US6057909A — Optical ranging camera

Claim 1

Independent Claim 165 words

Apparatus for creating an image indicating distances to objects in a scene, comprising: a modulated source of radiation, having a first modulation function, which directs modulated radiation toward a scene such that a portion of the radiation from the source is reflected from points in the scene and reaches the apparatus; a detector, which detects radiation reflected from the scene, modulated by a second modulation function, and generates, responsive to said detected modulated radiation, signals responsive to a part of the portion of the reflected radiation, the part being dependent on the distance of a point in the scene, associated with a particular signal, from the apparatus; a processor, which receives signals from the detector and forms an image, based on the signals, having an intensity value distribution indicative of the distance of objects from the apparatus; and a controller, which varies at least one of the first and second modulation functions, responsive to the intensity value distribution of the image formed by the processor.

Claim 2

Dependent Claim 165 words

Apparatus for creating an image indicating distances to objects in a scene, comprising: a modulated source of radiation, having a first modulation function, which directs modulated radiation toward a scene such that a portion of the radiation from the source is reflected from points in the scene and reaches the apparatus; a detector, which detects radiation reflected from the scene, modulated by a second modulation function, and generates, responsive to said detected modulated radiation, signals responsive to a part of the portion of the reflected radiation, the part being dependent on the distance of a point in the scene, associated with a particular signal, from the apparatus; a processor, which receives signals from the detector and forms an image, based on the signals, having an intensity value distribution indicative of the distance of objects from the apparatus; and a controller, which varies at least one of the first and second modulation functions, responsive to the intensity value distribution of the image formed by the processor.

Claim 3

Dependent Claim 27 words

Apparatus according to claim 1, wherein the second modulation function is delayed in time relative to the first modulation function, and the controller varies the time delay.

Claim 4

Dependent Claim 31 words

Apparatus according to claim 1, wherein the first and second modulation functions comprise pulses having respective characteristic durations, and the controller varies the duration of at least one of the pulses.

Claim 5

Dependent Claim 36 words

Apparatus according to claim 3, wherein the first and second modulation functions comprise pulses having substantially equal characteristic durations, and the controller varies the duration of the pulses in both the first and second modulation functions.

Claim 6

Dependent Claim 42 words

Apparatus according to claim 1, and comprising an image analyzer, which identifies an object of interest in the scene, wherein the controller varies the at least one modulation function in response to the distance of the object of interest from the apparatus.

Claim 7

Dependent Claim 40 words

Apparatus according to claim 1, and comprising a rangefinder, which determines the distance of an object of interest from the apparatus, wherein the controller varies the at least one modulation function in response to the distance determined by the rangefinder.

Claim 8

Dependent Claim 36 words

Apparatus according to claim 1, wherein the controller varies the at least one modulation function, so that the detector detects only radiation reflected from regions of the scene at a distance of interest from the apparatus.

Claim 9

Dependent Claim 44 words

Apparatus according to claim 7, and comprising an image processor, which receives a first image, formed by the processor, of the regions of the scene at the distance of interest, and mixes the first image with a second image to produce a mixed image.

Claim 10

Dependent Claim 45 words

Apparatus according to claim 1, wherein the detector detects radiation reflected from two objects of interest in the scene, and the controller varies the at least one modulation function so that portions of the image corresponding to the two objects have generally equal intensity values.

Claim 11

Dependent Claim 65 words

Apparatus according to claim 1, wherein the detector comprises: a detector modulator, which receives radiation reflected from the scene and modulates it in accordance with the second modulation function; and a detector array, comprising a plurality of detector elements, which detect radiation modulated by the detector modulator and generate, responsive to said detected modulated radiation, signals responsive to the distance to regions of the scene.

Claim 12

Dependent Claim 20 words

Apparatus according to claim 10, wherein the detector modulator comprises a shutter element array, comprising a plurality of shutter elements.

