Patent Description:
<CIT>, <CIT>, and <CIT> describe various configurations of distance sensors. Such distance sensors may be useful in a variety of applications, including security, gaming, control of unmanned vehicles, and other applications.

The distance sensors described in these applications include light sources (e.g., lasers), diffractive optical elements, and/or other components which cooperate to project beams of light that create a pattern (e.g., a pattern of dots, dashes, or other artifacts) in a field of view. When the pattern is incident upon an object in the field of view, the distance from the sensor to the object can be calculated based on the appearance of the pattern (e.g., the positional relationships of the dots, dashes, or other artifacts) in one or more images of the field of view. The shape and dimensions of the object can also be determined. <CIT> proposes a system for measuring the 3D shape of an object. <CIT> proposes a method for optically scanning the 3D geometry of an object. <CIT> proposes a method for calculating a distance to an object. <CIT> proposes a device for raster-stereographic measurement of body surfaces.

Aspects of the present invention provide a method and a distance sensor, as set out by the appended set of claims.

The present disclosure broadly describes an apparatus, method, and non-transitory computer-readable medium for distance measurement using a longitudinal grid pattern. As discussed above, distance sensors such as those described in <CIT>, <CIT>, and <CIT> determine the distance to an object (and, potentially, the shape and dimensions of the object) by projecting beams of light that create a pattern (e.g., a pattern of dots, dashes, or other artifacts) in a field of view that includes the object. In some examples, the sensors include multiple "projection points," where a plurality of beams may be projected from each projection point. The plurality of beams may fan out to form a portion of the pattern. The appearance of the pattern may change with the distance to an object. For instance, if the pattern comprises a pattern of dots, the dots may appear closer to each other when the object is closer to the sensor, and may appear further away from each other when the object is further away from the sensor.

<FIG>, for example, is a schematic diagram illustrating elements of a distance sensor similar to the sensors described in <CIT>, <CIT>, and <CIT>. As illustrated, a sensor may include a lens <NUM> of an image capturing device. The field of view of the lens <NUM> may be denoted by f. The sensor may also include a plurality of projection points (e.g., formed by a combination of light sources, diffractive optical elements, and/or other components) arranged around the perimeter of the lens <NUM>; <FIG> illustrates one such projection point <NUM>, where other projection points may be similarly configured and placed at different positions around the lens <NUM>. The distance d from the central axis of the lens <NUM> to the central axis of the projection point <NUM> may also be referred to as a "baseline" of the sensor.

The projection point <NUM> projects a plurality of beams <NUM><NUM>-<NUM>n (hereinafter individually referred to as a "beam <NUM>" or collectively referred to as "beams <NUM>") of light, which fan out and form a pattern <NUM> of projection artifacts (e.g., dots, dashes, or the like) when the beams <NUM> are incident upon a surface. The plane of the pattern <NUM> may be parallel to the baseline d of the sensor. In the example illustrated in <FIG>, the projection artifacts are dots. <FIG> illustrates the pattern <NUM> as it appears at a first distance D1 from the baseline d and also as it appears at a second distance D2 from the baseline d.

All beams <NUM> projected from the same projection point <NUM> will move in the same direction along the baseline d, according to object distance as described above. However, as the number of beams <NUM> projected from the same projection point <NUM> increases, the trajectories (i.e., moving ranges) of the artifacts (e.g., dots) produced by the beams <NUM> may appear closer together and may, in some cases, even overlap.

The trajectory of a projection artifact is determined by the positional relationship between the distance sensor's projection optical system (e.g., the set of optics, including light sources, diffractive optical elements, and other components that projects the beams of light) and the light receiving optical system (e.g., the lens, image capturing device, and other components that capture images of the projection artifacts) in the planar (e.g., lateral) direction and the height direction (e.g., the direction perpendicular to the lateral direction). The trajectory of a projection artifact may appear as a radial pattern or a line and describes the movement of the projection artifact as the distance between the sensor and an object into which the projection pattern is projected varies. More specifically, the trajectory of a projection artifact describes the projection artifact's movement relative to the distance sensor's image capturing device with variations in distance.

