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1. 发明申请

WO2010068499A1 SYSTEMS AND METHODS OF HIGH RESOLUTION THREE-DIMENSIONAL IMAGING 审中-公开
标题翻译：高分辨率三维成像的系统和方法
公开(公告)号：WO2010068499A1
公开(公告)日：2010-06-17
申请号：PCT/US2009/065940
申请日：2009-11-25
申请人： TETRAVUE, INC. , BANKS, Paul, S.
发明人： BANKS, Paul, S.
IPC分类号： H04N5/89
CPC分类号： H04N13/254 , G01S7/4816 , G01S7/484 , G01S7/486 , G01S7/4865 , G01S17/10 , G01S17/89 , H04N13/204 , H04N13/207 , H04N13/296
摘要： Embodiments of the invention provide systems and methods for three-dimensional imaging with wide field of view and precision timing. In accordance with one aspect, a three-dimensional imaging system includes an illumination subsystem configured to emit a light pulse with a divergence sufficient to irradiate a scene having a wide field of view. A sensor subsystem is configured to receive over a wide field of view portions of the light pulse reflected or scattered by the scene and including: a modulator configured to modulate as a function of time an intensity of the received light pulse portion to form modulated received light pulse portions; and means for generating a first image corresponding to the received light pulse portions and a second image corresponding to the modulated received light pulse portions. A processor subsystem is configured to obtain a three-dimensional image based on the first and second images.
摘要翻译：本发明的实施例提供了用于具有宽视野和精确定时的三维成像的系统和方法。根据一个方面，三维成像系统包括被配置为发射具有足以照射具有宽视场的场景的发散度的光脉冲的照明子系统。传感器子系统被配置为接收由场景反射或散射的光脉冲的宽视场部分，并且包括：调制器，被配置为根据时间的函数调制接收的光脉冲部分的强度以形成调制的接收光脉冲部分以及用于产生对应于所接收的光脉冲部分的第一图像的装置和与调制的接收光脉冲部分对应的第二图像。处理器子系统被配置为基于第一和第二图像获得三维图像。

2. 发明申请

WO2020056059A1 ELECTRO-OPTIC MODULATOR AND METHODS OF USING AND MANUFACTURING SAME FOR THREE-DIMENSIONAL IMAGING 审中-公开
公开(公告)号：WO2020056059A1
公开(公告)日：2020-03-19
申请号：PCT/US2019/050696
申请日：2019-09-11
申请人： TETRAVUE, INC.
发明人： EBBERS, Christopher, Allen , BANKS, Paul, S. , TUVEY, Charles, S.
IPC分类号： G02B30/00
摘要： Apparatuses, systems and methods for modulating returned light for acquisition of 3D data from a scene are described. A 3D imaging system includes a Fabry-Perot cavity having a first partially-reflective surface for receiving incident light and a second partially-reflective surface from which light exits. An electro-optic material is located within the Fabry-Perot cavity between the first and second partially-reflective surfaces. Transparent longitudinal electrodes or transverse electrodes produce an electric field within the electro-optic material. A voltage driver is configured to modulate, as a function of time, the electric field within the electro-optic material so that the incident light passing through the electro-optic material is modulated according to a modulation waveform. A light sensor receives modulated light that exits the second partially-reflective surface of the Fabry-Perot cavity and converts the light into electronic signals. Three-dimensional (3D) information regarding a scene-of-interest may be obtained from the electronic signals.

3. 发明申请

WO2019102444A1 SYSTEM AND METHOD OF REDUCING AMBIENT BACKGROUND LIGHT IN A PULSE-ILLUMINATED IMAGE 审中-公开
公开(公告)号：WO2019102444A1
公开(公告)日：2019-05-31
申请号：PCT/IB2018/059801
申请日：2018-12-09
申请人： TETRAVUE, INC.
发明人： SCHMIDT, Bodo , BANKS, Paul , VENNERI, Lorenzo
IPC分类号： G06T7/00
摘要： A system and method for reducing background light in an image are disclosed. The system includes a sensor and a processor. An illuminator may illuminate a scene with emitted light. The sensor outputs one or more images in response to received light. The processor processes images from the sensor to reduce or eliminate ambient light in a captured image. The processor may do this by causing the sensor to capture a first image of the scene, where the first image includes background light and portions of the emitted light reflected or scattered from the scene. The processor also causes the sensor to capture a second image of the scene, where the second image includes background light with no contribution from the emitted light. The processor subtracts the second image from the first image to produce a third image of the scene predominately illuminated by the emitted light.