Claim 13

Dependent Claim 61 words

Apparatus according to claim 11, wherein the radiation incident on a first detector element is modulated by a first shutter element, and the radiation incident on a second detector element is modulated by a second shutter element, and wherein the second modulation function includes different first and second modulation sub-functions, which are applied to the first and second shutter elements, respectively.

Claim 14

Dependent Claim 26 words

Apparatus according to any of the preceding claims, wherein the detector includes a color filter and the image formed by the processor is a color image.

Claim 15

Dependent Claim 168 words

Apparatus for creating an image indicating distances to objects in a scene, comprising: a modulated source of radiation, having a first modulation function, which directs radiation toward a scene; a detector, comprising a detector modulator, having a second modulation function, and a detector array, said array comprising a plurality of detector elements, wherein the detector detects radiation reflected from a plurality of parallel spatial segments within the scene and generates, responsive to said detected radiation, signals responsive to the distance to regions of the scene; and a processor, which forms an image including at least some of the plurality of spatial segments and having an intensity value distribution indicative of the distance of objects from the apparatus, wherein each of the plurality of spatial segments has distance bounds, relative to the apparatus, which distance bounds are determined by the detector modulator, and wherein at least one of the plurality of spatial segments has distance bounds that are different from the bounds of at least one other spatial segment.

Claim 16

Dependent Claim 168 words

Apparatus for creating an image indicating distances to objects in a scene, comprising: a modulated source of radiation, having a first modulation function, which directs radiation toward a scene; a detector, comprising a detector modulator, having a second modulation function, and a detector array, said array comprising a plurality of detector elements, wherein the detector detects radiation reflected from a plurality of parallel spatial segments within the scene and generates, responsive to said detected radiation, signals responsive to the distance to regions of the scene; and a processor, which forms an image including at least some of the plurality of spatial segments and having an intensity value distribution indicative of the distance of objects from the apparatus, wherein each of the plurality of spatial segments has distance bounds, relative to the apparatus, which distance bounds are determined by the detector modulator, and wherein at least one of the plurality of spatial segments has distance bounds that are different from the bounds of at least one other spatial segment.

Claim 17

Dependent Claim 19 words

Apparatus according to claim 14, wherein the detector modulator comprises a shutter array, comprising a plurality of shutter elements.

Claim 18

Dependent Claim 17 words

Apparatus according to claim 11 or 15, wherein the shutter element array comprises a liquid crystal array.

Claim 19

Dependent Claim 16 words

Apparatus according to claim 11 or 15, wherein the shutter element array comprises a microchannel array.

Claim 20

Dependent Claim 23 words

Apparatus according to claim 17, wherein the microchannel array comprises a microchannel plate and a plurality of switchable electrodes adjacent to the plate.

Claim 21

Dependent Claim 24 words

Apparatus according to claim 18, wherein the microchannel array comprises a photocathode, and wherein the electrodes comprise conductive, transparent material coated on the photocathode.

Claim 22

Dependent Claim 14 words

Apparatus according to claim 19, wherein the conductive, transparent material comprises indium tin oxide.

Claim 23

Dependent Claim 17 words

Apparatus according to claim 11 or 15, wherein the shutter element array comprises a linear shutter array.

Claim 24

Dependent Claim 40 words

Apparatus according to claim 15, wherein each shutter element is associated with one of the plurality of spatial segments, and wherein the distance bounds of said one of the plurality of spatial segments are determined by the associated shutter element.

Claim 25

Dependent Claim 25 words

Apparatus according to claim 15, wherein each of the plurality of shutter elements is associated with a respective group of one or more detector elements.

Claim 26

Dependent Claim 24 words

Apparatus according to claim 15, wherein the detector modulator comprises a switching network, which controls the shutter elements according to the second modulation function.

Claim 27

Dependent Claim 21 words

Apparatus according to claim 24, wherein application of the second modulation function causes the shutter elements to open and shut sequentially.