<FIG>, for instance, illustrates the trajectories <NUM> for a plurality of dots that are part of an example pattern projected by a projection point of a distance sensor (e.g., such as projection point <NUM> of <FIG>). The unshaded dots represent the locations of the dots at a first distance from the sensor baseline, while the shaded dots represent the locations of the dots at a second distance from the sensor baseline. A line or trajectory <NUM> connecting an unshaded dot to a shaded dot represents that the unshaded dot and the shaded dot are the same dot, depicted at different distances from the sensor baseline. As shown in <FIG>, the trajectories <NUM> of some of the dots may overlap. Overlapping trajectories <NUM> are shown by the circles <NUM>. When overlap of trajectories <NUM> occurs, it may be difficult to determine which beams projected from the projection points correspond to which dots in the projection pattern. This, in turn, may complicate the distance measurement calculations, as accurate calculations may rely on the ability to identify the beams that created the dots that are visible in an image.

Thus, an increase in the number of beams projected from a projection point of a distance sensor may increase the likelihood that there will be overlap in the trajectories of the projection artifacts created by the beams (and therefor increase the difficulty of the distance calculations). On the other hand, a large number of beams is generally considered advantageous because it provides better spatial coverage of the sensor's field of view for distance calculation purposes. As an additional consideration, it may be desirable to keep the number of projection points to a minimum in order to minimize manufacturing costs, sensor size, and sensor failure due to component damage. To maintain spatial coverage with fewer projection points, though, it may be necessary to project a greater number of beams from the projection points.

Examples of the present disclosure provide a beam arrangement for a distance sensor that minimizes the overlap of projection artifact trajectories as the number of beams projected from the sensor projection points increases. In particular, examples of the disclosure provide patterns having a distribution of projection artifacts that balances the need for spatial coverage with the need to minimize overlap of projection artifact trajectories. Examples of the disclosed patterns may be achieved by projecting, from each projection point, a plurality of beams that fans out symmetrically (in at least the x and y directions) from a center beam.

As discussed above, the trajectory of a projection artifact may appear as a radial pattern or a line. Examples of the present disclosure consider the fact that both the projection artifact trajectory and the lines of a projection pattern including a plurality of projection artifacts may appear to be linear. As such, the positional relationship between the projection artifact and the image capturing device of the distance sensor, the direction of the center projection artifact, or the rotational phase of the projection pattern created by a plurality of projection artifacts can be adjusted to minimize the overlaps in the trajectories of a plurality of projection artifacts forming a projection pattern. Further examples of the present disclosure account for the fact that when the plane that forms the projection pattern is curved, the angle formed by a projection artifact trajectory and the lines of the projection pattern may change gradually, which makes uniform elimination of trajectory overlap over the entire projection pattern more challenging.

Examples of the present disclosure describe a projection pattern (i.e., a pattern created by a plurality of projection artifacts) that has a generally rectangular shape, where the projection artifacts are arranged in a plurality of rows and columns. In this context, the projection artifact that lies in the center of the projection pattern may be considered the "origin" of the projection pattern. The row that intersects the origin may be referred to as the "latitude" line of the projection pattern, while the column that intersects the origin may be referred to as the "longitude" line of the projection pattern. Further examples of the present disclosure may adjust the angle of projection of one or more beams from a projection point so that one or more of the latitude and longitude lines of a projection pattern is rotated by a predetermined angle to achieve an adjusted projection pattern that minimizes overlap of projection artifact trajectories.

<FIG> illustrates a side view of one example of an arrangement of beams projected from a projection point <NUM>, while <FIG> illustrates a head-on view of the projection pattern <NUM> created by the arrangement of beams of <FIG>. In the example of <FIG>, the arrangement of beams is projected onto a spherical surface <NUM>, i.e., a surface having a rounded (non-flat) shape.

As illustrated, the projection point <NUM> projects a plurality of beams <NUM><NUM>-<NUM>m (hereinafter individually referred to as a "beam <NUM>" or collectively referred to as "beams <NUM>"). The plurality of beams <NUM> includes a center beam <NUM>i. The remaining beams <NUM> fan out from the center beam <NUM>i in both directions along the x axis and in both direction along the y axis. In order to simplify the drawings, the beams <NUM> that may reside between the first beam <NUM><NUM> and the center beam <NUM>i, and between the center beam <NUM>i and the last beam <NUM>m, are not illustrated in <FIG>.

The resultant pattern <NUM> created by the plurality of beams <NUM> comprises a plurality of projection artifacts (e.g., dots) arranged in a rectangular grid, as shown in <FIG>. Rows of the grid extend along the x axis of the illustrated coordinate system, while columns of the grid extend along the y axis. The rows and columns are arranged in an azimuth corresponding to the x axis and y axis from the center beam <NUM>i at intervals according to a predefined rule (e.g., equal angular intervals, equal sine value intervals, etc.).

