Abstract: Embodiments are directed to calibrating a system. A plurality of paths may be scanned across a first object and a second object where the first object is between the second object and scanner. A first portion of trajectories that correspond to a first portion of the paths that trace across the first object may be determined. A second portion trajectories that correspond to a second portion of the paths that trace across the second object may be determined. First endpoints of the first portion of the trajectories may be determined and second endpoints of the second portion of the trajectories may be determined. Rays may be determined based on the second endpoints and the first endpoints. An origin point of the beam generator may be determined based on an intersection of the rays. Accordingly, the system may be calibrated based on the origin point of the beam generator.

Abstract: Embodiments are directed to the association of concurrent tracks across multiple views for sensing objects. A sensing system that employs signal beams to scan paths across an object may be provided such that two or more sensors separately detect signals reflected by the object. Events may be determined based on the detected signals such that the events include pairs of events that correspond to pairs of sensors. Essential matrices may be generated based on the positions of each pair of sensors. The pairs of events associated with the pairs of sensors may be compared based on the essential matrices of the sensors. Scores for the pairs of events may be provided based on the comparison. If a score for a pair of events may be less than a threshold value, each event in the pair of events may be associated with a same location on the object.

Abstract: Embodiments are directed to the association of concurrent tracks using graph crossings. Signal beams may be employed to scan paths across an object such that sensors separately detect signals from the signal beams reflected by the object. Crossing points may be determined based on a plurality of trajectories that intersect each other during the scan of the object. Graphs may be generated based on the portion of trajectories and the crossing points such that each edge in the graphs corresponds to a crossing point and such that each node in the one or more graphs corresponds to a trajectory. The graphs may be compared to determine one or more matched graphs that may share a common topology. Common trajectories may be determined based on the matched graphs such that each common trajectory may be associated with a same path across the object and a separate sensor.

Abstract: Embodiments are directed to perceiving surfaces and objects. Trajectories may be generated based on a continuous stream of sensor events such that each trajectory may be a parametric representation of a curve segment. The trajectories may be employed to determine the surfaces. The trajectories may be provided to a modeling engine to execute one or more actions based on the trajectories and the surfaces. In response to changes to the surfaces, the trajectories may be updated based on the continuous stream of sensor events and one or more additional actions may be executed based on the updated trajectories and the changed surfaces. Changes to the surfaces may include a position change, an orientation change, a motion change, a deformation of the one or more surfaces, or the like. Shapes that correspond to the surfaces may be determined based on characteristics of the surfaces or the trajectories.

Abstract: A kaleidoscopic laser beam projector (KLBP) system that employs a single moving structure to project patterns of sweeping laser beams with diverse sweep directions and emission apertures. The system comprises a collimated light source, a spinning mirror deflector (“spindle/flutter mirror”) at the center, and a stationary kaleidoscopic mirror containing multiple facet mirrors arranged in a concave fashion around the spindle mirror. As the spindle mirror rotates, it directs laser beams in a radially whirling movement toward the facet mirrors, which then subdivide these beams into multiple short strokes and redirect them outward in different directions. Various embodiments include configurations with diffractive optical elements (DOEs) for beam splitting, different kaleidoscopic mirror geometries (hexagonal, octagonal, etc.), and innovative flutter mirror mechanisms that create controlled angular variations during rotation.

Abstract: Embodiments are directed to vision systems. Enclosures that each include event scanners, beam generators, or frame cameras may be provided such that the event cameras or the frame cameras may be arranged to provide foveated resolution and such that the enclosures each may include an aperture that enables beams from the beam generators to scan a scene that may be in a field-of-view (FOV) of the aperture. Paths may be scanned across objects in the scene with the beams. Events may be determined based on detection of beam reflections corresponding to objects in the scene. The enclosures may be rotated to orient the apertures into a physical position for continued scanning of the objects within the FOV based on directions of travel for the objects such that the directions of travel for the objects is based on scanned trajectories.

Abstract: Embodiments are directed to perceiving scene features using event sensors and image sensors. Enclosures mounted may be on structures arranged to establish a boundary where each enclosure includes an event camera, a beam generator, or a frame camera. The beam generators may be employed to scan paths across objects in a scene that may be outside the boundary. Events may be determined based on detection of beam reflections corresponding to the objects. Trajectories associated with the objects may be determined based on the paths and the events. Objects that may be authorized may be determined based on trajectories associated with authorized objects. Objects in the scene that may be unauthorized may be determined based on trajectories associated with the unauthorized objects. A representation of the unauthorized objects may be determined such that a position and an orientation of the unauthorized objects in the scene may be based on the trajectories.