Claim 28

Dependent Claim 31 words

Apparatus according to claim 24 or 25, wherein the second modulation function comprises a plurality of non-coincident pulses, each of which pulses causes a corresponding shutter element to open and shut.

Claim 29

Dependent Claim 26 words

Apparatus according to claim 23, wherein each of the respective groups of one or more detector elements comprises a row of elements of the detector array.

Claim 30

Dependent Claim 29 words

Apparatus according to claim 27, wherein each of the respective groups of one or more detector elements comprises a group of mutually-adjacent rows of elements of the detector array.

Claim 31

Dependent Claim 29 words

Apparatus according to claim 14, wherein the source of radiation produces a line of illumination on the scene, and wherein the detector receives a corresponding line of reflected radiation.

Claim 32

Dependent Claim 19 words

Apparatus according to claim 29, and comprising a scanning device, which scans the line of illumination across the scene.

Claim 33

Dependent Claim 40 words

Apparatus according to claim 29 or 30, wherein the detector modulator deflects the line of reflected radiation so as to sequentially dwell for a period of time on each of a plurality of rows of elements of the detector array.

Claim 34

Dependent Claim 57 words

Apparatus according to claim 31, wherein each of the plurality of rows of the array is associated with one of the plurality of spatial segments, and wherein the distance bounds of said one of the plurality of spatial segments are determined by the period of time that the line of reflected radiation dwells on the associated row.

Claim 35

Dependent Claim 31 words

Apparatus according to claim 31, wherein the period of time that the line of reflected radiation dwells on each of the plurality of rows is determined by the second modulation function.

Claim 36

Dependent Claim 34 words

Apparatus according to claim 14, and comprising a controller, which varies at least one of the first and second modulation functions, responsive to the intensity value distribution of the image formed by the processor.

Claim 37

Dependent Claim 12 words

Apparatus according to claim 14, wherein the detector includes a color filter.

Claim 38

Dependent Claim 82 words

A system for creating an extended image indicating distances to objects in a scene, comprising: apparatus for creating an image according to claim 14, which forms a plurality of sequential images of the scene, at least one of said plurality of images including one or more regions of the scene not included in at least one other of said images; and an image processor, which combines the plurality of images to form an extended image, indicating distances to objects in the scene.

Claim 39

Dependent Claim 18 words

A system according to claim 36, and comprising means for translating the apparatus laterally relative to the scene.

Claim 40

Dependent Claim 30 words

A system according to claim 37, wherein the apparatus creates images of the scene in a known relation to a rate of translation of the apparatus relative to the scene.

Claim 41

Dependent Claim 25 words

A system according to claim 37 or 38, wherein the means for translating the apparatus comprise a moving platform, to which the apparatus is mounted.

Claim 42

Dependent Claim 13 words

A system according to claim 39, wherein the moving platform comprises an aircraft.

Claim 43

Dependent Claim 22 words

A system according to claim 36, and comprising scanning optics, which scan the field of view of the apparatus over the scene.

Claim 44

Dependent Claim 117 words

Apparatus for creating an image indicating distances to objects in a scene, comprising: a modulated source of radiation, which directs radiation toward a scene; telecentric optics, which receive and collimate radiation reflected from the scene; a modulator, which modulates the collimated radiation; a detector, which detects an image formed from the modulated collimated radiation; and a processor, which forms an image having an intensity value distribution indicative of the distance of objects from the apparatus, responsive to the intensity distribution of the detected image, wherein the source and the detector are boresighted, and wherein the modulator that modulates the collimated radiation reflected from the scene does not modulate the radiation directed toward the scene by the source.

Claim 45

Dependent Claim 117 words

Apparatus for creating an image indicating distances to objects in a scene, comprising: a modulated source of radiation, which directs radiation toward a scene; telecentric optics, which receive and collimate radiation reflected from the scene; a modulator, which modulates the collimated radiation; a detector, which detects an image formed from the modulated collimated radiation; and a processor, which forms an image having an intensity value distribution indicative of the distance of objects from the apparatus, responsive to the intensity distribution of the detected image, wherein the source and the detector are boresighted, and wherein the modulator that modulates the collimated radiation reflected from the scene does not modulate the radiation directed toward the scene by the source.