4. 发明申请

WO2019133631A3 SYSTEM AND METHOD OF IMAGING USING MULTIPLE ILLUMINATION PULSES 审中-公开
公开(公告)号：WO2019133631A3
公开(公告)日：2019-07-04
申请号：PCT/US2018/067534
申请日：2018-12-26
申请人： TETRAVUE, INC.
发明人： SCHMIDT, Bodo , VENNERI, Lorenzo, N.
IPC分类号： G01S17/02 , G01S7/486
摘要： Imaging systems and methods are disclosed that use multiple illumination pulses to irradiate a scene of interest. An example system includes optics to receive a sequence of returned light pulse portions scattered or reflected from the scene. A modulator is configured to modulate the intensity of the returned light pulse portions to form a sequence of modulated light pulse portions. A means of selectively exposing a sensor during a sequence of exposure periods is also included, so that each modulated light pulse portion is received by the sensor during one of the exposure periods, respectively. The sensor is configured to generate a sequence of sensor signals as a result of receiving the modulated light pulse portions and to accumulate the sensor signals to form a sensor output signal. A processor may read the sensor output signal and process the image based on that signal.

5. 发明申请

WO2019133631A2 SYSTEM AND METHOD OF IMAGING USING MULTIPLE ILLUMINATION PULSES 审中-公开
公开(公告)号：WO2019133631A2
公开(公告)日：2019-07-04
申请号：PCT/US2018/067534
申请日：2018-12-26
申请人： TETRAVUE, INC.
发明人： SCHMIDT, Bodo , VENNERI, Lorenzo, N.
IPC分类号： G01S7/486
摘要： Imaging systems and methods are disclosed that use multiple illumination pulses to irradiate a scene of interest. An example system includes optics to receive a sequence of returned light pulse portions scattered or reflected from the scene. A modulator is configured to modulate the intensity of the returned light pulse portions to form a sequence of modulated light pulse portions. A means of selectively exposing a sensor during a sequence of exposure periods is also included, so that each modulated light pulse portion is received by the sensor during one of the exposure periods, respectively. The sensor is configured to generate a sequence of sensor signals as a result of receiving the modulated light pulse portions and to accumulate the sensor signals to form a sensor output signal. A processor may read the sensor output signal and process the image based on that signal.

6. 发明申请

WO2017151660A1 3D IMAGING SYSTEM AND METHOD 审中-公开
标题翻译： 3D成像系统和方法
公开(公告)号：WO2017151660A1
公开(公告)日：2017-09-08
申请号：PCT/US2017/020011
申请日：2017-02-28
申请人： TETRAVUE, INC.
发明人： BANKS, Paul, S. , SCHMIDT, Bodo , TUVEY, C., Stewart , VENNERI, Lorenzo, N.
IPC分类号： G01S7/481 , G01S17/10
摘要： A 3D imaging system includes an optical modulator for modulating a returned portion of a light pulse as a function of time. The returned light pulse portion is reflected or scattered from a scene for which a 3D image or video is desired. The 3D imaging system also includes an element array receiving the modulated light pulse portion and a sensor array of pixels, corresponding to the element array. The pixel array is positioned to receive light output from the element array. The element array may include an array of polarizing elements, each corresponding to one or more pixels. The polarization states of the polarizing elements can be configured so that time-of-flight information of the returned light pulse can be measured from signals produced by the pixel array, in response to the returned modulated portion of the light pulse.
摘要翻译： 3D成像系统包括用于调制作为时间的函数的光脉冲的返回部分的光调制器。返回的光脉冲部分从需要3D图像或视频的场景反射或散射。 3D成像系统还包括接收调制光脉冲部分的元件阵列和对应于元件阵列的像素传感器阵列。像素阵列被定位以接收从元件阵列输出的光。元件阵列可以包括偏振元件阵列，每个对应于一个或多个像素。偏振元件的偏振状态可以被配置为使得响应于光脉冲的返回调制部分，可以从由像素阵列产生的信号测量返回光脉冲的飞行时间信息。

7. 发明申请

WO2019133623A1 WIDE FIELD OF VIEW ELECTRO-OPTIC MODULATOR AND METHODS AND SYSTEMS OF MANUFACTURING AND USING SAME 审中-公开
公开(公告)号：WO2019133623A1
公开(公告)日：2019-07-04
申请号：PCT/US2018/067523
申请日：2018-12-26
申请人： TETRAVUE, INC.
发明人： SCHMIDT, Bodo , BANKS, Paul S. , TUVEY, Charles S. , EBBERS, Christopher Allen
IPC分类号： G02F1/03
摘要： An electro-optic modulator (EOM) includes a first electro-optic (EO) material configured to receive light. The first EO material has an optic axis that is not parallel to the optical axis of the EOM. The optic axis indicates the direction through the first EO material along which a ray of light passing through the first EO material experiences no birefringence. The EOM also includes a polarization rotator that receives light output from the first EO material. The rotated light passes through a second EO material. The second EO material is positioned in the EOM such that its optic axis is not parallel to the optical axis of the EOM. The second EO material compensates for the birefringence and/or higher-order optical effects of the first material, thus reducing optical transmission errors of the EOM. The EOM may provide a wider field of view for imaging systems.