Abstract: Embodiments are directed to perceiving scene features using event sensors and image sensors. Paths may be scanned across objects in a scene with one or more beams. Images of the scene may be captured with frame cameras. Events may be generated based on detection of beam reflections that correspond to the objects. Trajectories may be based on the paths and the events. A distribution of intensity associated with the trajectories may be determined based on the energy associated with the traces in the images. Centroids for the trajectories may be determined based on the distribution of the intensity of energy, a resolution of the frame cameras, or timestamps associated with the events. Enhanced trajectories may be generated based on the centroids such that the enhanced trajectories may be provided to a modeling engine that executes actions based on the enhanced trajectories and the objects.

Abstract: Embodiments are directed to parameter adjustment for sensors. A calibration model and a calibration profile for a sensor may be provided. Calibration parameters associated with the sensor may be determined based on the calibration profile. The sensor may be configured to use a value of the calibration parameter based on the calibration profile. Trajectories may be generated based on a stream of events from the sensor. Metrics associated with the sensor events or the trajectories may be determined. If a metric value may be outside of a control range, further actions may be iteratively performed, including: modifying the value of the calibration parameter based on the calibration model; configuring the sensor to use the modified value of the calibration parameter; redetermining the metrics based on additional trajectories; if the metric is within a control range, the iteration may be terminated and the calibration profile may be updated.

Abstract: Embodiments are directed to calibrating multi-view triangulation systems that perceive surfaces and objects based on reflections of one or more scanned laser beams that are continuously sensed by two or more sensors. In addition to sampling and triangulating points from a spline formed by an unbroken line trajectory of a laser beam, the calibration system samples and triangulates a corresponding velocity vector. Iterative reduction is performed on velocity vectors instead of points or splines. The velocity vector includes directions and magnitudes along a trajectory of a scanning laser beam which are used to determine the actual velocities. Translation and rotation vectors are based on the velocity vectors for matching trajectories determined for two or more sensors having offset physical positions, which are used to calibrate sensor offset errors associated with the matching trajectories provided to a modeling engine.

Abstract: Embodiments are directed to perceiving scene features using event sensors and image sensors. Paths may be scanned across objects in a scene with one or more beams. Images of the scene may be captured with frame cameras. Events may be generated based on detection of beam reflections that correspond to the objects. Trajectories may be based on the paths and the events. A distribution of intensity associated with the trajectories may be determined based on the energy associated with the traces in the images. Centroids for the trajectories may be determined based on the distribution of the intensity of energy, a resolution of the frame cameras, or timestamps associated with the events. Enhanced trajectories may be generated based on the centroids such that the enhanced trajectories may be provided to a modeling engine that executes actions based on the enhanced trajectories and the objects.

Abstract: Embodiments are directed to a sensing system that employs beams to scan paths across an object such that sensors may the beams reflected by the scanned object. Events may be provided based on the detected signals and the paths such that each event may be associated with a sensor and event metrics. Crossing points for each sensor may be determined based on where the paths intersect the scanned object such that events associated with each sensor are associated with the crossing points for each sensor. Each crossing point of each sensor may be compared to each correspondent crossing point of each other sensor. actual crossing points may be determined based on the comparison and the crossing points for each sensor. Position information for each sensor may be determined based on the actual crossing points.

Abstract: Embodiments are directed to multi-sensor superresolution scanning and capture system. A sensing system may be employed to scan a plurality of paths across objects using beams such that the sensing system includes event sensors and image sensors and such that the image sensors are a higher resolution than the event sensors. The event sensors may be employed to provide events based on detection of the beams that are reflected by the objects. The image sensors may be employed to provide images based on the reflected the beams. Enhanced trajectories may be generated based on a plurality of first trajectories and a plurality of second trajectories such that the plurality of the first trajectories are based on the events and the plurality of paths and such that the plurality of second trajectories are based on the images and the plurality of paths.

Abstract: Embodiments are directed providing a stage studio for immersive 3-D video capture. A two-dimensional video of a scene may be captured with frame cameras oriented towards a center of the scene. Paths may be scanned across objects in the scene with signal beams oriented towards the center of the scene. Events may be generated based on signal beams that are reflected by the objects and detected by event cameras oriented towards the center of the scene. Trajectories may be generated based on the paths and the events. A scene that includes a representation of the objects based on the captured two-dimensional video and the trajectories may be generated such that a position and an orientation of the represented objects in the scene are based on the trajectories.

Abstract: Embodiments are directed to a sensing system that employs beams to scan paths across an object such that sensors may the beams reflected by the scanned object. Events may be provided based on the detected signals and the paths such that each event may be associated with a sensor and event metrics. Crossing points for each sensor may be determined based on where the paths intersect the scanned object such that events associated with each sensor are associated with the crossing points for each sensor. Each crossing point of each sensor may be compared to each correspondent crossing point of each other sensor. Actual crossing points may be determined based on the comparison and the crossing points for each sensor. Position information for each sensor may be determined based on the actual crossing points.