Patent ID: 8717417

Claim:
Imaging apparatus, comprising: an illumination subassembly, which is configured to project onto an object a pattern of monochromatic optical radiation in an infrared (IR) wavelength band; an imaging subassembly comprising: an image sensor, which comprises an array of detector elements and is configured to capture: a first, monochromatic image of the pattern on the object by receiving the monochromatic optical radiation reflected from the object; a second, color image of the object by receiving polychromatic optical radiation; and a third image representative of an ambient background radiation level in the IR wavelength band exclusive of the projected pattern, and to output first, second and third image signals responsively to the first, second and third images, respectively; and a mosaic filter comprising a pattern of filter elements overlaid respectively on the detector elements, wherein the filter elements comprise second filter elements configured to pass different, respective visible wavelength bands, and first filter elements configured to pass the IR band of the monochromatic optical radiation, and wherein the first and third image signals are generated by the detector elements that are overlaid by the first filter elements, while the second image signal is generated by the detector elements that are overlaid by the second filter elements; and a processor, which is configured to process the first, second and third signals so as to generate and output a depth map of the object in registration with the color image, wherein the depth map is generated by subtracting the third image signals from the first image signals to produce a difference signal, and processing the difference signal in order to generate the depth map.