Himax Technologies, Inc.

Liqxtal Technology Inc.

Wu-Feng Chen

Hsueh-Tsung Lu

Ching-Wen Wang

Cheng-Che Tsai

Cheng Che Tsai

Chengche Tsai

Biing-Seng Wu

Hung-Shan Chen

Ming-Syuan Chen

Pen-Hsin Chen

Pen-hsin Chen

Tsai-Hsing Chen

Yi-Hsiu Lin

Yi Hung

A depth sensing system and a depth sensing method are provided. The sensing system includes depth sensing module and a processor for performing the sensing method. The depth sensing method incudes: obtaining a sensed target data set via a depth sensing module; calculating a period number corresponding to a measuring pixel; and calculating an actual range value or an actual depth of the measuring pixel in accordance with a period number and a range value of the measuring pixel. The step of calculating the period number of the target data set includes: calculating a spatial ratio in accordance with the position values of the pixel of optical center and measuring pixel, and a focal length of the depth sensing module; calculating a basic range in accordance with the spatial ratio and an unit depth; and calculating the period number corresponding to the measuring pixel.

Depth sensing system and depth sensing method

The device includes a projecting device, an image sensor and a computing circuit. The projecting device provides a light beam having a predetermined pattern that is projected onto an object. The image sensor receives the light beam reflected from the object to generate an image. The computing circuit compares the image with a first ground-truth image and a ground-truth image to generate a first depth value and a second depth value respectively. The first and second depth values are combined to generate a depth result.

Device and method for sensing depth

A structured-light three-dimensional (3D) scanning system includes a projector that emits a projected light with a predetermined pattern onto an object; an image capture device that generates a captured image according to a reflected light reflected from the object, the predetermined pattern of the projected light being distorted due to 3D shape of the object, thereby resulting in a distorted pattern; a depth decoder that converts the distorted pattern into a depth map representing the 3D shape of the object; and a depth fusion device that generates a fused depth map according to at least two different depth maps associated with the object.

Structured-light 3D scanning system and method

An object detection system includes a projector that projects an original transmitted light on a scene containing an object; an adjustable device configured to shape the original transmitted light, thereby generating a shaped transmitted light; and an image capture device configured to capture an image from a reflected light from the scene. The original transmitted light is alternated with the shaped transmitted light, thereby resulting in an integrated image captured by the image capture device.

Object detection system capable of compensating varying light intensity

A three-dimensional (3D) sensing device is configured to sense an object. The 3D sensing device includes a flood light source, a structured light source, an image sensor, and a controller. The controller is configured to perform: commanding the flood light source and the structured light source to emit a flood light and a structured light in sequence; commanding the image sensor to sense a first reflective light and a second reflective light in sequence, so as to obtain a first image frame and a second image frame; combining the first image frame and the second image frame into a determination frame; and determining that the object is a specular reflection object in response to determining that the determination frame has at least two spots having gray levels satisfying a predetermined condition. A specular reflection object detection method is also provided.

Three-dimensional sensing device and specular reflection object detection method

A method for performing light shaping with aid of an adaptive projector and associated apparatus are provided. The method includes: utilizing an image processing circuit to obtain distance information; utilizing the image processing circuit to determine a distance range according to the distance information; utilizing the image processing circuit to perform projection light-shaping type selection to determine at least one selected projection light-shaping type corresponding to the distance range among multiple predetermined projection light-shaping types; utilizing the adaptive projector to perform projection of the at least one selected projection light-shaping type to perform spatial exposure bracketing, for capturing at least one corresponding image with a camera, to allow the image processing circuit to perform at least one detection operation according to the at least one corresponding image to generate at least one detection result, for performing subsequent processing of the hybrid depth detection device.

Method for performing light shaping with aid of adaptive projector, and associated apparatus

A system for calibrating a three-dimensional scanning device includes a structured-light scanner capable of performing a structured-light operation, and a processor that performs calibration on a device under calibration (DUC). The structured-light scanner captures a base image by performing the structured-light operation prior to calibration. The structured-light scanner captures a calibration image with respect to corresponding DUC during calibration, and the calibration image is inputted to the processor, which determines transformation mapping from the calibration image to the base image. The determined transformation is then transferred to the DUC during calibration.

