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1. 发明申请

WO2017196690A1 MULTIPLE PATTERNS IN TIME-OF-FLIGHT CAMERA APPARATUS 审中-公开
标题翻译：飞行时间照相机设备中的多种图案
公开(公告)号：WO2017196690A1
公开(公告)日：2017-11-16
申请号：PCT/US2017/031467
申请日：2017-05-06
申请人： MICROSOFT TECHNOLOGY LICENSING, LLC
发明人： GODBAZ, John Peter , BAMJI, Cyrus S. , SCHMIDT, Mirko
IPC分类号： G01S17/89 , G01S7/493 , G01S7/481
CPC分类号： G01S17/89 , G01S7/4814 , G01S7/493 , G01S17/08 , G01S17/50 , G06T5/002 , G06T5/20 , G06T19/006 , G06T2207/10028 , G06T2207/20024 , G06T2207/20192 , H04N5/2173 , H04N13/122 , H04N13/254
摘要： A method for compensating for light reflected from non-uniform targets comprises illuminating, with an illumination unit, a target. During a first frame, the illumination unit is configured to project a uniform pattern onto the target. During a second frame, the illumination unit is configured to project a high spatial-frequency pattern onto the target in such a way as to redistribute spectral energy to higher frequencies. The method further includes acquiring, with a sensor unit, first light data reflected from the target within the first frame and second light data reflected from the target within the second frame. Further, the method includes calculating, with the one or more processors, normalized light data by dividing, within the spatial frequency domain, the second light data by the first light data.
摘要翻译：用于补偿从非均匀目标反射的光的方法包括用照明单元照射目标。在第一帧期间，照明单元被配置为将均匀图案投影到目标上。在第二帧期间，照明单元被配置成将高空间频率图案投影到目标上，以便将频谱能量重新分配到较高频率。该方法进一步包括利用传感器单元获取在第一帧内从目标反射的第一光数据和在第二帧内从目标反射的第二光数据。此外，该方法包括利用一个或多个处理器通过在空间频率域内将第二光数据除以第一光数据来计算归一化光数据。

2. 发明申请

WO2017196591A1 MULTIPATH SIGNAL REMOVAL IN TIME-OF-FLIGHT CAMERA APPARATUS 审中-公开
标题翻译：飞行时间相机设备中的多路径信号移除
公开(公告)号：WO2017196591A1
公开(公告)日：2017-11-16
申请号：PCT/US2017/030705
申请日：2017-05-03
申请人： MICROSOFT TECHNOLOGY LICENSING, LLC
发明人： GODBAZ, John, Peter , SCHMIDT, Mirko , BAMJI, Cyrus, S.
IPC分类号： G01S17/89 , G01S7/493 , G01S7/481
CPC分类号： G01S17/89 , G01S7/4814 , G01S7/493 , G01S17/08 , G01S17/50 , G06T5/002 , G06T5/20 , G06T19/006 , G06T2207/10028 , G06T2207/20024 , G06T2207/20192 , H04N5/2173 , H04N13/122 , H04N13/254
摘要： A method for facilitating removal of multipath signal interference from light data can comprise illuminating, with an illumination unit, a target with a light source. The illumination unit can be configured to project a high spatial -frequency pattern onto the target in such a way as to redistribute spectral energy to higher frequencies. The method can also comprise acquiring, with a sensor unit, reflected light data reflected from the target. The reflected light data can comprise an array of spatial domain information received from light reflected by the target. Further, the method can comprise processing, with the one or more processors, the reflected light data. The processing applies a high-pass filter within the spatial domain to the reflected light data.
摘要翻译：用于促进从光数据移除多径信号干扰的方法可以包括利用照明单元用光源照射目标。照明单元可以被配置为将高空间频率图案投影到目标上，以便将频谱能量重新分配到更高的频率。该方法还可以包括利用传感器单元获取从目标反射的反射光数据。反射光数据可以包括从目标反射的光中接收的空间域信息的阵列。此外，该方法可以包括利用一个或多个处理器处理反射光数据。该处理将空间域内的高通滤波器应用于反射光数据。