The projection artifacts may be arranged in a staggered pattern (e.g., where each row or column is offset from the adjacent rows or columns, so that all projection artifacts along a row or along a column may not be collinear) or in a continuous pattern (e.g., where each row or column is aligned with the adjacent rows or columns, so that all projection artifacts along a row or along a column are collinear). Whether the pattern of projection artifacts is staggered or continuous, the pattern is regular (i.e., the placement of projection artifacts is regular rather than random) and may extend outward from a center projection artifact <NUM> created by the center beam <NUM>i. The center projection artifact <NUM> lies at the intersection of a "longitude line" <NUM> (or central column) and a "latitude line" <NUM> (or center row) and may be considered the "origin" of the pattern <NUM>.

In one example, when the pattern <NUM> is being projected onto a spherical surface <NUM>, the longitude line <NUM> may be rotated by a first predetermined angle around the y axis. Alternatively or in addition, the latitude line <NUM> may be rotated by a second predetermined angle around the x axis. This is shown in <FIG>, where the shape of the pattern <NUM> curves to confirm to the rounded shape of the spherical surface <NUM>.

Since the spherical surface <NUM> onto which the central projection artifact <NUM>, the rotated longitude line <NUM>, and/or rotated latitude line <NUM> are projected is always a plane, each row or column of the pattern <NUM> will comprise a plane that passes through the central projection artifact <NUM>. As shown in <FIG>, which illustrates a simplified, isometric view of the projection pattern <NUM> illustrated in <FIG>, each line of projection artifacts that is projected onto the plane of the spherical surface <NUM> will become a straight line.

In the example illustrated in <FIG>, the surface formed by the projection point <NUM> and the latitude line of the pattern <NUM> is conical (with the projection point <NUM> as the summit or narrow end of the cone), while the surface formed by the projection point <NUM> and the longitude line of the pattern <NUM> is a flat or planar surface. This is why the grid lines formed by the projection points become curved lines. Grid lines arranged on the longitude line are straight lines, while rectangular shapes (angles formed by respective lines) are uniform with respect to the difference of a three-dimensional position. In one example, the distance from the distance sensor to an object, according to the example projection pattern <NUM>, corresponds to the radius of the spherical surface <NUM> centered on the principal point of the lens of the distance sensor. The sensor may be positioned in the center of a plurality of projection points including the projection point <NUM>, and the principal point may be the front nodal point of the sensor's lens.

<FIG> illustrates the general shape of the projection pattern <NUM> of <FIG> in a hemispherical field of view. More specifically, <FIG> illustrates the orientations of the projection pattern's grid lines relative to the projection point <NUM>. As illustrated, the projection pattern <NUM> may be adjusted by rotating one or more of the latitude line <NUM> and the longitude line <NUM> by predetermined angles η and θ, respectively. η and θ may be equal or unequal, depending upon the application and the shape of the object onto which the projection pattern <NUM> is to be projected.

For instance, the latitude line <NUM> may be shifted in the y direction (i.e., in a direction along the y axis) to a new position <NUM>. In one example, the shift of the latitude line <NUM> to the new position <NUM> is accomplished by rotating the latitude line <NUM> by an angle of η.

The longitude line <NUM> may be shifted in the x direction (i.e., in a direction along the x axis) to a new position <NUM>. In one example, the shift of the longitude line <NUM> to the new position <NUM> is accomplished by rotating the longitude line <NUM> by an angle of θ.

<FIG> illustrates a few of the example projection artifacts that may be created by this beam layout. In addition to the center projection artifact <NUM>, which lies at an intersection of the original positions of the latitude line <NUM> (for which η =<NUM>) and the longitude line <NUM> (for which θ=<NUM>), the following projection artifacts are also shown: projection artifact <NUM>, which lies at coordinates of (θ, η) from the center projection artifact <NUM> (e.g., is shifted in both the x and y directions) and represents a new position of the center projection artifact <NUM> in the adjusted pattern; projection artifact <NUM>, which lies at coordinates (θ, <NUM>); and projection artifact <NUM>, which lies at coordinates (<NUM>, η).

<FIG> illustrates a side view of one example of an arrangement of beams projected from a projection point <NUM>, while <FIG> illustrates a head-on view of the projection pattern <NUM> created by the arrangement of beams of <FIG>. In the example of <FIG>, the arrangement of beams is projected onto a flat surface <NUM>.

