Patent Document ID: 20130176445
Application ID: 13541547
Patent Status: 0

Claim One:
1. A method of determining a distance between a range imaging device and at least one moving object, the method comprising: acquiring, at an image sensor, phase step range image data related to a scene containing at least one moving object utilizing a coded exposure, the phase step range image data comprising a first phase step image and at least a second phase step image; calculating an initial estimate of a distance between the image sensor and the at least one moving object, and an initial estimate of a brightness of the at least one moving object using a processor, wherein the estimates are based on the acquired phase step range image data; calculating an optical flow of the moving object based on: i) the initial estimate of the distance between the image sensor and the at least one moving object; ii) the initial estimate of the brightness of the at least one moving object; iii) the first phase step image; and iv) the second phase step image; generating motion corrected image data by applying an inverted coded exposure to the phase step range image data to correct for the calculated optical flow; and calculating a distance between the image sensor and the at least one moving object based on the corrected image data.