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    • 78. 发明申请
    • MULTIPATH MITIGATION FOR TIME OF FLIGHT SYSTEM
    • WO2020159655A1
    • 2020-08-06
    • PCT/US2019/068929
    • 2019-12-30
    • MICROSOFT TECHNOLOGY LICENSING, LLC
    • ORTIZ EGEA, SergioLIN, Hung-Ming
    • G01S7/493G01S17/89
    • A time-of-flight (ToF) system (100) disclosed herein provides a method of separating a direct component of light (112) collected by a ToF detector from a global component of light (112a, 112b) collected by the ToF detector (120), the method comprising acquiring three or more images represented by three or more matrices in response to illuminating a target (150) with a light source using a first spatial pattern (132a, 132b, 132c) at three or more different modulation frequencies, acquiring an additional image represented by an additional matrix in response to illuminating the target with the light source using a second spatial pattern (134), the second spatial pattern being different than the first spatial pattern, and determining one or more parameters of the direct component of light (112) and the global component of light (112a, 112b) based on analysis of the three or more matrices and the additional matrix. The direct component is due to the direct illumination of a point in the scene by the source of light and the global component is due to the indirect illumination of the scene point. A ToF module (102) includes a computing module (104) that includes a processor (106) and a spatial pattern data store (108). The spatial patterns (132a, 132b, 132c and 134) are two dimensional patterns that map to the two-dimensional grid of light source elements (110a, 110b). Light source (110) may include a large number of light source pixels. The scattering of each of the direct light component (112) and the global light component (112a) at the point (154) results in a total light signal (114) that is captured by a camera (120) of the ToF module (102). The combination of imaging lens (116), light sampling array (124), and sampler (124) receives and converts the total light signal (114) into a sampled signal (126) that is communicated to a multipath mitigation module (128). The multipath mitigation module 128 includes an image analyzer (130) that analyzes images captured by the camera (120) to determine various parameters of a direct component and a global component of the total light signal (114. 44). A denoising module (140) generates a denoising coefficient ξ(m,n) to increase the signal to noise ratio (SNR) where m and n denote a size of a kernel matrix applied to each pixel location.