The projection artifacts may be arranged in a staggered pattern (e.g., where each row or column is offset from the adjacent rows or columns, so that all projection artifacts along a row or along a column may not be collinear) or in a continuous pattern (e.g., where each row or column is aligned with the adjacent rows or columns, so that all projection artifacts along a row or along a column are collinear). Whether the pattern of projection artifacts is staggered or continuous, the pattern is regular (i.e., the placement of projection artifacts is regular rather than random) may extend outward from a center projection artifact <NUM> created by the center beam <NUM>i. The center projection artifact <NUM> lies at the intersection of a longitude line <NUM> and a latitude line <NUM> and may be considered the "origin" of the pattern <NUM>.

<FIG> illustrates a head-on view of the trajectories <NUM> of the projection artifacts of <FIG> when the pattern <NUM> of <FIG> is projected onto the flat surface <NUM>. As illustrated, the trajectories <NUM> do not overlap.

<FIG> also shows a position of the lens <NUM> in relation to the projection point <NUM>. As shown by the baseline <NUM>, the projection point <NUM> is positioned some distance a in the radial or x direction from the lens <NUM>. However, in the y direction, there is zero difference between the position of the projection point <NUM> and the lens. In other words, the lens <NUM> and the projection point <NUM> may be mounted in the same plane, e.g., such that the projection point <NUM> is level with the principal point (e.g., front nodal point) of the lens's image capturing device in the direction of the image capturing device's optical axis.

<FIG> illustrates a side view of the projection pattern <NUM> of <FIG> projected onto a flat surface <NUM>, while <FIG> illustrates a head-on view of the projection pattern <NUM> of <FIG> projected onto the flat surface <NUM>. As illustrated in <FIG>, unlike when the pattern <NUM> is projected onto the flat surface <NUM>, the pattern <NUM> bends. As discussed in connection with <FIG>, below, this may cause the trajectories of the projection artifacts to overlap. This stands in contrast to the example of <FIG>, where the pattern <NUM> is projected onto the spherical surface <NUM> and maintains its generally rectangular grid shape.

<FIG> illustrates a head-on view of the trajectories <NUM> of the projection artifacts of <FIG> when the pattern <NUM> of <FIG> is projected onto the flat surface <NUM>. As illustrated, the trajectories <NUM> overlap when projected onto the flat surface <NUM>.

<FIG> also shows a position of the lens <NUM> in relation to the projection point <NUM>. As shown by the baseline <NUM>, the projection point <NUM> is positioned some distance a in the radial or x direction from the lens <NUM>. However, in the y direction, there is zero difference between the position of the projection point <NUM> and the lens <NUM>. In other words, the lens <NUM> and the projection point <NUM> may be mounted in the same plane, e.g., such that the projection point <NUM> is level with the principal point (e.g., front nodal point) of the lens's image capturing device in the direction of the image capturing device's optical axis.

<FIG> illustrates a few of the example projection artifacts that may be created by this beam layout. In addition to the center projection artifact <NUM>, which lies at an intersection of the original positions of the latitude line <NUM> (for which θ=<NUM>) and the longitude line <NUM> (for which η=<NUM>), the following projection artifacts are also shown: projection artifact <NUM>, which lies at coordinates of (θ, η) from the center projection artifact <NUM> (e.g., is shifted in both the x and y directions) and represents a new position of the center projection artifact <NUM> in the adjusted pattern; projection artifact <NUM>, which lies at coordinates (<NUM>, η); and projection artifact <NUM>, which lies at coordinates (θ, <NUM>).

The projection artifacts may be arranged in a staggered pattern (e.g., where each row or column is offset from the adjacent rows or columns, so that all projection artifacts along a row or along a column may not be collinear) or in a continuous pattern (e.g., where each row or column is aligned with the adjacent rows or columns, so that all projection artifacts along a row or along a column are collinear).

Whether the pattern of projection artifacts is staggered or continuous, the pattern is regular (i.e., the placement of projection artifacts is regular rather than random) may extend outward from a center projection artifact <NUM> created by the center beam <NUM>i. The center projection artifact <NUM> lies at the intersection of a longitude line <NUM> and a latitude line <NUM> and may be considered the "origin" of the pattern <NUM>.

In one example, when the pattern <NUM> is being projected onto a spherical surface <NUM> centered on the center projection artifact <NUM>, the pattern <NUM> may take a shape that resembles looking directly at the longitude (e.g., meridian) and latitude (e.g., equator) lines of the Earth from just above the Earth's equator, as shown in <FIG>.

