Depth Imaging Camera with Polarization-Coded Aperture

Abstract

A depth imaging system in a vehicle includes a lens including a polarization-encoded aperture. The polarization-encoded aperture includes a vertical polarization portion to allow incident light entering the vertical polarization portion of the polarization-encoded aperture to pass as vertical polarization light. The polarization-encoded aperture also includes a parallel polarization portion to allow incident light entering the parallel polarization portion of the polarization-encoded aperture to pass as parallel polarization light. The image sensor provides a vertical polarization image based on the vertical polarization light and a parallel polarization image based on the parallel polarization light. The controller processes the vertical polarization image and the parallel polarization image to identify one or more objects in a field of view of the depth imaging system and determine a distance of each of the one or more objects.

Description

Technical Field

[0001] The present disclosure relates to a depth imaging camera with a polarization coded aperture. Background Art

[0002] Vehicles (e.g., cars, trucks, construction equipment, agricultural equipment, automated factory equipment) increasingly use sensors to obtain information about the vehicle and its surroundings. This information can be used to control one or more aspects of the vehicle's operation. Exemplary sensors that obtain information about the vehicle's external environment include cameras, light detection and ranging (lidar) systems, and radio detection and ranging (radio radar) systems. Lidar and depth imagers provide the depth of an object (i.e., the distance from the vehicle to the object), but they also have disadvantages. Therefore, it is desirable to provide a depth imaging camera with a polarization-encoded aperture. Summary of the invention

[0003] In one exemplary embodiment, a depth imaging system in a vehicle includes a lens including a polarization-encoded aperture. The polarization-encoded aperture includes a vertical polarization portion and a parallel polarization portion, the vertical polarization portion allowing incident light entering the vertical polarization portion of the polarization-encoded aperture to pass as vertical polarization light, and the parallel polarization portion is configured to allow incident light entering the parallel polarization portion of the polarization-encoded aperture to pass as parallel polarization light. An image sensor provides a vertical polarization image based on the vertical polarization light and a parallel polarization image based on the parallel polarization light. A controller processes the vertical polarization image and the parallel polarization image to identify one or more objects in a field of view of the depth imaging system and determine a distance of each of the one or more objects.

[0004] In addition to one or more features described herein, the polarization-coded aperture also includes a shielding portion configured to block incident light encountering the shielding portion of the polarization-coded aperture.

[0005] In addition to one or more features described herein, the depth imaging system also includes a filter array corresponding to the image sensor, wherein the filter array is a pixelated array of filter pixels, the image sensor is a pixelated array of sensor pixels, and each filter pixel corresponds to one of the sensor pixels.

[0006] In addition to one or more features described herein, a filter array is overlaid on the image sensor and positioned between the polarization coded aperture and the image sensor.

[0007] In addition to one or more features described herein, the filter pixels are formed into a repeating pattern that includes vertical polarization filters that pass only vertically polarized light to corresponding sensor pixels and also includes parallel polarization filters that pass only parallel polarized light to corresponding sensor pixels.

[0008] In addition to one or more features described herein, the polarization-coded aperture further includes a transparent portion to allow incident light entering the transparent portion of the polarization-coded aperture as red light and blue light to pass therethrough.

[0009] In addition to one or more features described herein, the perpendicularly polarized light is green light and the parallel polarized light is green light.

[0010] In addition to one or more features described herein, the filter pixels are formed into a repeating pattern that includes a vertical polarization filter that passes only vertically polarized light as green light to the corresponding sensor pixel, a parallel polarization filter that passes only parallel polarized light as green light to the corresponding sensor pixel, a red filter that passes only red light to the corresponding sensor pixel, and a blue filter that passes only blue light to the corresponding sensor pixel.

[0011] In addition to one or more features described herein, the image sensor provides an unpolarized color image based on red and blue light.

[0012] In addition to one or more features described herein, the controller controls operation of the vehicle based on a distance to each of the one or more objects.

