US 11,972,586 B2
Agile depth sensing using triangulation light curtains
Srinivasa Narasimhan, Pittsburgh, PA (US); Joseph Bartels, Pittsburgh, PA (US); William L Whittaker, Pittsburgh, PA (US); and Jian Wang, Pittsburgh, PA (US)
Assigned to Carnegie Mellon University, Pittsburgh, PA (US)
Appl. No. 17/601,780
Filed by CARNEGIE MELLON UNIVERSITY, Pittsburgh, PA (US)
PCT Filed Sep. 25, 2019, PCT No. PCT/US2019/052854
§ 371(c)(1), (2) Date Oct. 6, 2021,
PCT Pub. No. WO2020/214201, PCT Pub. Date Oct. 22, 2020.
Application 17/601,780 is a continuation in part of application No. 16/470,885, granted, now 11,493,634, previously published as PCT/US2019/021569, filed on Mar. 11, 2019.
Application 16/470,885 is a continuation in part of application No. 15/545,391, granted, now 10,359,277, issued on Jul. 23, 2019, previously published as PCT/US2016/017942, filed on Feb. 15, 2016.
Claims priority of provisional application 62/920,178, filed on Apr. 17, 2019.
Claims priority of provisional application 62/761,479, filed on Mar. 23, 2018.
Claims priority of provisional application 62/176,352, filed on Feb. 13, 2015.
Prior Publication US 2022/0207761 A1, Jun. 30, 2022
Int. Cl. G06T 7/521 (2017.01); G01B 11/25 (2006.01); G01S 17/48 (2006.01); G01S 17/89 (2020.01)
CPC G06T 7/521 (2017.01) [G01B 11/2513 (2013.01); G01S 17/48 (2013.01); G01S 17/89 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
a light source for creating a light sheet plane;
a line sensor having an adjustable region of interest for sensing a line in a sensing plane, the sensed line being defined by an intersection of the light sheet plane and the sensing plane;
a processor; and
software executed by the processor for performing the functions of:
sampling a scene along a non-uniform plurality of sensed lines in the scene;
discovering one or more objects in the scene at one or more of the plurality of sensed lines;
increasing the density of the sensed lines in areas of the scene containing the one or more discovered objects to create one or more adaptive curtains of sensed lines.