<FIG> illustrates a side view of the projection pattern <NUM> of <FIG> projected onto a flat surface, while <FIG> illustrates a head-on view of the projection pattern <NUM> of <FIG> projected onto a flat surface.

<FIG> illustrates an example projection beam alignment of the present disclosure. In particular, <FIG> illustrates various components of a distance sensor, including the front nodal point <NUM> of the lens/image capturing device, a first projection point <NUM><NUM>, and a second projection point <NUM><NUM>.

As illustrated, the front nodal point <NUM> is positioned a lateral distance (e.g., along the x axis) a from each of the first projection point <NUM><NUM> and the second projection point <NUM><NUM>. The first projection point <NUM><NUM> and the second projection point <NUM><NUM> are positioned a distance b behind (e.g., along the z axis) the front nodal point <NUM>. Moreover, an angle of ω is defined between the first projection point <NUM><NUM> and the second projection point <NUM><NUM> (and between any other projection points that may be part of the distance sensor).

Taking the first projection point <NUM><NUM> as an example, the first projection point <NUM><NUM> projects a plurality of beams of light, including a center beam <NUM>. For the sake of simplicity, only the center beam <NUM> is illustrated in <FIG>. The center beam <NUM> creates a center projection artifact <NUM> of a projection pattern that is created by the plurality of beams. For the sake of simplicity, only the center projection artifact <NUM> is illustrated in <FIG>.

The orientation of the center beam <NUM> relative to the first projection point <NUM><NUM> may be described by a plurality of angles. For instance, an angle of α may be defined between a plane <NUM> defined by the center beam <NUM> and a radial line <NUM> passing through the central axis <NUM> of the front nodal point <NUM> and the first projection point <NUM><NUM>.

A rolling axis ε shows how the center beam <NUM> may be rotated to adjust the position of the center projection artifact <NUM>. The center beam may be rotated by an angle of θ along the y axis and/or by an angle of η along the x axis. Moreover, and angle of δ is defined between the center beam <NUM> and a line that passes through the first projection point <NUM><NUM> at an angle that is parallel to the central axis <NUM> of the front nodal point <NUM>.

<FIG> illustrates a flow diagram of an example method <NUM> for calculating the distance from a sensor to an object. In one embodiment, the method <NUM> may be performed by a processor integrated in an imaging sensor (such as any an imaging sensor of a distance sensor) or a general purpose computing device as illustrated in <FIG> and discussed below.

The method <NUM> begins in step <NUM>. In step <NUM>, a projection pattern may be projected onto an object from a projection point of a distance sensor. As discussed above, the projection pattern may be created by projecting a plurality of beams from the projection point such that, when the plurality of beams is incident upon the object, a pattern of projection artifacts (e.g., dots, dashes, x's or the like) is visible at least by an imaging sensor. The pattern may comprise a rectangular grid into which the projection artifacts are arranged (e.g., as a plurality of rows and a plurality of columns).

As also discussed above, a center projection artifact of the projection pattern is created at an intersection of a longitude line (e.g., center column) and a latitude line (e.g., center row) of the projection pattern.

In step <NUM>, an angle at which at least one of the longitude line and the latitude line is projected may be rotated by a predefined amount to adjust a shape of the projection pattern, resulting in an adjusted projection pattern being projected onto the object. In one example, the shape of the projection pattern is adjusted to compensate for a shape of the object onto which the projection pattern is projected. For instance, if the object has a spherical or rounded surface, the projection pattern may appear distorted if not properly adjusted. This distortion may cause the trajectories of some projection artifacts to overlap. In one example, the longitude line may be rotated from its original position by a first predetermined angle, while the latitude line is rotated from its original position by a second predetermined angle. The first predetermined angle and the second predetermine dangle may be equal or unequal.

In step <NUM>, at least one image of the object may be captured. At least a portion of the adjusted projection pattern may be visible on the surface of the object.

In step <NUM>, the distance from the distance sensor to the object may be calculated using information from the image(s) captured in step <NUM>. In one embodiment, a triangulation technique is used to calculate the distance. For example, the positional relationships between the plurality of projection artifacts that make up the projection pattern can be used as the basis for the calculation.

The method <NUM> ends in step <NUM>. The method <NUM> may be repeated (either in parallel or sequentially) for additional projection points of the distance sensor.