[0013] In another exemplary embodiment, a method for assembling a depth imaging system in a vehicle includes obtaining a lens including a polarization-encoded aperture having a vertical polarization portion to allow incident light entering the vertical polarization portion of the polarization-encoded aperture to pass as vertical polarization light, and a parallel polarization portion to allow incident light entering the parallel polarization portion of the polarization-encoded aperture to pass as parallel polarization light. The method also includes positioning the polarization-encoded aperture to receive incident light from a field of view, and arranging an image sensor to provide a vertical polarization image based on the vertical polarization light and a parallel polarization image based on the parallel polarization light. A controller is configured to process the vertical polarization image and the parallel polarization image to identify one or more objects in the field of view of the depth imaging system and determine a range of each of the one or more objects.

[0014] In addition to one or more features described herein, the obtaining includes a polarization-coded aperture including an obscured portion configured to block incident light encountering the obscured portion of the polarization-coded aperture.

[0015] In addition to one or more features described herein, the method also includes obtaining a filter array corresponding to the image sensor, wherein the filter array is a pixelated array of filter pixels, the image sensor is a pixelated array of sensor pixels, and each filter pixel corresponds to one of the sensor pixels.

[0016] In addition to one or more features described herein, the method may include overlaying a filter array over the image sensor and between the polarization coded aperture and the image sensor.

[0017] In addition to one or more features described herein, obtaining a filter array includes forming filter pixels into a repeating pattern that includes vertical polarization filters that pass only vertically polarized light to corresponding sensor pixels and also includes parallel polarization filters that pass only parallel polarized light to corresponding sensor pixels.

[0018] In addition to one or more features described herein, obtaining a polarization-coded aperture also includes a polarization-coded aperture including a transparent portion configured to pass incident light entering the transparent portion of the polarization-coded aperture as red light and blue light.

[0019] In addition to one or more features described herein, the perpendicularly polarized light is green light and the parallel polarized light is green light.

[0020] In addition to one or more features described herein, a filter array is obtained including filter pixels formed into a repeating pattern, the repeating pattern including a vertical polarization filter that passes only vertically polarized light as green light to the corresponding sensor pixel, a parallel polarization filter that passes only parallel polarized light as green light to the corresponding sensor pixel, a red filter that passes only red light to the corresponding sensor pixel, and a blue filter that passes only blue light to the corresponding sensor pixel.

[0021] In addition to one or more features described herein, arranging the image sensor includes configuring the image sensor to provide an unpolarized color image based on red light and blue light.

[0022] In addition to one or more features described herein, configuring the controller also includes configuring the controller to control operation of the vehicle based on a distance to each of the one or more objects.

[0023] The above features and advantages and other features and advantages of the present disclosure will become readily apparent from the following detailed description when taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Other features, advantages and details appear by way of example only in the following detailed description, which refers to the accompanying drawings, in which:

[0025] Figure 1 is a block diagram of a vehicle including a depth imaging camera having a polarization coded aperture;

[0026] Figure 2 Describes in detail aspects of a depth imaging camera with a polarization coded aperture according to one or more embodiments;

[0027] Figure 3A illustrates aspects of a depth imaging camera with a polarization coded aperture according to one or more embodiments;

[0028] Figure 3B illustrates aspects of a depth imaging camera with a polarization coded aperture according to one or more embodiments;

[0029] Figure 4A illustrates an exemplary polarization coded aperture of a depth imaging camera according to one or more embodiments;

[0030] Figure 4B illustrates an exemplary polarization coded aperture of a depth imaging camera according to one or more embodiments;

[0031] Figure 4C illustrates an exemplary polarization coded aperture of a depth imaging camera according to one or more embodiments;

[0032] Figure 4D illustrates an exemplary polarization coded aperture of a depth imaging camera according to one or more embodiments;

[0033] Figure 5 A process flow for using a polarization coded aperture in a depth imaging camera according to one or more embodiments is shown;

[0034] Fig. 6A illustrates a filter pattern of an exemplary filter array used in a depth imaging camera according to one or more embodiments; and

[0035] Figure 6B Filter patterns of exemplary filter arrays for use in depth imaging cameras are shown in accordance with one or more embodiments. DETAILED DESCRIPTION

[0036] The following description is merely exemplary in nature and is not intended to limit the present disclosure, its application, or uses. It should be understood that throughout the drawings, corresponding reference numerals indicate like or corresponding parts and features.

