Systems, methods, and apparatuses for implementing maximum likelihood image binarization in a coded light range camera

摘要

In accordance with disclosed embodiments, there are provided systems, methods, and apparatuses for implementing maximum likelihood image binarization in a coded light range camera. For instance, a depth camera is described having therein a projector to project a collection of planes, each at a different angle of projection, onto a scene via a plurality of coded pattern images, each of the coded pattern images having encoded therein via a plurality of stripes, the angle of projection for the plane of projection within which the respective coded pattern image is projected; a detector to capture the plurality of coded pattern images from the scene; a processing component to adjust for ambient illumination and reflection properties of the scene; in which the processing component to further output a bit value for each pixel in the captured plurality of coded pattern images and to output a sub-pixel offset for the pixels positioned upon transitions of the plurality of stripes in the captured plurality of coded pattern images; a decoder to decode each of the plurality of coded pattern images and to adjust the decoded plurality of coded image patterns based on the sub-pixel offsets to determine the angle of projection for the corresponding plane of projection; and a triangulator to determine a position of an object in the scene based on an intersection of the determined angle of projection for the corresponding plane of projection with a known ray emanating from the detector that detected the plurality of the coded pattern images from the scene. Other related embodiments are disclosed.