It should be noted that although not explicitly specified, some of the blocks, functions, or operations of the method <NUM> described above may include storing, displaying and/or outputting for a particular application. In other words, any data, records, fields, and/or intermediate results discussed in the method <NUM> can be stored, displayed, and/or outputted to another device depending on the particular application. Furthermore, blocks, functions, or operations in <FIG> that recite a determining operation, or involve a decision, do not imply that both branches of the determining operation are practiced. In other words, one of the branches of the determining operation may not be performed, depending on the results of the determining operation.

<FIG> depicts a high-level block diagram of an example electronic device <NUM> for calculating the distance from a sensor to an object. As such, the electronic device <NUM> may be implemented as a processor of an electronic device or system, such as a distance sensor.

As depicted in <FIG>, the electronic device <NUM> comprises a hardware processor element <NUM>, e.g., a central processing unit (CPU), a microprocessor, or a multi-core processor, a memory <NUM>, e.g., random access memory (RAM) and/or read only memory (ROM), a module <NUM> for calculating the distance from a sensor to an object, and various input/output devices <NUM>, e.g., storage devices, including but not limited to, a tape drive, a floppy drive, a hard disk drive or a compact disk drive, a receiver, a transmitter, a display, an output port, an input port, and a user input device, such as a keyboard, a keypad, a mouse, a microphone, and the like.

Although one processor element is shown, it should be noted that the electronic device <NUM> may employ a plurality of processor elements. Furthermore, although one electronic device <NUM> is shown in the figure, if the method(s) as discussed above is implemented in a distributed or parallel manner for a particular illustrative example, i.e., the blocks of the above method(s) or the entire method(s) are implemented across multiple or parallel electronic devices, then the electronic device <NUM> of this figure is intended to represent each of those multiple electronic devices.

It should be noted that the present disclosure can be implemented by machine readable instructions and/or in a combination of machine readable instructions and hardware, e.g., using application specific integrated circuits (ASIC), a programmable logic array (PLA), including a field-programmable gate array (FPGA), or a state machine deployed on a hardware device, a general purpose computer or any other hardware equivalents, e.g., computer readable instructions pertaining to the method(s) discussed above can be used to configure a hardware processor to perform the blocks, functions and/or operations of the above disclosed method(s).

In one example, instructions and data for the present module or process <NUM> for calculating the distance from a sensor to an object, e.g., machine readable instructions can be loaded into memory <NUM> and executed by hardware processor element <NUM> to implement the blocks, functions or operations as discussed above in connection with the method <NUM>. Furthermore, when a hardware processor executes instructions to perform "operations", this could include the hardware processor performing the operations directly and/or facilitating, directing, or cooperating with another hardware device or component, e.g., a co-processor and the like, to perform the operations.

The processor executing the machine readable instructions relating to the above described method(s) can be perceived as a programmed processor or a specialized processor. As such, the present module <NUM> for calculating the distance from a sensor to an object of the present disclosure can be stored on a tangible or physical (broadly non-transitory) computer-readable storage device or medium, e.g., volatile memory, non-volatile memory, ROM memory, RAM memory, magnetic or optical drive, device or diskette and the like. More specifically, the computer-readable storage device may comprise any physical devices that provide the ability to store information such as data and/or instructions to be accessed by a processor or an electronic device such as a computer or a controller of a safety sensor system.

Claim 1:
A method (<NUM>), comprising:
projecting (<NUM>) a projection pattern onto a spherical surface of an object from a projection point of a distance sensor, wherein the projection pattern is created by a plurality of beams of light projected from the projection point, wherein the plurality of beams of light creates a plurality of projection artifacts that is arranged in a grid on the spherical surface of the object, wherein a center projection artifact of the plurality of projection artifacts lies at an intersection of a longitude line of the grid and a latitude line of the grid , wherein each projection artifact of the plurality of projection artifacts has a trajectory, and wherein the trajectory of a given projection artifact of the plurality of projection artifacts describes a movement of the given projection artifact on the surface of the object as the distance from a baseline of the distance sensor to the object changes, wherein the baseline of the distance sensor comprises a lateral distance between a central axis of the projection point and a central axis of a lens of the distance sensor;
adjusting (<NUM>) a projection of the plurality of beams so that at least one of the longitude line and the latitude line is rotated from an original position to a new position that results in a shape of the projection pattern on the spherical surface curving to conform to the spherical surface, wherein the curving minimizes an overlap of the trajectory of the given projection artifact with a trajectory of another projection artifact of the plurality of projection artifacts;
capturing (<NUM>) an image of the object, including at least a portion of the projection pattern after the adjusting; and
calculating (<NUM>) a distance from the distance sensor to the object using information from the image.