US 10,891,749 B2
Depth mapping
David Charles William Richards, Cambridge (GB)
Assigned to Cambridge Mechatronics Limited, Cambridge (GB)
Appl. No. 16/348,207
Filed by Cambridge Mechatronics Limited, Cambridge (GB)
PCT Filed Nov. 24, 2017, PCT No. PCT/GB2017/053537
§ 371(c)(1), (2) Date May 8, 2019,
PCT Pub. No. WO2018/096347, PCT Pub. Date May 31, 2018.
Claims priority of application No. 1619921.8 (GB), filed on Nov. 24, 2016.
Prior Publication US 2019/0325596 A1, Oct. 24, 2019
Int. Cl. G01S 17/89 (2020.01); G06T 7/557 (2017.01); G06T 7/521 (2017.01); G01S 17/46 (2006.01); G06F 9/38 (2018.01)
CPC G06T 7/557 (2017.01) [G01S 17/46 (2013.01); G01S 17/89 (2013.01); G06F 9/3877 (2013.01); G06T 7/521 (2017.01)] 15 Claims
OG exemplary drawing
 
1. A device for depth mapping of an object, the device comprising:
an emitter comprising a laser for emitting radiation and an optical component for transmitting the radiation to the object and from which reflected radiation is reflected from a surface of the object for measuring a distance of the device relative to the object and generating a depth map of the object;
a depth mapping processor unit that executes software to generate the depth map from the reflected radiation;
a shape memory alloy (SMA) actuator arranged to change the relative position and/or relative orientation of the optical component to the laser to control a position of the radiation on the object; and
a control processor unit that executes software to:
receive information relating to change in the location and/or orientation of the device relative to the object during use of the device; and
instruct the SMA actuator to change the relative position and/or relative orientation of the optical component to the laser so as to compensate for and reduce the extent to which a change in the location and/or orientation of the device relative to the object during use of the device affects measurement of the distance of the device relative to the object, the position of the radiation on the object, and the depth map of the object generated by the depth mapping processor unit from the reflected radiation.