Refining Time-of-Flight Depth Values Using Amplitude Peak Maps
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Solution Overview
Problem
Existing time-of-flight depth-detection techniques, particularly sparse ToF depth cameras, face challenges in accurately refining depth values due to noise and multi-path interference, leading to unreliable depth maps.
Innovation Solution
The proposed solution involves a method that refines depth values by obtaining a depth representation based on a time-of-flight signal, generating amplitude values, creating a peak map from these values, and applying a depth-based mask to filter out noisy regions, ultimately producing refined depth values.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If sparse ToF depth camera emits fewer light pulses than photodetectors, then productivity is improved, but measurement precision deteriorates
Solution Approach 1:
The patent applies preliminary action by generating a peak map from amplitude values before refining depth values. This pre-processing step identifies potential depth candidates in advance, allowing the system to efficiently select the most reliable depth values later. The peak map serves as a preliminary structure that guides subsequent depth refinement without requiring additional light pulses.
Solution Approach 2:
The patent introduces an intermediary element - the peak map - that mediates between the sparse amplitude data and the final depth values. This intermediate structure allows the system to bridge the gap between limited measurements and comprehensive depth information, enabling accurate depth reconstruction from fewer light pulses.
2Productivity
If depth values are obtained from sparse ToF signal, then productivity is improved, but reliability deteriorates due to noise and multi-path interference
Solution Approach 1:
The patent implements feedback by using amplitude values to generate a peak map that informs depth value refinement. The system continuously refines depth values based on amplitude information, creating a feedback loop where measurement quality guides the refinement process. This allows the system to identify and correct unreliable depth values caused by noise and multi-path interference.
Solution Approach 2:
The patent applies parameter changes by transforming depth values based on amplitude characteristics. By adjusting depth values according to amplitude peaks and using amplitude-based filtering, the system dynamically modifies depth parameters to eliminate unreliable measurements while preserving accurate ones.
3Measurement precision
If amplitude values and peak map are generated to refine depth values, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent applies segmentation by dividing the depth refinement process into distinct stages: generating amplitude values, creating a peak map, and refining depth values. This segmented approach breaks down the complex refinement task into manageable steps, making the overall process more efficient and easier to implement despite the increased precision requirements.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach effectively reduces noise and improves the accuracy of depth values, resulting in a more reliable depth map that enhances the performance of sparse ToF depth cameras.
Implementation Method 1
A direct Time-of-Flight (dToF) depth camera may measure a timing difference (e.g., a time of flight) between when a light pulse is emitted and when the light pulse is received by the dToF depth camera
Implementation Method 2
An indirect Time-of-Flight (iToF) depth camera may measure a phase difference between an emitted light pulse and the light pulse as received by the iToF depth camera after the light pulse has been reflected by an object in the environment
Data Source
AI summary
Systems and techniques are described herein for refining depth values. For instance, a method for refining depth values is provided. The method may include obtaining a depth representation of a scene, the depth representation comprising depth values based on a time-of-flight (ToF) signal; obtaining amplitude values corresponding to the depth values of the depth representation, wherein the amplitude values are based on the ToF signal; generating a peak map based on the amplitude values and the depth values; generating a depth-based mask based on the depth values; and generating refined depth values based on the depth values, the peak map, and the depth-based mask.