Claim 46

Dependent Claim 138 words

Apparatus for creating an image indicating distances to objects in a scene, comprising: a modulated source of radiation, having a first modulation function, which directs radiation toward a scene; a first detector, which detects radiation reflected from the scene, modulated by a second modulation function, and generates, responsive to said detected modulated radiation, signals responsive to the distance to regions of the scene; a second detector, boresighted with the first detector, which detects radiation reflected from the scene, unmodulated by said second modulation function, and generates, responsive to said detected radiation, signals responsive to the intensity of light reflected from the regions of the scene; a processor, which receives signals from the first and second detectors and forms an image based on the signals, having an intensity value distribution indicative of the distance of objects from the apparatus.

Claim 47

Dependent Claim 138 words

Apparatus for creating an image indicating distances to objects in a scene, comprising: a modulated source of radiation, having a first modulation function, which directs radiation toward a scene; a first detector, which detects radiation reflected from the scene, modulated by a second modulation function, and generates, responsive to said detected modulated radiation, signals responsive to the distance to regions of the scene; a second detector, boresighted with the first detector, which detects radiation reflected from the scene, unmodulated by said second modulation function, and generates, responsive to said detected radiation, signals responsive to the intensity of light reflected from the regions of the scene; a processor, which receives signals from the first and second detectors and forms an image based on the signals, having an intensity value distribution indicative of the distance of objects from the apparatus.

Claim 48

Dependent Claim 17 words

Apparatus according to claim 43, wherein the radiation source is boresighted with the first and second detectors.

Claim 49

Independent Claim 51 words

A method of robot guidance, comprising: creating an image indicating distances to objects in a scene, utilizing the apparatus of any of claims 1, 14, 42 or 43; and acting upon an object in the scene by a robot, using the distance to the object indicated by the apparatus for guidance.

Claim 50

Independent Claim 52 words

A method for determining dimensions of an article, comprising: creating an image of the article, indicating distances to regions of the article, utilizing the apparatus of any of claims 1, 14, 42 or 43; and determining, by a computer, of the dimensions of the article, using the image and the indicated distances.

Claim 51

Dependent Claim 18 words

A method according to claim 46, wherein the the dimensions are compared with a standard by the computer.

Claim 52

Dependent Claim 21 words

A method according to claim 46, and including determining, by the computer the volume of the article, using the determined dimensions.

Claim 53

Dependent Claim 47 words

A system for producing a three-dimensional model of an article, comprising: a system for determining dimensions of the article, according to claim 46; and rapid prototyping apparatus, which receives the dimensions determined by the system for determining dimensions, and produces the three-dimensional model according to the dimensions.

Claim 54

Dependent Claim 36 words

A system according to claim 49, wherein the rapid prototyping apparatus receives image information from the apparatus for creating the image of the article and applies the image information to a surface of the three-dimensional model.

Claim 55

Dependent Claim 13 words

A system according to claim 50, wherein the image information comprises color information.

Claim 56

Independent Claim 54 words

A system for vehicle guidance, comprising: apparatus for creating an image indicating distances to objects in a scene ahead of the vehicle in a direction of motion thereof, according to any of claims 1, 14, 42 or 43; and a processor, which identifies hazards in the scene, using the image and the indicated distances.

Claim 57

Independent Claim 63 words

A method of endoscopic imaging, comprising: inserting a distal end of an endoscope into the body of a subject; coupling an apparatus according to any of claims 1, 14, 42 or 43 to a proximal end of the endoscope; and creating an image by the apparatus, by directing radiation through the endoscope into the body, and detect radiation reflected therefrom by the apparatus.

