US 12,407,804 B2
Motion correction for time-of-flight depth imaging
Ling Zhu, Jilin (CN); and Sergio Ortiz Egea, San Jose, CA (US)
Assigned to Microsoft Technology Licensing, LLC, Redmond, WA (US)
Filed by Microsoft Technology Licensing, LLC, Redmond, WA (US)
Filed on Mar. 14, 2022, as Appl. No. 17/654,754.
Prior Publication US 2023/0291886 A1, Sep. 14, 2023
Int. Cl. H04N 13/268 (2018.01); H04N 13/122 (2018.01); H04N 13/128 (2018.01); H04N 13/133 (2018.01)
CPC H04N 13/268 (2018.05) [H04N 13/122 (2018.05); H04N 13/128 (2018.05); H04N 13/133 (2018.05)] 12 Claims
OG exemplary drawing
 
1. A depth camera, comprising:
a time-of-flight (ToF) image sensor configured to acquire depth image data at two or more illumination light modulation frequencies;
a logic machine; and
a storage machine storing instructions executable by the logic machine to
receive depth image data for an image frame from the ToF image sensor, the depth image data comprising phase data for a first modulation frequency and phase data for a second modulation frequency of the two or more illumination light modulation frequencies, the depth image data further comprising active brightness data for the first modulation frequency and active brightness data for the second modulation frequency,
based at least on the active brightness data for the first modulation frequency, determine a first two-dimensional (2D) active brightness image,
based at least on the active brightness data for the second modulation frequency, determine a second 2D active brightness image,
determine an intraframe 2D translation based at least upon a comparison between the first 2D active brightness image and the second 2D active brightness image,
determine corrected phase data based on the intraframe 2D translation to form corrected phase data,
perform phase unwrapping on the corrected phase data to obtain a three-dimensional (3D) depth image, and
output the 3D depth image.