3. 发明申请

WO2018009423A1 MULTI-FREQUENCY UNWRAPPING 审中-公开
标题翻译：多频率解卷
公开(公告)号：WO2018009423A1
公开(公告)日：2018-01-11
申请号：PCT/US2017/040159
申请日：2017-06-30
申请人： MICROSOFT TECHNOLOGY LICENSING, LLC
发明人： PERRY, Travis , SCHMIDT, Mirko , GODBAZ, John , FENTON, Michael
IPC分类号： G06F17/10 , G01S17/36 , G01S17/89
摘要： The time-of-flight system disclosed herein includes a frequency unwrapping module configured to generate an input phase vector with M phases corresponding to M sampled signals from an object, determine an M-1 dimensional vector of transformed phase values by applying a transformation matrix (T) to the input phase vector, determine an M-1 dimensional vector of rounded transformed phase values by rounding the transformed phase values to a nearest integer, and determine a one dimensional lookup table (LUT) index value by transforming the M-1 dimensional rounded transformed phase values. The index value is input into the one dimensional LUT to determine a range of the object.
摘要翻译：这里公开的飞行时间系统包括：频率展开模块，其被配置为生成具有与来自对象的M个采样信号相对应的M个相位的输入相位矢量;确定变换后的M-1维矢量通过对输入相位矢量应用变换矩阵（T），通过将经变换的相位值四舍五入为最接近的整数来确定经舍入的经变换的相位值的M-1维矢量，并确定一维查找表（LUT）索引通过变换M-1维四舍五入的变换相位值来确定。索引值被输入到一维LUT中以确定对象的范围。

4. 发明申请

WO2017196590A1 SPECULAR REFLECTION REMOVAL IN TIME-OF-FLIGHT CAMERA APPARATUS 审中-公开
标题翻译：飞行时间照相机设备中的镜面反射移除
公开(公告)号：WO2017196590A1
公开(公告)日：2017-11-16
申请号：PCT/US2017/030704
申请日：2017-05-03
申请人： MICROSOFT TECHNOLOGY LICENSING, LLC
发明人： GODBAZ, John, Peter , BAMJI, Cyrus, S. , SCHMIDT, Mirko
IPC分类号： G01S17/89 , G01S7/493 , G01S7/481
CPC分类号： G01S17/89 , G01S7/4814 , G01S7/493 , G01S17/08 , G01S17/50 , G06T5/002 , G06T5/20 , G06T19/006 , G06T2207/10028 , G06T2207/20024 , G06T2207/20192 , H04N5/2173 , H04N13/122 , H04N13/254
摘要： A method for facilitating removal of specular reflection noise from light data can include illuminating, using an illumination unit, a target with a light source. The illumination unit is configured to project light with a spatial light pattern onto the target. The method can also include acquiring, with a sensor unit, light data that is reflected from the target. The light data may comprise a directly reflected spatial light pattern and a specular reflected spatial light pattern. The directly reflected spatial light pattern and the specular reflected spatial light pattern comprise at least one spatial distinction that distinguishes the directly reflected spatial light pattern from the specular reflected spatial light pattern. The method can further comprise processing the light data to distinguish the directly reflected spatial light pattern from the specular reflected spatial light pattern based upon the at least one spatial distinction.
摘要翻译：用于促进从光数据去除镜面反射噪声的方法可以包括使用照明单元用光源照射目标。照明单元被配置为将具有空间光图案的光投射到目标上。该方法还可以包括利用传感器单元获取从目标反射的光数据。光数据可以包括直接反射的空间光图案和镜面反射的空间光图案。直接反射的空间光图案和镜面反射的空间光图案包括区分直接反射的空间光图案与镜面反射的空间光图案的至少一个空间区别。该方法还可以包括处理光数据以基于至少一个空间区别区分直接反射的空间光图案与镜面反射的空间光图案。

