TIME-OF-FLIGHT DEPTH MAPPING WITH FLEXIBLE SCAN PATTERN

The present invention provides discloses an imaging apparatus (20). The imaging apparatus (20) includes an image sensor (24), which acquires an image of a scene, and a scanner (22), which includes anoptical transmitter (34), which emits a sequence of optical pulses toward the scene, and an optical receiver (48), which receives the optical pulses reflected from the scene and generates an output indicative of respective times of flight of the pulses. Scanning optics (40, 44) are configured to scan the optical pulses over the scene in a scan pattern (32) that covers and is contained within a non-rectangular area within the scene. A processor (26, 54) identifies an object (30) in the image of the scene, defines the non-rectangular area so as to contain the identified object, and processes theoutput of the optical receiver so as to extract a three-dimensional (3D) map of the object. 本发明公开了种成像装置(20)，该成像装置包括获取场景的图像的图像传感器(24)，和包括光发射器(34)的扫描器(22)，光发射器(34)发出朝向场景的光脉冲序列，以及光接收器(48)，其接收从该场景反射的光脉冲并生成指示该脉冲的相应飞行时间的输出。扫描光学器件(4