Virtual array method for 3d robotic vision

Abstract

A pulsed light source illuminates a scene with a virtual array of points. Light reflected by the scene is detected by a small pixel array, allowing generation of a three-dimensional map of the scene. A processing element processing data output by the small pixel array uses a multipath resolution algorithm to resolve individual objects in the scene.

What is claimed is: 
     
         1 . A system for three-dimensional robotic vision, comprising:
 a light source array including at least three light sources;   a diffractive optical element, configured to receive light from the light sources and project a spatial modulation pattern of light on a scene;   an imaging lens, configured to receive light and project the received light onto an M×N pixel array, where M and N are each less than the respective corresponding dimension of the spatial modulation pattern; and   a processing element coupled to the pixel array, and configured to generate a three-dimensional map of the scene responsive to information from the pixel array.   
     
     
         2 . The system of  claim 1 , wherein each of the light sources is configured to independently transmit light at the same wavelength. 
     
     
         3 . The system of  claim 2 , wherein the wavelength is in the infrared range. 
     
     
         4 . The system of  claim 1 , wherein the light source array generates light pulse sequences, each respective light pulse sequence generated at a different time. 
     
     
         5 . The system of  claim 4 , wherein the light source array includes lasers. 
     
     
         6 . The system of  claim 1 , wherein the optical element includes a diffractive optical element configured to receive light from the light source and diffract the light into the virtual array pattern. The system of  claim 1 , wherein the optical element includes a phased array. 
     
     
         8 . The system of  claim 1 , wherein the optical element includes an optical microelectromechanical system (MEMS). 
     
     
         9 . The system of  claim 1 , wherein the processing element is programmed with a multipath resolution algorithm. 
     
     
         10 . A method for three-dimensional robotic vision, comprising:
 transmitting light from a light source array that includes at least three light sources;   receiving, by a diffractive optical element, light from the light sources;   projecting a spatial modulation pattern of light onto a scene;   receiving, at an imaging lens, light reflected back from the scene;   projecting the light reflected back from the scene onto an M×N pixel array, where M and N are each less than the respective corresponding dimension of the spatial modulation pattern; and   generating, by a processing element, a three-dimensional map of the scene using information received from the pixel array.   
     
     
         11 . The method of  claim 10 , wherein each of the light sources is configured to independently transmit light at the same wavelength. 
     
     
         12 . The method of  claim 11 , wherein the wavelength is in the infrared range. 
     
     
         13 . The method of  claim 10 , wherein the light source array generates light pulse sequences, each of the respective light pulse sequences generated at different times. 
     
     
         14 . The method of  claim 13 , wherein the light source array includes lasers. 
     
     
         15 . The method of  claim 10 , wherein the optical element includes a phased array. 
     
     
         16 . The method of  claim 10 , wherein the optical element includes an optical microelectromechanical system (MEMS). 
     
     
         17 . The method of  claim 10 , wherein the processing element is programmed with a multipath resolution algorithm.