8. 发明申请

WO2019079295A3 SYSTEM AND METHOD FOR GLINT REDUCTION 审中-公开
公开(公告)号：WO2019079295A3
公开(公告)日：2019-04-25
申请号：PCT/US2018/056078
申请日：2018-10-16
申请人： TETRAVUE, INC.
发明人： SCHMIDT, Bodo , BANKS, Paul, S. , TUVEY, Charles, S.
IPC分类号： H04N13/254 , G02B30/25
摘要： Systems and methods for reducing the deleterious effects of specular reflections (e.g., glint) on active illumination systems are disclosed. An example system includes an illuminator or light source configured to illuminate a scene with electromagnetic radiation having a defined polarization orientation. The system also includes a receiver for receiving portions of the electromagnetic radiation reflected or scatter from the scene. Included in the receiver is a polarizer having a polarization axis crossed with the polarization orientation of the emitted electromagnetic radiation. By crossing the polarizer with the polarization of the emitted electromagnetic radiation, the polarizer may filter out glint or specular reflections in the electromagnetic radiation returned from the scene.

9. 发明申请

WO2019079295A2 SYSTEM AND METHOD FOR GLINT REDUCTION 审中-公开
公开(公告)号：WO2019079295A2
公开(公告)日：2019-04-25
申请号：PCT/US2018/056078
申请日：2018-10-16
申请人： TETRAVUE, INC.
发明人： SCHMIDT, Bodo , BANKS, Paul, S. , TUVEY, Charles, S.
IPC分类号： G02B30/25
摘要： Systems and methods for reducing the deleterious effects of specular reflections (e.g., glint) on active illumination systems are disclosed. An example system includes an illuminator or light source configured to illuminate a scene with electromagnetic radiation having a defined polarization orientation. The system also includes a receiver for receiving portions of the electromagnetic radiation reflected or scatter from the scene. Included in the receiver is a polarizer having a polarization axis crossed with the polarization orientation of the emitted electromagnetic radiation. By crossing the polarizer with the polarization of the emitted electromagnetic radiation, the polarizer may filter out glint or specular reflections in the electromagnetic radiation returned from the scene.

10. 发明申请

WO2015164868A1 METHOD AND SYSTEM FOR ROBUST AND EXTENDED ILLUMINATION WAVEFORMS FOR DEPTH SENSING IN 3D IMAGING 审中-公开
标题翻译：用于3D成像深度感测的稳健和扩展的照明波形的方法和系统
公开(公告)号：WO2015164868A1
公开(公告)日：2015-10-29
申请号：PCT/US2015/027797
申请日：2015-04-27
申请人： TETRAVUE, INC.
发明人： BANKS, Paul, S. , SCHMIDT, Bodo , TURVEY, C., Stewart
IPC分类号： H04N13/02
CPC分类号： H04N13/254 , G01S7/4816 , G01S7/4865 , G01S7/499 , G01S17/10 , G01S17/89 , H04N13/271
摘要： The methods and systems disclosed herein improve upon previous 3D imaging techniques by making use of a longer illumination pulse to obtain the same or nearly the same range resolution as can be achieved by using a much shorter, conventional laser pulse. For example, a longer illumination pulse can be produced by one or more Q-switched lasers that produce, for example, 5, 10, 20 ns or longer pulses. In some instances, the laser pulse can be longer than the modulation waveform of a MIS-type imaging system and still produce a repeatable response function. The light pulse generation technologies required to achieve longer pulse lengths can be significantly less expensive and less complex than known technologies presently used to generate shorter illumination pulse lengths. Lower-cost, lower-complexity light pulse sources may facilitate lower-cost, commercial 3D camera products.
摘要翻译：本文公开的方法和系统通过利用更长的照明脉冲来获得与通过使用更短的常规激光脉冲可以实现的相同或几乎相同的范围分辨率来改进先前的3D成像技术。例如，可以通过产生例如5,10,20ns或更长脉冲的一个或多个Q开关激光器来产生较长的照明脉冲。在一些情况下，激光脉冲可以比MIS型成像系统的调制波形长，并且仍然产生可重复的响应函数。实现更长脉冲长度所需的光脉冲产生技术可以显着地降低成本，并且比目前用于产生较短照明脉冲长度的已知技术更不复杂。低成本，低复杂度的光脉冲源可以促进低成本的商业3D照相机产品。

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