US 11,881,129 B2
Systems and methods for adding persistence to single photon avalanche diode imagery
Raymond Kirk Price, Redmond, WA (US); Michael Bleyer, Seattle, WA (US); and Christopher Douglas Edmonds, Carnation, WA (US)
Assigned to Microsoft Technology Licensing, LLC, Redmond, WA (US)
Filed by Microsoft Technology Licensing, LLC, Redmond, WA (US)
Filed on Apr. 30, 2021, as Appl. No. 17/246,516.
Prior Publication US 2022/0351650 A1, Nov. 3, 2022
Int. Cl. G08B 5/22 (2006.01); G09F 9/33 (2006.01); G06T 7/207 (2017.01); G06T 7/70 (2017.01); G06V 10/25 (2022.01); G06V 10/75 (2022.01); H01L 31/107 (2006.01)
CPC G09F 9/33 (2013.01) [G06T 7/207 (2017.01); G06T 7/70 (2017.01); G06V 10/25 (2022.01); G06V 10/7557 (2022.01); H01L 31/107 (2013.01); G09G 2320/06 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A system for adding persistence to single photon avalanche diode (SPAD) imagery, the system comprising:
a SPAD array comprising a plurality of SPAD pixels;
an inertial measurement unit (IMU) configured to capture pose data;
one or more processors; and
one or more hardware storage devices storing instructions that are executable by the one or more processors to configure the system to add persistence to SPAD imagery by configuring the system to:
capture, using the SPAD array, a plurality of image frames;
capture, using the IMU, pose data associated with the plurality of image frames, the pose data comprising at least respective pose data associated with each of the plurality of image frames;
determine a persistence term based on the pose data, wherein the persistence term comprises a weighting term and one or more terms defining (i) alpha blending or (ii) smoothness; and
generate a composite image based on the plurality of image frames, the respective pose data associated with each of the plurality of image frames, and the persistence term, wherein the persistence term defines a contribution of each of the plurality of image frames to the composite image.