Systems and methods are disclosed for determining position and pose of as well as tracking an object in a physical environment based on the emission and sensing of light signals. The derived position, pose and tracking information may be used in a VR/AR environment. The disclosed systems and methods allow for the improved tracking of both active and passive devices. In addition, the disclosed systems and methods enable an arbitrary number of light sensors to be disposed on an object, thereby increasing accuracy and mitigating the effects of occlusion of certain light sensors. Position and pose estimates may be refined and tracked using a filter lattice responsive to changes in observed system states and/or settings. Further, data received from an inertial measurement unit may be used to increase tracking accuracy as well as position and pose determination itself.

An example method includes causing a light projecting system of the distance sensor to project a three-dimensional pattern onto an object, wherein the three-dimensional pattern comprises a plurality of points of light, causing a light receiving system of the distance sensor to capture an image of the three-dimensional pattern projected onto the object, calculating a first set of three-dimensional coordinates for a first point of the plurality of points of light, wherein the calculating is based on an appearance of the first point in the image and knowledge of a trajectory of the first point, retrieving a first distance measurement characteristic for the first point that is measured during a calibration of the distance sensor, appending the first distance measurement characteristic to the first set of three-dimensional coordinates, and outputting a set of data including the first set of three-dimensional coordinates appended with the distance measurement characteristic.

Techniques are described for time-of-fly sensors with hybrid refractive gradient-index optics. Some embodiments are for integration into portable electronic devices with cameras, such as smart phones. For example, a time-of-fly (TOF) imaging subsystem can receive optical information along an optical path at an imaging plane. A hybrid lens can be coupled with the TOF imaging subsystem and disposed in the optical path so that the imaging plane is substantially at a focal plane of the hybrid lens. The hybrid lens can include a less-than-quarter-pitch gradient index (GRIN) lens portion, and a refractive lens portion with a convex optical interface. The portions of the hybrid lens, together, produce a combined focal length that defines the focal plane. The hybrid lens is designed so that the combined focal length is less than a quarter-pitch focal length of the GRIN lens portion and has less spherical aberration than either lens portion.

A distance to a target to be read by image capture over a range of working distances is determined by directing an aiming light spot along an aiming axis to the target, and by capturing a first image of the target containing the aiming light spot, and by capturing a second image of the target without the aiming light spot. Each image is captured in a frame over a field of view having an imaging axis offset from the aiming axis. An image pre-processor compares first image data from the first image with second image data from the second image over a common fractional region of both frames to obtain a position of the aiming light spot in the first image, and determines the distance to the target based on the position of the aiming light spot in the first image.

A distance to a target to be read by image capture over a range of working distances is determined by directing an aiming light spot along an aiming axis to the target, and by capturing a first image of the target containing the aiming light spot, and by capturing a second image of the target without the aiming light spot. Each image is captured in a frame over a field of view having an imaging axis offset from the aiming axis. An image pre-processor compares first image data from the first image with second image data from the second image over a common fractional region of both frames to obtain a position of the aiming light spot in the first image, and determines the distance to the target based on the position of the aiming light spot in the first image.

Systems and methods are disclosed for determining position and pose of as well as tracking an object in a physical environment based on the emission and sensing of light signals. The derived position, pose and tracking information may be used in a VR/AR environment. The disclosed systems and methods allow for the improved tracking of both active and passive devices. In addition, the disclosed systems and methods enable an arbitrary number of light sensors to be disposed on an object, thereby increasing accuracy and mitigating the effects of occlusion of certain light sensors. Position and pose estimates may be refined and tracked using a filter lattice responsive to changes in observed system states and/or settings. Further, data received from an inertial measurement unit may be used to increase tracking accuracy as well as position and pose determination itself.

Systems and methods are disclosed for determining position and pose of as well as tracking an object in a physical environment based on the emission and sensing of light signals. The derived position, pose and tracking information may be used in a VR/AR environment. The disclosed systems and methods allow for the improved tracking of both active and passive devices. In addition, the disclosed systems and methods enable an arbitrary number of light sensors to be disposed on an object, thereby increasing accuracy and mitigating the effects of occlusion of certain light sensors. Position and pose estimates may be refined and tracked using a filter lattice responsive to changes in observed system states and/or settings. Further, data received from an inertial measurement unit may be used to increase tracking accuracy as well as position and pose determination itself.

A three-dimensional (3D) measuring system and a method of determining a distance is provided. A three-dimensional (3D) measuring system includes a master part having a first base part and a first part-under-test including a second base. A photogrammetry camera images the master part to generate two-dimensional (2D) images. A first 3D imager determines 3D coordinates in a first imager frame of reference. A second 3D imager determines 3D coordinates in a second imager frame of reference. The system determines in a system frame of reference a first pose of the first imager and a second pose of the second imager. The system is further configured to determine 3D coordinates of the first part-under-test in the system frame of reference.

A three-dimensional (3D) measuring system and a method of determining a distance is provided. A three-dimensional (3D) measuring system includes a master part having a first base part and a first part-under-test including a second base. A photogrammetry camera images the master part to generate two-dimensional (2D) images. A first 3D imager determines 3D coordinates in a first imager frame of reference. A second 3D imager determines 3D coordinates in a second imager frame of reference. The system determines in a system frame of reference a first pose of the first imager and a second pose of the second imager. The system is further configured to determine 3D coordinates of the first part-under-test in the system frame of reference.

An imaging device having an optical system including a free-form surface lens with rotationally asymmetric shape that forms an image on an imaging surface such that a resolution of a first region in front of the predetermined region is higher than a resolution of a second region at a lateral side of the predetermined region. The free-form surface lens has a shape that forms the image such that a resolution of a portion at a predetermined first distance away from a center of the first region in a vertical direction is different from a resolution of a portion at the predetermined first distance away from the center of the first region in a horizontal direction, the vertical direction being orthogonal to the horizontal direction, in the imaging element, in which the first region and the second region are aligned.