Abstract: An electronic device is described. The electronic device includes a camera configured to capture an image of a scene. The electronic device also includes an image segmentation mapper configured to perform segmentation of the image based on image content to generate a plurality of image segments, each of the plurality of image segments associated with spatial coordinates indicative of a location of each segment in the scene. The electronic device further includes a memory configured to store the image and the spatial coordinates. The electronic device additionally includes a LIDAR (light+radar) unit, the LIDAR unit steerable to selectively obtain depth values corresponding to at least a subset of the spatial coordinates. The electronic device further includes a depth mapper configured to generate a depth map of the scene based on the depth values and the spatial coordinates.

Abstract: Systems and methods configured to generate virtual gimbal information for range images produced from 3D depth scans are described. In operation according to embodiments, known and advantageous spatial geometries of features of a scanned volume are exploited to generate virtual gimbal information for a pose. The virtual gimbal information of embodiments may be used to align a range image of the pose with one or more other range images for the scanned volume, such as for combining the range images for use in indoor mapping, gesture recognition, object scanning, etc. Implementations of range image registration using virtual gimbal information provide a realtime one shot direct pose estimator by detecting and estimating the normal vectors for surfaces of features between successive scans which effectively imparts a coordinate system for each scan with an orthogonal set of gimbal axes and defines the relative camera attitude.

Abstract: Systems and methods for controlling structured light laser systems are disclosed. One aspect is a structured light system. The system includes a memory device configured to store a depth map. The system further includes an image projecting device including a laser system configured to project codewords. The system further includes a receiver device including a sensor, the receiver device configured to sense the projected codewords reflected from an object. The system further includes a processing circuit configured to retrieve a portion of the depth map and calculate expected codewords from the depth map. The system further includes a feedback system configured to control the output power of the laser system based on the sensed codewords and the expected codewords.

Abstract: Methods, systems, and apparatuses are provided to compensate for a misalignment of optical devices within an imaging system. For example, the methods receive image data captured by a first optical device having a first optical axis and a second optical device having a second optical axis. The methods also receive sensor data indicative of a deflection of a substrate that supports the first and second optical devices. The deflection can result from a misalignment of the first optical axis relative to the second optical axis. The methods generate a depth value based on the captured image data and the sensor data. The depth value can reflect a compensation for the misalignment of the first optical axis relative to the second optical axis.

Abstract: Methods and systems for surface normal estimation are disclosed. In some aspects, a plurality of images or depth maps representing a three dimensional object from multiple viewpoints is received. Surface normals at surface points within a single image of the plurality of images are estimated based on surface points within the single image. An electronic representation of a three dimensional surface of the object is generated based on the surface normals and a point cloud comprised of surface points derived from the plurality of images.

Abstract: A device includes a first camera and a processor configured to detect one or more first keypoints within a first image captured by the first camera at a first time, detect one or more second keypoints within a second image captured by a second camera at the first time, and detect the one or more first keypoints within a third image captured by the first camera at a second time. The processor is configured to determine a pose estimation based on coordinates of the one or more first keypoints of the first image relative to a common coordinate system, coordinates of the one or more second keypoints of the second image relative to the common coordinate system, and coordinates of the one or more first keypoints of the third image relative to the common coordinate system. The first coordinate system is different than the common coordinate system.

Abstract: An electronic device for selecting a transform is described. The electronic device includes at least one image sensor, a memory, and a processor coupled to the memory and to the at least one image sensor. The processor is configured to obtain at least two images from the at least one image sensor. The processor is also configured to characterize structural content of each of the at least two images to produce a characterization for each image that is relevant to transform performance. The processor is further configured to select at least one transform from a set of transforms based on the characterization. The processor is additionally configured to apply the at least one transform to at least one of the images to substantially align the at least two images.

Abstract: Systems, methods, and devices for generating a depth map of a scene are provided. The method comprises projecting, onto the scene, a codeword pattern including a plurality of light points including a first set of light points projected at a first intensity and a second set of light points projected at a second intensity greater than the first intensity. The method further comprises detecting, from the scene, a reflection of the codeword pattern. The method further comprises generating a first depth map layer at a first resolution. The method further comprises generating a second depth map layer at a second resolution lower than the first resolution. The method further comprises generating the depth map of the scene, wherein the depth map includes depth information for the scene according to each of the first depth map layer and the second depth map layer.

Abstract: Systems and methods for correcting errors in a depth map generated by a structured light system are disclosed. In one aspect, a method includes dividing a depth map into segments and calculating a density distribution of the depth values for each segment. The method includes detecting error (or “outlier”) values by determining the depth values that fall outside of a range of depth values, the range of depth values representative of the highest density depth values for a given segment. The method includes detecting error values in the depth map as a whole based on the density distribution values for each segment.

Abstract: In general, techniques are described that facilitate processing of a depth map image in mobile devices. A mobile device comprising a depth camera, a camera and a processor may be configured to perform various aspects of the techniques. The depth camera may be configured to capture a depth map image of a scene. The camera may include a linear polarization unit configured to linearly polarize light entering into the camera. The camera may be configured to rotate the linearly polarization unit during capture of the scene to generate a sequence of linearly polarized images of the scene having different polarization orientations. The processor may be configured to perform image registration with respect to the sequence of linearly polarized images to generate a sequence of aligned linearly polarized images, and generate an enhanced depth map image based on the depth map image and the sequence of aligned linearly polarized images.