[0037] As previously mentioned, LiDAR is an exemplary sensor that provides an image from which the depth of objects in the image can be obtained. The depth represents the distance from the vehicle to the object. However, depth determination has limited resolution, requires cost and weight associated with components such as laser light sources, and is computationally expensive. Another approach to depth imaging involves stereo cameras (i.e., two or more cameras that obtain images from a common field of view). However, this approach requires not only multiple cameras, but also alignment and calibration between the cameras.

[0038] Embodiments of the systems and methods detailed herein relate to a depth imaging camera with a polarization-coded aperture. A single camera is used with an aperture having a dual off-axis polarization-coded area. It is generally believed that the aperture of a camera is the opening (i.e., exposure) portion of a lens through which light enters the camera. The aperture may constitute part or all of a lens. According to one or more embodiments, the lens includes a polarization-coded aperture (i.e., the portion of the lens through which light enters). One of the polarization-coded portions of the aperture has a parallel polarization so that light with any other polarization does not pass through that portion of the aperture to reach the image sensor. Another polarization-coded portion of the aperture has a perpendicular polarization so that light with any other polarization does not pass through that portion of the aperture. As described in detail, the image sensor determines the distance of each object in an image obtained with the camera based on the parallax between images obtained via two different coded portions of the aperture.

[0039] According to an exemplary embodiment, Figure 1 is a block diagram of a vehicle 100 including a depth imaging camera 110 ( Figure 2 ). Figure 1 The exemplary vehicle 100 shown is an automobile 101. In addition to the depth imaging camera 110, the vehicle 100 includes other sensors 130 (e.g., a radio radar system, a lidar system) that obtain information about the environment surrounding the vehicle 100. The number and location of the depth imaging cameras 110 and other sensors 130 within the vehicle 100 are not intended to be limited. Figure 1 The vehicle 100 also includes a controller 120 that obtains information from the camera 110 and one or more other sensors 130 and controls the operation of the vehicle 100 based on the information. Exemplary applications of the information include collision avoidance, automatic braking, adaptive cruise control, and autonomous driving.

[0040] The information obtained by the controller 120 from the depth imaging camera 110 may include identification of one or more objects 140 captured in the image obtained using the depth imaging camera 110. Object recognition may be based on image processing by the controller 120. As described in detail, the controller 120 may also obtain depth information (i.e., the distance to each identified object 140) from the image of the depth imaging camera 110. The controller 120 may include processing circuitry that may include an application specific integrated circuit (ASIC), electronic circuitry, a processor (shared, dedicated, or grouped) and memory that executes one or more software or firmware programs, combinatorial logic circuits, and / or other suitable components that provide the described functionality.

[0041] Figure 2Various aspects of a depth imaging camera 110 having a polarization coded aperture 210 according to one or more embodiments are described in detail. Generally, the depth imaging camera 110 includes a lens 211, which includes a polarization coded aperture 210 and an image sensor 240. The polarization coded aperture 210 is Figure 2 as well as Figure 3A and 3B The entire lens 211 is shown in FIG. Figure 5 In FIG. 2 , lens 211 is shown to include polarization coded aperture 210 and additional parts. Figure 2 1 , an exemplary object plane 205 is shown. The exemplary object plane 205 is located at a distance Rf from the focused polarization-encoded aperture 210. The exemplary object plane 205 is one of many object planes 205 within the field of view of the depth imaging camera 110, from which light 207 is directed to the polarization-encoded aperture 210. That is, although only light 207 from the exemplary object plane 205 is shown for explanation purposes, light 207 enters the polarization-encoded aperture 210 from each object plane 205. The light 207 is unpolarized.

[0042] At the polarization encoding aperture 210, the vertical polarization portion 220 and the parallel polarization portion 230 polarize the light 207 into orthogonal polarization states. That is, the vertical polarization portion 220 polarizes the incident light 207 with a vertical polarization to produce a vertically polarized light 225, and the parallel polarization portion 230 polarizes the incident light 207 with a parallel polarization to produce a generally parallel polarized light 235. The vertical polarization portion 220 and the parallel polarization portion 230 are disposed off-axis from each other. Thus, the polarization encoding aperture 210 includes a dual off-axis polarization encoding region. The remainder of the polarization encoding aperture 210 includes an optional shielding portion 215 that prevents the light 207 from passing through. The polarization encoding aperture 210 and the image sensor 240 are described in further detail with reference to FIGS. 4 and 5.