System and method for calibrating a three-dimensional scanning device

A depth processor including a region of interest determination circuit and a depth decoder is provided. The region of interest determination circuit is configured to determine a size of a region of interest of an input image. The depth decoder is coupled to the region of interest determination circuit and configured to generate a depth map of the input image according to a filter size. The filter size is set according to the size of the region of interest of the input image.

Depth processor

An example method to control a light source in structured light imaging associated with a target includes obtaining two-dimensional image information and depth information of an image including the target and a scene, associating the depth information with pixels of the image, selecting a first set of pixels of the pixels based on a first set of the depth information and a second set of pixels of the pixels based on a second set of the depth information, calculating a first average pixel luminance (APL) of the first set of pixels and a total APL of the first and the second sets of pixels, obtaining a weighted APL based on the first APL and the total APL and controlling the light source based on the weighted APL.

Method and apparatus to control light source in structured light imaging

A three-dimensional (3D) sensing system for determining a 3D profile of an object and a method are provided. The 3D sensing system includes a first light source, a liquid crystal lens, a light detector and a control circuit. The first light source is configured to emit polarized light with a polarization setting for projecting a structured light pattern on the object. The liquid crystal lens in a polarization state allows incident light with the polarization setting to pass through and block incident light without the polarization setting from passing through. The light detector is configured to detect light reflected from the object and passing through the liquid crystal lens. When the 3D sensing system is in a 3D mode, the control circuit is configured to turn on the first light source and control the liquid crystal lens to enter the polarization state.

Three-dimensional (3D) sensing system for determining 3D profile of object and method thereof

An example method to render an image includes obtaining two-dimensional image information of the image including a target and a scene and depth information associated with a first set of pixels and a second set of pixels of the image. The first set of pixels correspond to the target and the second set of pixels correspond to the scene. In response to depth information associated with a pixel of the image being in the predetermined range, the example method includes associating a first depth index with the pixel. Otherwise, the example method associates a second depth index with the pixel. The example method further includes calculating a weighted average picture level of the image based on grayscale values of pixels of the image, the first depth index and/or the second depth index and rendering the image based on the weighted average picture level.

Image rendering method and apparatus

A method for performing region-of-interest (ROI)-based depth detection with aid of a pattern-adjustable projector and associated apparatus are provided. The method includes: utilizing a first camera to capture a first image, wherein the first image includes image contents indicating one or more objects; utilizing an image processing circuit to determine a ROI of the first image according to the image contents of the first image; utilizing the image processing circuit to perform projection region selection to determine a selected projection region corresponding to the ROI among multiple predetermined projection regions, wherein the selected projection region is selected from the multiple predetermined projection regions according to the ROI; utilizing the pattern-adjustable projector to project a predetermined pattern according to the selected projection region, for performing depth detection; utilizing a second camera to capture a second image; and performing the depth detection according to the second image to generate a depth map.

Method for performing region-of-interest-based depth detection with aid of pattern-adjustable projector, and associated apparatus

A method for performing hybrid depth detection with aid of an adaptive projector and associated apparatus are provided. The method includes: utilizing an image processing circuit to obtain distance information; utilizing the image processing circuit to determine a distance range according to the distance information; utilizing the image processing circuit to perform projection type selection to determine at least one selected projection type corresponding to the distance range among multiple predetermined projection types; utilizing the adaptive projector to perform projection of the at least one selected projection type to capture at least one corresponding image with a camera, and utilizing the image processing circuit to perform depth detection according to corresponding image to generate depth map; and utilizing the image processing circuit to selectively output the depth map as resultant depth map or perform depth data combination to generate combined depth map as resultant depth map.

Method for performing hybrid depth detection with aid of adaptive projector, and associated apparatus

A three-dimensional (3D) sensing system for determining a 3D profile of an object and a method are provided. The 3D sensing system includes a liquid crystal lens, a structure light source and a control circuit. The structure light source is configured to emit a structure light pattern with a plurality of dots on the object through the liquid crystal lens. The control circuit is configured to control the liquid crystal lens to separate the plurality of dots under a separating mode, and the control circuit is configured to control the liquid crystal lens to overlap the plurality of dots under an overlapping mode.

Three-dimensional sensing system for determining three-dimensional profile of object and method thereof

A depth processor including a region of interest determination circuit and a depth decoder is provided. The region of interest determination circuit is configured to determine a region of interest of an input image. The depth decoder is coupled to the region of interest determination circuit and configured to generate a depth map of the region of interest of the input image.

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Tainan, Taiwan

Wu-Feng Chen