公开(公告)号：US12000692B2

公开(公告)日：2024-06-04

申请号：US17310753

申请日：2020-02-21

Applicant: PROPHESEE

Inventor： Guillaume Chican ,  Manuele Brambilla ,  Xavier Lagorce

IPC: G06T15/00 ,  G01B11/25 ,  G06F18/23 ,  G06T7/521 ,  G06V10/145 ,  G06V10/60 ,  G06V10/762 ,  G06V20/64

CPC classification number: G01B11/2513 ,  G06F18/23 ,  G06T7/521 ,  G06V10/145 ,  G06V10/60 ,  G06V10/762 ,  G06V20/64 ,  G06T2207/10016

Abstract: The present disclosure generally relates to systems and methods for three-dimensional image sensing. More specifically, and without limitation, this disclosure relates to systems and methods for detecting three-dimensional images, and using asynchronous image sensors for detecting the same. In one implementation, at least one processor determines a plurality of patterns associated with a plurality of electromagnetic pulses emitted by a projector onto a scene; receives, from an image sensor, one or more first signals based on reflections caused by the plurality of electromagnetic pulses; detects one or more first events corresponding to one or more first pixels of the image sensor based on the received signals; based on the one or more first events, initializes one or more first events more state machines; receives, from the image sensor, one or more second signals corresponding to the reflections; detects one or more second events corresponding to one or more second pixels of the image sensor based on the received signals; determines candidates for connecting the one or more state machines more second events to the one or more first events; and determines three-dimensional points for the one or more first pixels and the one or more second pixels based on the candidates and the one or more state machines.