Claim 58

Independent Claim 105 words

A method for creating an image indicating distances to objects in a scene, comprising: modulating radiation from a radiation source according to a first modulation function, and directing said radiation toward a scene; modulating radiation reflected from the scene according to a second modulation function; detecting said reflected radiation and generating signals responsive to the distance to regions of the scene, in response to the detected radiation; forming an image having an intensity value distribution indicative of the distance to objects in the scene; and varying at least one of the first and second modulation functions, responsive to the intensity value distribution of the image.

Claim 59

Independent Claim 105 words

A method for creating an image indicating distances to objects in a scene, comprising: modulating radiation from a radiation source according to a first modulation function, and directing said radiation toward a scene; modulating radiation reflected from the scene according to a second modulation function; detecting said reflected radiation and generating signals responsive to the distance to regions of the scene, in response to the detected radiation; forming an image having an intensity value distribution indicative of the distance to objects in the scene; and varying at least one of the first and second modulation functions, responsive to the intensity value distribution of the image.

Claim 60

Dependent Claim 25 words

A method according to claim 54, wherein varying at least one of the modulation functions comprises delaying the second modulation function relative to the first.

Claim 61

Dependent Claim 35 words

A method according to claim 54, wherein the first and second modulation functions comprise pulses, and varying at least one of the modulation functions comprises varying the duration of at least one of the pulses.

Claim 62

Dependent Claim 27 words

A method according to claim 56, wherein the duration of the first modulation function pulse is substantially greater than the duration of the second modulation function pulse.

Claim 63

Dependent Claim 33 words

A method according to claim 54, and comprising: identifying at least one object of interest in the scene; and determining the distance to the object, using the intensity value distribution of the image.

Claim 64

Dependent Claim 31 words

A method according to claim 58, wherein varying at least one of the modulation functions comprises varying the modulation function in response to the distance to the at least one object.

Claim 65

Dependent Claim 66 words

A method according to claim 59, wherein varying the modulation function in response to the distance to the at least one object comprises: defining a range of distances that includes the distance to the at least one object; and adjusting the modulation function so that detecting reflected radiation comprises detecting radiation from one or more regions of the scene that are within the range of distances.

Claim 66

Dependent Claim 52 words

A method according to claim 60, wherein identifying at least one object of interest comprises locating a plurality of points on the at least one object, and wherein defining the range of distances comprises defining a plurality of local ranges, each local range including a respective one of the plurality of points.

Claim 67

Dependent Claim 36 words

A method according to claim 60, wherein adjusting the modulation function comprises adjusting the function so that radiation from objects and regions of the scene that are outside the defined range of distances is not detected.

Claim 68

Dependent Claim 40 words

A method according to claim 60, wherein adjusting the modulation function comprises adjusting the function so that radiation from objects and regions of the scene that are outside the defined range of distances have a substantially constant intensity value distribution.

Claim 69

Dependent Claim 54 words

A method according to claim 60, and comprising forming a first two-dimensional image, said image comprising radiation detected from the one or more regions of the scene that are within the range of distances, and mixing said first two-dimensional image with a second, separately acquired or synthetically generated image, to form a mixed image.

Claim 70

Dependent Claim 41 words

A method according to claim 64, and comprising determining the location of a desired zone in the first two-dimensional image, wherein mixing the first two-dimensional image with the second, separately acquired image comprises inserting the second image in the desired zone.

Claim 71

Dependent Claim 26 words

A method according to claim 65, wherein inserting the second image in the desired zone comprises scaling the second image to fit in the desired zone.

Claim 72

Dependent Claim 50 words

A method according to claim 54, wherein detecting radiation comprises detecting radiation from two objects of interest in the scene, at substantially different respective distances, and wherein varying at least one of the modulation functions comprises varying the modulation function so that the two objects have generally equal intensity values.