5. 发明申请

WO2016064770A1 TIME OF FLIGHT DEPTH CAMERA 审中-公开
标题翻译：飞行深度摄像机时间
公开(公告)号：WO2016064770A1
公开(公告)日：2016-04-28
申请号：PCT/US2015/056292
申请日：2015-10-20
申请人： MICROSOFT TECHNOLOGY LICENSING, LLC
发明人： HALL, Michael Anthony , SCHMIDT, Mirko , PERRY, Travis
IPC分类号： G01S17/10 , G06F3/01 , G01S17/36 , G01S17/89 , G01S7/491 , G01S7/497 , G01S7/00 , G01S7/481
CPC分类号： H04N13/246 , G01S7/003 , G01S7/4815 , G01S7/4915 , G01S7/497 , G01S17/10 , G01S17/36 , G01S17/89 , G06F3/017 , G06T7/85 , H04N5/2256
摘要： A method for operating a time of flight, TOF, depth camera is provided. The method includes, using an image processing module (110), interpolating an updated timing delay calibration for each of a plurality of pixel sensors (122) based at least on an updated set of modulation frequency and duty cycle calibration combinations received by the image processing module, the plurality of pixel sensors coupled to a timing clock, and receiving light generated by a light source (116) and reflected in a 3-dimensional environment, the updated set of modulation frequency and duty cycle calibration combinations replacing the corresponding factory-preloaded timing delay calibrations. The method further includes applying the updated timing delay calibrations to pixel data corresponding to each of the plurality of the pixel sensors (122) to generate a depth map of the 3- dimensional environment.
摘要翻译：提供了一种用于操作飞行时间，TOF，深度相机的方法。该方法包括：使用图像处理模块（110），至少基于由图像处理接收的调制频率和占空比校准组合的更新集合来内插多个像素传感器（122）中的每一个的更新的定时延迟校准模块，所述多个像素传感器耦合到定时时钟，以及接收由光源（116）产生并在三维环境中反射的光，更新的一组调制频率和占空比校准组合代替相应的工厂预加载定时延迟校准。该方法还包括将更新的定时延迟校准应用于与多个像素传感器（122）中的每一个对应的像素数据，以生成三维环境的深度图。

6. 发明申请

WO2015102847A1 FAST GENERAL MULTIPATH CORRECTION IN TIME-OF-FLIGHT IMAGING 审中-公开
标题翻译：在飞行时间成像中的快速一般多路径校正
公开(公告)号：WO2015102847A1
公开(公告)日：2015-07-09
申请号：PCT/US2014/069868
申请日：2014-12-12
申请人： MICROSOFT TECHNOLOGY LICENSING, LLC
发明人： FREEDMAN, Daniel , KRUPKA, Eyal , SMOLIN, Yoni , LEICHTER, Ido , SCHMIDT, Mirko
IPC分类号： G01S17/36 , G01S17/89 , G01S7/497
CPC分类号： G06T7/593 , G01S7/497 , G01S17/36 , G01S17/89 , G06T7/536 , G06T2207/10028 , G06T2207/20076 , H04N13/128 , H04N13/271
摘要： Fast general multipath correction in time of flight imaging is described, for example, to obtain accurate depth maps at frame rate from a time of flight camera. In various embodiments accurate depth maps are calculated by looking up corrected depth values stored in a look up table. In various embodiments the corrected depth values are highly accurate as they take into account three or more possible light ray paths between the camera and a surface in a scene being imaged. In an example accurate depth maps are computed at a frame rate of a time of flight camera. In an example accurate depth maps are computed in less than 30 milliseconds for an image having over 200,000 pixels using a standard CPU.
摘要翻译：描述飞行时间成像时的快速一般多路径校正，例如，从飞行时间相机的帧速率获得准确的深度图。在各种实施例中，通过查找存储在查找表中的校正深度值来计算精确的深度图。在各种实施例中，校正的深度值是高度准确的，因为它们考虑了相机和被成像的场景中的表面之间的三个或更多个可能的光线路径。在一个示例中，以飞行时间相机的帧速率计算精确的深度图。在一个示例中，使用标准CPU对于具有超过200,000个像素的图像，在小于30毫秒内计算精确的深度图。

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