Energy-efficient epipolar imaging is applied to the ToF domain to significantly expand the versatility of ToF sensors. The described system exhibits 15+ m range outdoors in bright sunlight; robustness to global transport effects such as specular and diffuse inter-reflections; interference-free 3D imaging in the presence of many ToF sensors, even when they are all operating at the same optical wavelength and modulation frequency; and blur- and distortion-free 3D video in the presence of severe camera shake. The described embodiments are broadly applicable in consumer and robotics domains.

A system uses range and Doppler velocity measurements from a lidar system and images from a video system to estimate a six degree-of-freedom trajectory of a target. The system estimates this trajectory in two stages: a first stage in which the range and Doppler measurements from the lidar system along with various feature measurements obtained from the images from the video system are used to estimate first stage motion aspects of the target (i.e., the trajectory of the target); and a second stage in which the images from the video system and the first stage motion aspects of the target are used to estimate second stage motion aspects of the target. Once the second stage motion aspects of the target are estimated, a three-dimensional image of the target may be generated.

A system uses range and Doppler velocity measurements from a lidar system and images from a video system to estimate a six degree-of-freedom trajectory of a target. The system estimates this trajectory in two stages: a first stage in which the range and Doppler measurements from the lidar system along with various feature measurements obtained from the images from the video system are used to estimate first stage motion aspects of the target (i.e., the trajectory of the target); and a second stage in which the images from the video system and the first stage motion aspects of the target are used to estimate second stage motion aspects of the target. Once the second stage motion aspects of the target are estimated, a three-dimensional image of the target may be generated.

Cost-effective, spatially representative image data is recording in a stereoscopic or photogrammetric image of an environment by a camera apparatus having three holographic-optical elements arranged as coupling regions at different positions on a carrier medium to capture the environment from different perspectives. Light from the environment is coupled by the coupling regions into the carrier medium which provides a light guide that transfers the light to an additional holographic-optical element which provides a decoupling region to decouple the light from the carrier medium. An image capture device captures the decoupled light and produces image data therefrom. A separating device produces the spatially representative image data from the image data by capturing the light incident on the coupling regions in a manner separated temporally or by color.

Cost-effective, spatially representative image data is recording in a stereoscopic or photogrammetric image of an environment by a camera apparatus having three holographic-optical elements arranged as coupling regions at different positions on a carrier medium to capture the environment from different perspectives. Light from the environment is coupled by the coupling regions into the carrier medium which provides a light guide that transfers the light to an additional holographic-optical element which provides a decoupling region to decouple the light from the carrier medium. An image capture device captures the decoupled light and produces image data therefrom. A separating device produces the spatially representative image data from the image data by capturing the light incident on the coupling regions in a manner separated temporally or by color.

An imaging system may comprise a first lens and a second lens; at least one light valve; and an image sensor in optical communication with the light valve. The first lens may be in optical communication with the light valve; and the second lens may be in optical communication with the light valve. The light valve may be configured to have a first polarization state and a second polarization state. The first polarization state may allow light to pass through the light valve and the second polarization state may reflect light that strikes the light valve.

An imaging system may comprise a first lens and a second lens; at least one light valve; and an image sensor in optical communication with the light valve. The first lens may be in optical communication with the light valve; and the second lens may be in optical communication with the light valve. The light valve may be configured to have a first polarization state and a second polarization state. The first polarization state may allow light to pass through the light valve and the second polarization state may reflect light that strikes the light valve.

Aspects of the disclosure relate to an apparatus including multiple image sensors sharing one or more optical paths for imaging. An example method includes identifying whether a device including a first aperture, a first image sensor, a second image sensor, and an optical element is to be in a first device mode or a second device mode. The method also includes controlling the optical element based on the identified device mode. The optical element directs light from the first aperture to the first image sensor in a first optical element mode. Light from the first aperture is directed to the second image sensor when the optical element is in the second optical element mode.

A method and a system for broadband coded aperture light field imaging of an object, the method comprising illuminating the object with a broadband light source; imaging a broadband light emitted by the illuminated object and forming a first image of the object on an intermediate image plane, relaying the first image to a final image plane and forming a final image of the object on a camera placed at the final image plane. The system comprises a broadband light source that illuminates the object; a first and a second digital micromirror devices; a first 4f imaging system and a second 4f imaging system, symmetrical about an intermediate image plane, that image images broadband light from the illuminated object on the intermediate image plane and on a final image plane; and a high speed camera that captures images at the final image plane, the first digital micromirror device induced spatial dispersion being compensated by the second digital micromirror device, both digital micromirror devices being placed at the Fourier plane of the system.

Methods, an apparatus, and software media are provided for removing unwanted information such as moving or temporary foreground objects from a video sequence. The method performs, for each pixel, a statistical analysis to create a background data model whose color values can be used to detect and remove the unwanted information. The method assumes that for each pixel the background is present in a majority of the frames. The camera that records the video sequence may move relative to the geometry of the video scene. A pixel in a first frame is matched to a location in the geometry. The method determines color values of pixels, matched to the location in the geometry, in successive frames and clusters color values to determine a background color value range. It may use quadratic or better interpolation and extrapolation to determine background color values for unavailable frames.