[0043] As mentioned earlier, Figure 2 The exemplary object plane 205 is shown to be at the focus range Rf of the depth imaging camera 110. Thus, the vertically polarized light 225 and the parallel polarized light 235 generated by the incident light 207 originating from the same point in the exemplary object plane 205 encounter the image sensor 240 at the same point. Figure 3A and 3B As shown, this is not the case when the distance R of a given object plane 205 is less than or greater than the focus distance Rf. Figure 5 As discussed, this fact is used to superimpose the filter array 510 ( Figure 5 ) to obtain two images 520, 530 ( Figure 5). Therefore, using the polarization coded aperture 210 of the depth imaging camera 110, a vertical polarization image 520 associated with the vertical polarization light 225 and a parallel polarization image 530 associated with the parallel polarization light 235 are obtained. Then a disparity map 540 ( Figure 5 ) to facilitate depth determination. The disparity map 540 is similar to the disparity map obtained in the stereo camera method, but does not require the use of two independent cameras (ie, independent image sensors) to obtain images.

[0044] Figure 3A and 3B Results for two exemplary object planes 205 at the image sensor 240 are shown. Figure 3A 1 shows aspects of a depth imaging camera 110 with a polarization coded aperture 210 according to one or more embodiments. Light 207 entering the polarization coded aperture 210 comes from an exemplary object plane 205, which is at a distance R that is smaller than the focus distance Rf (i.e., closer to the depth imaging camera 110). Figure 3A The input of the image sensor 240 is connected to Figure 2 Compared with the input shown in FIG. 1 , the vertically polarized light 225 and the parallel polarized light 235 are not Figure 3A Instead, light 207 from a given point in the exemplary object plane 205 is projected to separate points (e.g., pixel 517 ( Figure 5 )). For the projection, the relative positions of the parts 220, 230 are maintained. That is, Figure 3A As shown, vertically polarized portion 220 is above parallel polarized portion 230 of polarization coded aperture 210. Thus, for points from distance R less than Rf, vertically polarized light 225 is projected above parallel polarized light 235 on image sensor 240. The distance d1 between the projections increases as distance R decreases.

[0045] Figure 3B 2 shows aspects of a depth imaging camera 110 with a polarization coded aperture 210 according to one or more embodiments. Light 207 entering the polarization coded aperture 210 comes from an exemplary object plane 205, which is at a greater distance R than the focus distance Rf (i.e., farther from the depth imaging camera 110). Figure 3B The input of the image sensor 240 is Figure 2 Compared with the input shown in FIG. 1 , the vertically polarized light 225 and the parallel polarized light 235 are not Figure 3BInstead, light 207 from a given point in exemplary object plane 205 is projected to separate points (e.g., pixel 517) of image processor 240 as perpendicularly polarized light 225 and parallel polarized light 235.

[0046] and Figure 3A Unlike the case shown, the relative positions of the portions 220 (e.g., the vertically polarized portion 220 above the parallel polarized portion 230 of the polarization coded aperture 210 according to the view shown) are not maintained for the projections. Instead, in the exemplary arrangement, the vertically polarized light 225 is projected from the same point of the exemplary object plane 205 to below the parallel polarized light 235. The distance d2 between the projections increases as the distance R increases. The difference in the relative projections of the vertically polarized light 225 and the parallel polarized light 235 based on the distance R of the object plane 205 relative to the focus distance Rf indicates whether the distance d1 or the distance d2 is relevant. Then, as shown in reference Figure 5 As discussed, the distance d1 or d2 helps determine the distance R from the detected object 140 .

[0047] Figure 4B , 4C 4A of 4D illustrate an exemplary embodiment of a polarization coded aperture 210 of the depth imaging camera 110. The illustrated example is not intended to limit the polarization coded aperture 210 according to alternative embodiments. Figure 4A An exemplary polarization coded aperture 210 of the depth imaging camera 110 is shown according to one or more embodiments. A vertical polarization portion 220 and a parallel polarization portion 230 are shown. The optical shielding portion 215 constitutes the remainder of the polarization coded aperture 210. Therefore, light 207 only passes through the vertical polarization portion 220 and the parallel polarization portion 230 to reach the image sensor 240.

