Depth estimation based on event sensor

Various implementations disclosed herein include techniques for estimating depth using sensor data indicative of changes in light intensity. In one implementation, a method includes obtaining a pixel event output by an event sensor corresponding to a scene disposed within a field of view of the event sensor. Each respective pixel event is generated in response to a particular pixel sensor within the array of pixels of the event sensor detecting a change in light intensity exceeding a comparator threshold. The mapping data is generated by associating the pixel events with a plurality of illumination patterns projected by the optical system toward the scene. Depth data of the scene relative to a reference location is determined based on the mapping data. 本文所公开的各种具体实施包括用于使用指示光强度变化的传感器数据来估计深度的技术。在一个具体实施中，一种方法包括：获取由事件传感器输出的对应于设置在该事件传感器的视场内的场景的像素事件。每个相应像素事件是响应于该事件传感器的像素阵列内的特定像素传感器检测到超过比较器阈值的光强度变化而生成的。映射数据是通过将这些像素事件与由光学系统朝向该场景投射的多个照明图案关联而生成。基于该映射数据确定该场景相对于参考位置的深度数据。