Abstract: An interactive display, including a cover glass having a front surface that includes a viewing area provides an input/output (I/O) interface for a user of an electronic device. An arrangement includes a processor, a light source, and a camera disposed outside the periphery of the viewing area coplanar with or behind the cover glass. The camera receives scattered light resulting from interaction, with an object, of light outputted from the interactive display, the outputted light being received by the cover glass from the object and directed toward the camera. The processor determines, from image data output by the camera, an azimuthal angle of the object with respect to an optical axis of the camera and/or a distance of the object from the camera.

Abstract: Systems and methods for controlling structured light laser systems are disclosed. One aspect is a structured light system. The system includes a memory device configured to store a depth map. The system further includes an image projecting device including a laser system configured to project codewords. The system further includes a receiver device including a sensor, the receiver device configured to sense the projected codewords reflected from an object. The system further includes a processing circuit configured to retrieve a portion of the depth map and calculate expected codewords from the depth map. The system further includes a feedback system configured to control the output power of the laser system based on the sensed codewords and the expected codewords.

Abstract: System and methods for performing motion sensitive high dynamic range (HDR) image processing. A saturation analysis circuit is configured to receive a set of image data corresponding to portions of a set of image frames having different exposures time from a lowest exposure time to a highest exposure time, and select image data from a frame that does not exceed the saturation threshold value. A motion detection circuit may be configured to determine whether the image data is associated with movement, by comparing image data from pairs of frames of adjacent exposure times, and changing the selection to a lower exposure time frame if movement is detected. By selecting which exposure time is used based upon movement in the image frame, ghosting and blurring in HDR images containing movement can be reduced.

Abstract: Methods and systems for surface normal estimation are disclosed. In some aspects, a plurality of images or depth maps representing a three dimensional object from multiple viewpoints is received. Surface normals at surface points within a single image of the plurality of images are estimated based on surface points within the single image. An electronic representation of a three dimensional surface of the object is generated based on the surface normals and a point cloud comprised of surface points derived from the plurality of images.

Abstract: Systems and methods for reconstructing an object boundary in a disparity map generated by a structured light system are disclosed. One aspect is a structured light system. The system includes an image projecting device configured to project codewords. The system further includes a receiver device including a sensor, the receiver device configured to sense the projected codewords reflected from an object. The system further includes a processing circuit configured to generate a disparity map of the object, detect a first boundary of the object in the disparity map, identify a shadow region in the disparity map adjoining the first boundary, the shadow region including pixels with codeword outages, and change a shape of the object in the disparity map based on the detected shadow region. The system further includes a memory device configured to store the disparity map.

Abstract: Systems and methods for controlling structured light laser systems are disclosed. One aspect is a structured light system. The system includes a memory device configured to store a depth map. The system further includes an image projecting device including a laser system configured to project codewords. The system further includes a receiver device including a sensor, the receiver device configured to sense the projected codewords reflected from an object. The system further includes a processing circuit configured to retrieve a portion of the depth map and calculate expected codewords from the depth map. The system further includes a feedback system configured to control the output power of the laser system based on the sensed codewords and the expected codewords.

Abstract: Systems and methods for correcting errors in a depth map generated by a structured light system are disclosed. In one aspect, a method includes dividing a depth map into segments and calculating a density distribution of the depth values for each segment. The method includes detecting error (or “outlier”) values by determining the depth values that fall outside of a range of depth values, the range of depth values representative of the highest density depth values for a given segment. The method includes detecting error values in the depth map as a whole based on the density distribution values for each segment.

Abstract: An electronic device for generating a corrected depth map is described. The electronic device includes a processor. The processor is configured to obtain a first depth map. The first depth map includes first depth information of a first portion of a scene sampled by the depth sensor at a first sampling. The processor is also configured to obtain a second depth map. The second depth map includes second depth information of a second portion of the scene sampled by the depth sensor at a second sampling. The processor is additionally configured to obtain displacement information indicative of a displacement of the depth sensor between the first sampling and the second sampling. The processor is also configured to generate a corrected depth map by correcting erroneous depth information based on the first depth information, the second depth information, and the displacement information.

Abstract: A gas inlet member of a CVD reactor includes a gas inlet housing having a gas distribution volume supplied with a process gas by a feed line and a multiplicity of gas lines, each formed as a tube and engaging openings of a gas outlet plate arranged in front of an inlet housing wall, and through which the process gas enters a process chamber. A coolant chamber adjoins the gas inlet housing wall and a coolant cools the gas inlet housing wall and outlet ends of the gas lines that are in heat-conductive contact with the gas inlet housing wall. The gas outlet plate is thereby thermally decoupled from the gas inlet housing wall such that the gas outlet plate, which is acted on by radiation heat coming from the process chamber, heats up more intensely than the outlet ends which extend into the openings of the gas outlet plate.

Abstract: Systems and methods for controlling structured light laser systems are disclosed. One aspect is a structured light system. The system includes a memory device configured to store a depth map. The system further includes an image projecting device including a laser system configured to project codewords. The system further includes a receiver device including a sensor, the receiver device configured to sense the projected codewords reflected from an object. The system further includes a processing circuit configured to retrieve a portion of the depth map and calculate expected codewords from the depth map. The system further includes a feedback system configured to control the output power of the laser system based on the sensed codewords and the expected codewords.