[0048] Figure 4B FIG. 2 shows an exemplary polarization coded aperture 210 of the depth imaging camera 110 according to one or more embodiments. Figure 4A The embodiment shown, Figure 4B The illustrated embodiment depicts a polarization-coded aperture 210 having a perpendicular polarization portion 220 and a parallel polarization portion 230 , with an optically shielded portion 215 constituting the remainder of the polarization-coded aperture 210 .

[0049] Figure 4C An exemplary polarization coded aperture 210 of the depth imaging camera 110 according to one or more embodiments is shown. As shown, the polarization coded aperture 210 is divided into a perpendicular polarization portion 220 or a parallel polarization portion 230.

[0050] Figure 4DFIG. 2 shows an exemplary polarization coded aperture 210 of a depth imaging camera 110 according to one or more embodiments. Figure 4A , Figure 4B and Figure 4C The polarization coded aperture 210 shown belongs to the monochrome depth imaging camera 110, but Figure 4D The polarization coded aperture 210 shown belongs to a color imager. The transparent portion 400 of the polarization coded aperture 210 blocks the light 207 corresponding to the green G wavelength and passes the light 207 corresponding to the red R and blue B. The green portion of the light 207 passes through the perpendicular polarization portion 220 or the parallel polarization portion 230.

[0051] Figure 5 2 shows a process flow for using the polarization coded aperture 210 in the depth imaging camera 110 according to one or more embodiments. As previously described, light 207 from the object plane 205 within the field of view of the depth imaging camera 110 enters the polarization coded aperture 210. As shown, in the exemplary case, the lens 211 has a portion outside the polarization coded aperture 210. As shown in FIG. Figures 4A to 4D As shown, the polarization-encoded aperture 210 includes a vertical polarization portion 220 and a parallel polarization portion 230, which can be shaped, sized, and arranged according to any number of exemplary embodiments. In addition, the polarization-encoded aperture 210 can include an optical shielding portion 215 to block the passage of light 207 or a color filter (e.g., a transparent portion 400), so that the vertical polarization portion 220 and the parallel polarization portion 230 belong to only one color (e.g., green G). Therefore, the polarization-encoded aperture 210 provides vertical polarization light 225 and parallel polarization light 235, and can additionally provide other light 505 (e.g., based on the clear portion 400).

[0052] Filter array 510 is shown corresponding to image sensor 240. Image sensor 240 is a pixelated array of photodetectors. One of pixel 517 is shown. Each pixel 515 of filter array 510 corresponds to pixel 517 of image sensor 240. For example, image sensor 240 can be a complementary metal oxide semiconductor (CMOS) image sensor that converts photons into electrons to facilitate digital image processing of the resulting pixels 517. Filter array 510 is also pixelated to facilitate filtering of each pixel. One of pixel 515 is indicated. As further discussed with reference to FIG. 6, filter array 510 helps separate vertically polarized image 520 and parallel polarized image 530 corresponding to vertically polarized light 225 and parallel polarized light 235, respectively, generated by polarization coded aperture 210.

[0053] The controller 120 obtains a vertically polarized image 520, a horizontally polarized image 530, and a disparity map 540. The controller 120 first performs image processing to identify one or more objects 140 in the images 520, 530. The controller 120 then indicates the distance d1 or d2 between each part of each object 140 in the vertically polarized image 520 and the same part in the horizontally polarized image 530 as the disparity map 540. As described above, existing methods for obtaining a disparity map include two independent image sensors that have a common field of view and are aligned.

