G06T15/20 , H04N5/222 , G06T7/521 , G06T7/536
摘要： A structured light projector includes an optical mask and a light emitter. The light emitter can be capable of illuminating the optical mask, and the optical mask can be capable of transforming the light from the emitter so as to provide structured light bi-dimensional coded light pattern that includes a plurality of feature types formed by a unique combination of feature elements. The projected light pattern includes one or more markers which include pairs of feature elements between which the epipolar distances are modified relative to distances between respective feature elements in non-marker areas of the pattern, and an appearance of feature elements within the marker and across the marker's edges is continuous.
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公开(公告)号：US20160163031A1
公开(公告)日：2016-06-09
申请号：US14749432
申请日：2015-06-24
申请人： MANTISVISION LTD.
发明人： Eyal Gordon , Michael Slutsky , Yonatan Samet
CPC分类号： G06T7/80 , G06K9/2036 , G06K9/209 , G06K9/3216 , G06T7/521 , G06T7/536 , G06T7/85 , G06T15/205 , G06T2200/04 , G06T2207/10021 , G06T2207/20228 , G06T2207/30204 , H04N5/2224 , H04N13/246
摘要： A structured light projector includes an optical mask and a light emitter. The light emitter can be capable of illuminating the optical mask, and the optical mask can be capable of transforming the light from the emitter so as to provide structured light bi-dimensional coded light pattern that includes a plurality of feature types formed by a unique combination of feature elements. The projected light pattern includes one or more markers which include pairs of feature elements between which the epipolar distances are modified relative to distances between respective feature elements in non-marker areas of the pattern, and an appearance of feature elements within the marker and across the marker's edges is continuous.
摘要翻译： 结构化的投光器包括光学掩模和光发射器。 光发射器能够照射光学掩模，并且光学掩模能够转换来自发射器的光，以便提供结构化的光二维编码光图案，其包括由独特组合形成的多个特征类型 的特征元素。 投影光图案包括一个或多个标记，其包括成对的特征元素，在该特征元素之间，相对于图案的非标记区域中的各个特征元素之间的距离修改对极距离，以及标记内的特征元素的外观， 标记的边缘是连续的。
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公开(公告)号：US10049454B2
公开(公告)日：2018-08-14
申请号：US14749306
申请日：2015-06-24
申请人： MANTISVISION LTD.
发明人： Michael Slutsky , Yonatan Samet , Eyal Gordon
摘要： According to examples of the presently disclosed subject an active triangulation system includes an active triangulation setup and a calibration module. The active triangulation setup includes a projector and a sensor. The projector is configured to project a structured light pattern that includes a repeating structure of a plurality of unique feature types and a plurality of markers distributed in the projected structured light pattern, where an epipolar distance between any two epipolar lines which are associated with an appearance in the image of any two respective markers is greater than a distance between any two distinguishable epipolar lines. The sensor is configured to capture an image of a reflected portion of the projected structured light. The calibration module is configured to determine an epipolar field for the active triangulation setup according to locations of the markers in the image, and to calibrate the active triangulation setup.
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公开(公告)号：US20170323455A1
公开(公告)日：2017-11-09
申请号：US15112200
申请日：2015-01-19
申请人： MANTISVISION LTD.
发明人： Gur Arie Bittan , Yonatan Samet
摘要： There is provided in accordance with an aspect of the presently disclosed subject matter, a method operating a depth sensing device. The method includes obtaining a current pulse timing on each of a first and a second depth sensing devices; and allocating an exclusive pulse timeslot to each of said first and second devices, so that during a portion of a frame which corresponds to any one of the pulse timeslots only a respective one of said first device and said second device emits a pulse.
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公开(公告)号：US20150370348A1
公开(公告)日：2015-12-24
申请号：US14749306
申请日：2015-06-24
申请人： MANTISVISION LTD.
发明人： Michael Slutsky , Yonatan Samet , Eyal Gordon
CPC分类号： G06T7/80 , G06F3/0416 , G06F3/0418 , G06F3/0425 , G06T7/521
摘要： According to examples of the presently disclosed subject an active triangulation system includes an active triangulation setup and a calibration module. The active triangulation setup includes a projector and a sensor. The projector is configured to project a structured light pattern that includes a repeating structure of a plurality of unique feature types and a plurality of markers distributed in the projected structured light pattern, where an epipolar distance between any two epipolar lines which are associated with an appearance in the image of any two respective markers is greater than a distance between any two distinguishable epipolar lines. The sensor is configured to capture an image of a reflected portion of the projected structured light. The calibration module is configured to determine an epipolar field for the active triangulation setup according to locations of the markers in the image, and to calibrate the active triangulation setup.
摘要翻译： 根据本公开的主题的实例，主动三角测量系统包括主动三角测量设置和校准模块。 主动三角测量设置包括投影机和传感器。 投影仪被配置为投射包括多个独特特征类型的重复结构和分布在投影结构光图案中的多个标记的结构光图案，其中与外观相关联的任何两个对极线之间的对极距离 任何两个相应标记的图像大于任何两个可区分的核线之间的距离。 传感器被配置为捕获投影结构光的反射部分的图像。 校准模块被配置为根据图像中的标记的位置来确定用于主动三角测量设置的对极场，并且校准主动三角测量设置。
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公开(公告)号：US20180211412A1
公开(公告)日：2018-07-26
申请号：US15859790
申请日：2018-01-02
申请人： MANTISVISION LTD.
发明人： Eyal Gordon , Michael Slutsky , Yonatan Samet
CPC分类号： G06T7/80 , G01B11/2513 , G06K9/2036 , G06K9/209 , G06K9/3216 , G06T7/521 , G06T7/536 , G06T7/85 , G06T15/205 , G06T2200/04 , G06T2207/10021 , G06T2207/20228 , G06T2207/30204 , H04N5/2224 , H04N13/246
摘要： A structured light projector includes an optical mask and a light emitter. The light emitter can be capable of illuminating the optical mask, and the optical mask can be capable of transforming the light from the emitter so as to provide structured light bi-dimensional coded light pattern that includes a plurality of feature types formed by a unique combination of feature elements. The projected light pattern includes one or more markers which include pairs of feature elements between which the epipolar distances are modified relative to distances between respective feature elements in non-marker areas of the pattern, and an appearance of feature elements within the marker and across the marker's edges is continuous.
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