Intel Corporation

Leonid Keselman

Anders Grunnet-Jepsen

Krishna Swaminathan

Paul Winer

John N Sweetser

Akihiro Takagi

Steven S Bateman

Chandrika Jayant

Mohamed Selim Ben Himane

Haowei Liu

Sterling G Orsten

Jonathan Thompson

Stanley K Melax

Chris Rojas

A compact, low cost vcsel projector for high performance stereodepth camera is disclosed. An example apparatus includes an array of vertical cavity surface emitting lasers (VCSELs); an array of micro-lenses coupled to the array of VCSELs, centerlines of ones of the micro-lenses offset relative to centerlines of respective ones of the VCSELs; and a projection lens coupled to the array of micro-lenses.

Compact, low cost VCSEL projector for high performance stereodepth camera

A VCSEL projector and method for using the same are disclosed. In one embodiment, the apparatus comprises a vertical cavity surface emitting laser (VCSEL) array comprising a plurality of VCSELs; a micro-lens array coupled to the VCSEL array and having a plurality of lenses, and each of the plurality of lenses is positioned over a VCSEL in the VCSEL array; and a projection lens coupled to the micro-lens array (MLA), where light emitted by the VCSEL array is projected as a sequence of patterns onto an object by the projection lens.

In accordance with disclosed embodiments, there are provided systems, methods, and apparatuses for implementing a stereodepth camera using a VCSEL projector with a controlled projection lens. For instance, a depth camera is described having therein a Vertical-Cavity Surface-Emitting Laser projector (VCSEL projector) to emit a plurality of infrared beams; a moveable lens to control the focus of the plurality of infrared beams emitted from the VCSEL projector, in which the plurality of infrared beams are projected through the moveable lens to form a projected pattern projected onto a scene; stereoscopic image capture devices to capture stereoscopic imagery from the scene having the projected pattern projected thereupon; and processing circuitry to determine depth to an object in the scene based on the captured stereoscopic imagery from the scene having the projected pattern represented therein as projected from the VCSEL projector. Other related embodiments are disclosed.

Stereodepth camera using VCSEL projector with controlled projection lens

In accordance with disclosed embodiments, there are provided systems, methods, and apparatuses for implementing a stereo depth camera using a VCSEL projector with spatially and temporally interleaved patterns. For instance, a depth camera is described having therein a Vertical-Cavity Surface-Emitting Laser projector (VCSEL projector); in which the VCSEL projector embodies a VCSEL array, the VCSEL being comprised of a plurality of VCSEL elements divided into a plurality of individually addressable subsets of the plurality of VCSEL elements; processing circuitry to activate one or more of the individually addressable subsets of the plurality of VCSEL elements to cause the VCSEL projector to emit a plurality of infrared beams through a projection lens to form a projected pattern which is projected onto a scene; stereoscopic image capture devices to capture stereoscopic imagery from the scene having the projected pattern projected thereupon; and processing circuitry to determine depth to an object in the scene based on the captured stereoscopic imagery from the scene having the projected pattern represented therein as projected from the VCSEL projector. Other related embodiments are disclosed.

Stereo depth camera using VCSEL with spatially and temporally interleaved patterns

Techniques related to depth image enhancement for hardware generated depth images are discussed. Such techniques may include determining a depth image enhancement indicator for a depth image based on the depth image and a depth image model and generating pixel depth values for missing pixel depth values of the depth image when the depth image enhancement indicator indicates enhancement. The pixel depth values may be generated based on search windows that extend from a position greater than a predetermined disparity position to a maximum disparity position.

Depth image enhancement for hardware generated depth images

In embodiments, apparatuses, methods and storage media for human-computer interaction are described. In embodiments, an apparatus may include one or more light sources and a camera. Through capture of images by the camera, the computing device may detect positions of objects of a user, within a three-dimensional (3-D) interaction region within which to track positions of the objects of the user. The apparatus may utilize multiple light sources, which may be disposed at different distances to the display and may illuminate the objects in a direction other than the image capture direction. The apparatus may selectively illuminate individual light sources to facilitate detection of the objects in the direction toward the display. The camera may also capture images in synchronization with the selective illumination. Other embodiments may be described and claimed.

Object position determination

Apparatus, computer-readable storage medium, and method associated with human computer interaction. In embodiments, a computing device may include a plurality of sensors, including a plurality of light sources and a camera, to create a three dimensional (3-D) interaction region within which to track individual finger positions of a user of the computing device. The light sources and the camera may be complementarily disposed for the camera to capture the finger or hand positions. The computing device may further include a 3-D interaction module configured to analyze the individual finger positions within the 3-D interaction region, the individual finger movements captured by the camera, to detect a gesture based on a result of the analysis, and to execute a user control action corresponding to the gesture detected. Other embodiments may be described and/or claimed.

Gesture based human computer interaction

Embodiments relate to tracking a pose of a 3D object. In embodiments, a 3D computer model, consisting of geometry and joints, matching the 3D real-world object may be used for the tracking process. Processing the 3D model may be done using collision constraints generated from interpenetrating geometry detected in the 3D model, and by angular motion constraints generated by the joints describing the connections between pieces/segments/bones of the model. The depth data in its 3D (point cloud) form, supplied by a depth camera, may be used to create additional constraints on the surface of the 3D model thus limiting its motion. Combined together, all the constraints, using linear equation processing, may be satisfied to determine a plausible pose of the 3D model that matches the real-world pose of the object in front of the 3D camera.

3D object tracking

Generally, this disclosure provides devices, systems and methods for stereoscopic depth reconstruction, for 3-D imaging, with improved probabilistic pixel correspondence searching. The method may include obtaining a first image and a second image; down-sampling the first image; down-sampling the second image; generating a reduced resolution disparity matrix for the first down-sampled image including estimated correspondence pixels from the second down-sampled image; generating a reduced resolution quality matrix including quality metric values associated with pixels in the reduced resolution disparity matrix; up-sampling the reduced resolution disparity matrix to a first full resolution disparity matrix; up-sampling the reduced resolution quality matrix to a full resolution quality matrix; and generating a second full resolution disparity matrix for the first image including estimated correspondence pixels from the second image, the estimated correspondence pixels selected from a search range in the second image.

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Santa Clara, CA, United States of America

Leonid Keselman