[0054] As referenced Figure 3A and 3B discussed, the relative position of the projection of the same part of the object 140 in the two images 520, 530 indicates whether the distance R is less than or greater than the focal distance Rf. That is, if the relative position of the projection remains the relative position of the vertically polarized part 220 and the horizontally polarized part 230, the distance R is less than the focal distance Rf. If the relative position of the projection does not remain the relative position of the vertically polarized part 220 and the horizontally polarized part 230, the distance R is greater than the focal distance Rf. Then the value of the distance d1 (in the case of R < Rf) or d2 (in the case of R > Rf) represents the value of the distance R by indicating the distance from the known focal distance Rf. That is, when R < Rf, the distance R is the focal distance Rf minus d1, and when R > Rf, the distance R is the focal distance Rf plus d2. In this way, the distance R of each object 140 in the field of view of the depth imaging camera 110 can be determined based on the disparity map 540.

[0055] Fig. 6A and Figure 6B illustrates an exemplary embodiment of aspects of a filter array 510 used in a depth imaging camera 110 according to one or more embodiments. Fig. 6A illustrates a filter pattern of an exemplary filter array 510 used in a depth imaging camera 110 according to one or more embodiments. As described above, the filter array 510 is an array of pixels 515. The four pixels 515 shown for the filter array 510 can represent a small subset of all the pixels 515 of the filter array 510. For Fig. 6A the four pixels 515 shown and the pattern indicated and discussed can be repeated over the entire pixel array 515. As shown, every other pixel 515 filters vertical or horizontal polarization. That is, each vertical polarization filter 610 filters out the horizontally polarized light 235 generated by the horizontally polarized part 230 (i.e., only passes the vertically polarized light 225), and each horizontal polarization filter 620 filters out the vertically polarized light 225 generated by the vertically polarized part 220 (i.e., only passes the horizontally polarized light 235).

[0056] As described above, the filter array 510 can be overlaid on the image sensor 240. Therefore, for example, every other pixel 517 of the image sensor 240 receives only vertically polarized light 225 and generates a partial vertically polarized light image 520, or receives only parallel polarized light 235 and generates a partial parallel polarized light image 530. That is, based on Fig. 6A In the exemplary filter array 510 shown, the perpendicular polarization image 520 is composed of half of the full pixel array 517 of the image sensor 240 , and the parallel polarization image 530 is composed of the other half of the full pixel array 517 .

[0057] Figure 6B FIG. 5 shows a filter pattern of an exemplary filter array 510 for use in depth imaging camera 110 according to one or more embodiments. Fig. 6A The exemplary filter array 510 shown is of a monochrome camera, but Figure 6B The filter pattern 510 shown may be used to have, for example, Figure 4D The exemplary polarization coded aperture 210 is shown as a color camera. As described above, Fig. 6A Each pattern of four pixels 515 shown in FIG. 5 forms two types of outputs (ie, either vertically polarized light 225 or parallel polarized light 235 is filtered). Figure 6B The pattern of four pixels 515 shown, which may be repeated any number of times across filter array 510, results in four types of output, as described below.

[0058] For example, based on Figure 4D In the exemplary polarization coded aperture 210 shown, assuming that only green light is polarized, each vertical polarization filter 610 only allows green vertical polarized light 225 to pass. Each parallel polarization filter 620 only allows green parallel polarized light 235 to pass. These two types of filters are used to obtain vertical polarization images 520 and parallel polarization images 530. That is, based on Figure 6B In the exemplary filter array 510 shown, the vertical polarization image 520 is composed of one quarter of the entire array of pixels 517 of the image sensor 240, and the parallel polarization image 530 is composed of one quarter of the entire array of pixels 517. The blue B filter 630 only lets blue light pass, and the red R filter 640 only lets red light pass. Blue light and red light are unpolarized. Therefore, two additional images can be obtained, one including blue light B and one including red light R. These images are composed of the other half of the total number of pixels 517 of the image sensor 240. For example, the images can be combined to present a color image to the driver.

[0059] Although the above disclosure has been described with reference to exemplary embodiments, it will be appreciated by those skilled in the art that various changes may be made and equivalents may be substituted for its elements without departing from its scope. In addition, many modifications may be made to adapt specific circumstances or materials to the teachings of the disclosure without departing from the basic scope of the disclosure. Therefore, it is intended that the disclosure is not limited to the specific embodiments disclosed, but will include all embodiments falling within its scope.