Claim 73

Independent Claim 142 words

A method for creating an image indicating distances to objects in a scene, comprising: modulating radiation from a radiation source according to a first modulation function, and directing said radiation toward a scene; defining a plurality of parallel spatial segments within the scene, each said segment having distance bounds; detecting radiation reflected from each of the parallel spatial segments and generating signals responsive to the distance to regions of the scene, in response to the detected radiation; and forming an image having an intensity value distribution indicative of the distance to objects in the scene, wherein defining the plurality of spatial segments comprises defining the distance bounds of each of the plurality of segments, and wherein the distance bounds of at least one of the plurality of spatial segments are different from the distance bounds of at least one other spatial segment.

Claim 74

Independent Claim 142 words

A method for creating an image indicating distances to objects in a scene, comprising: modulating radiation from a radiation source according to a first modulation function, and directing said radiation toward a scene; defining a plurality of parallel spatial segments within the scene, each said segment having distance bounds; detecting radiation reflected from each of the parallel spatial segments and generating signals responsive to the distance to regions of the scene, in response to the detected radiation; and forming an image having an intensity value distribution indicative of the distance to objects in the scene, wherein defining the plurality of spatial segments comprises defining the distance bounds of each of the plurality of segments, and wherein the distance bounds of at least one of the plurality of spatial segments are different from the distance bounds of at least one other spatial segment.

Claim 75

Dependent Claim 31 words

A method according to claim 68, wherein the distance bounds of a first one of the plurality of spatial segments overlap the distance bounds of a second spatial segment, adjacent thereto.

Claim 76

Dependent Claim 32 words

A method according to claim 68, wherein defining a plurality of spatial segments having distance bounds comprises modulating the radiation reflected from each of the segments according to a respective modulation function.

Claim 77

Dependent Claim 60 words

A method according to claim 68, wherein detecting radiation comprises accumulating and reading out photoelectric charge produced in response to the radiation, and wherein defining the plurality of spatial segments comprises clearing the photoelectric charge produced in response to the radiation from each of the segments at a respective known, predetermined time interval before accumulating and reading out the charge.

Claim 78

Dependent Claim 25 words

A method according to claim 68, wherein directing radiation toward the scene comprises producing a line of radiation and scanning the line across the scene.

Claim 79

Dependent Claim 77 words

A method according to claim 68, wherein defining a plurality of spatial segments comprises defining a matrix of mutually adjacent spatial segments, wherein at least one segment within the matrix has different distance bounds from at least one other segment, and wherein forming an image comprises combining the spatial segments within the matrix to produce an extended segment having distance bounds substantially equal to the union of the respective distance bounds of the segments in the matrix.

Claim 80

Dependent Claim 67 words

A method for creating an extended image-indicating distances to objects in a scene, comprising: creating a first image of a scene, according to claim 68; scanning the spatial segments laterally, relative to the scene; creating a second image of the scene, in the same manner as the first image was created; and registering and combining said first image with said second image, to create the extended image.

Claim 81

Dependent Claim 29 words

A method according to claim 54 or 68, wherein forming an image having an intensity value distribution indicative of the distance to objects comprises normalizing said intensity value distribution.

Claim 82

Dependent Claim 22 words

A method according to claim 75, wherein normalizing the intensity value distribution comprises correcting the distribution for varying emissivities of the object.

Claim 83

Dependent Claim 20 words

A method according to claim 75, wherein normalizing the intensity value distribution comprises correcting the distribution for different object distances.

Claim 84

Dependent Claim 28 words

A method according to claim 54 or 68, wherein detecting radiation comprises filtering the radiation according to color, and wherein forming an image comprises forming a color image.

Annuity Stage	Window Opens	Payment Deadline	Surcharge Period Until	Estimated Fee	Status
3.5 Years (Year 4)	2003-05-02	2003-11-01	2004-05-02	$2000.00	Window Closed / Lapsed
7.5 Years (Year 8)	2007-05-02	2007-11-01	2008-05-02	$3760.00	Window Closed / Lapsed
11.5 Years (Year 12)	2011-05-02	2011-11-01	2012-05-02	$7700.00	Window Closed / Lapsed

Optical ranging camera

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