Claims

1. A depth imaging system in a vehicle, comprising: A lens including a polarization coded aperture having: a vertical polarization portion configured to pass the incident light of the vertical polarization portion entering the polarization encoding aperture as vertical polarization light, and a parallel polarization portion configured to allow incident light of the parallel polarization portion entering the polarization encoding aperture to pass as parallel polarized light; An image sensor configured to provide a vertically polarized image based on vertically polarized light and a parallel polarized image based on parallel polarized light; a controller configured to process the perpendicular polarization image and the parallel polarization image to identify one or more objects in a field of view of the depth imaging system and to determine a distance to each of the one or more objects; and a filter array corresponding to the image sensor, wherein the filter array is a pixelated array of filter pixels, the image sensor is a pixelated array of sensor pixels, and each filter pixel corresponds to one of the sensor pixels, and the filter array overlies the image sensor and is located between a polarization-encoded aperture and the image sensor; The polarization coded aperture further includes a transparent portion, the transparent portion being configured to pass incident light entering the transparent portion of the polarization coded aperture as red light and blue light, the vertically polarized light is green light, the parallel polarized light is green light, the filter pixels are formed into a repeating pattern, the repeating pattern including a vertical polarization filter that passes only the vertically polarized light as green light to the corresponding sensor pixel, a parallel polarization filter that passes only the parallel polarized light as green light to the corresponding sensor pixel, a red filter that passes only the red light to the corresponding sensor pixel, and a blue filter that passes only the blue light to the corresponding sensor pixel, and the image sensor is configured to provide a non-polarized color image based on the red light and the blue light.

2. The depth imaging system of claim 1, wherein the polarization-coded aperture further comprises a shielding portion, the shielding portion being configured to block incident light encountering the shielding portion of the polarization-coded aperture.

3. The depth imaging system of claim 1 , wherein the filter pixels are formed into a repeating pattern, the repeating pattern comprising a vertical polarization filter that passes only vertically polarized light to corresponding sensor pixels, and further comprising a parallel polarization filter that passes only parallel polarized light to corresponding sensor pixels.

4. A method of assembling a depth imaging system in a vehicle, comprising: obtaining a lens including a polarization-encoded aperture having a vertical polarization portion configured to pass incident light entering the vertical polarization portion of the polarization-encoded aperture as vertical polarization light, and a parallel polarization portion configured to pass incident light entering the parallel polarization portion of the polarization-encoded aperture as parallel polarization light; Positioning the polarization-encoded aperture to receive incident light from the field of view; Arranging the image sensors to provide a vertically polarized image based on vertically polarized light and a parallel polarized image based on parallel polarized light; configuring the controller to process the perpendicular polarization image and the parallel polarization image to identify one or more objects in a field of view of the depth imaging system and determine a distance to each of the one or more objects; and obtaining a filter array corresponding to the image sensor, wherein the filter array is a pixelated array of filter pixels, the image sensor is a pixelated array of sensor pixels, and each filter pixel corresponds to one of the sensor pixels, and overlaying the filter array on the image sensor and between the polarization coded aperture and the image sensor; wherein the polarization coded aperture includes a transparent portion, the transparent portion is configured to allow incident light entering the transparent portion of the polarization coded aperture as red light and blue light to pass through, the vertically polarized light is green light, and the parallel polarized light is green light; obtaining the filter array includes forming the filter pixels into a repeating pattern, the repeating pattern includes a vertical polarization filter that only passes vertically polarized light as green light to the corresponding sensor pixel, a parallel polarization filter that only passes parallel polarized light as green light to the corresponding sensor pixel, a red filter that only passes red light to the corresponding sensor pixel, and a blue filter that only passes blue light to the corresponding sensor pixel, and arranging the image sensor includes configuring the image sensor to provide a non-polarized color image based on the red light and the blue light. 5 . The method of claim 4 , wherein the polarization-coded aperture includes a shielding portion, the shielding portion being configured to block incident light encountering the shielding portion of the polarization-coded aperture.

6. The method of claim 4 , wherein obtaining the filter array comprises forming filter pixels into a repeating pattern, the repeating pattern comprising vertical polarization filters that pass only vertically polarized light to corresponding sensor pixels, and further comprising parallel polarization filters that pass only parallel polarized light to corresponding sensor pixels.

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