Patent Document ID: 9762862
Application ID: 13633015
Patent Status: 1

Claim One:
1. A device comprising: a head structure; a base structure connected to the head structure by an arm mechanism; and a plurality of components housed in one or more of the head structure or the base structure, the plurality of components comprising: a lens defining a portion of a first optical path; an illumination component having a second optical path, the second optical path including a first illumination segment and a second illumination segment, wherein the second illumination segment of the second optical path is configured to illuminate at least a portion of an environment along the portion of the first optical path; a projector to project projection images onto a surface of the environment, the projector having a third optical path including a first projection segment and a second projection segment, wherein the second projection segment of the third optical path is configured to output the projection images along at least the portion of the first optical path, and wherein the first projection segment of the third optical path and the first illumination segment of the second optical path are substantially parallel and non-coaxial; a depth sensor to receive at least a portion of light from the illumination component scattered by the environment, the light being received along at least the portion of the first optical path, wherein the depth sensor is configured to determine a time of flight value associated with one or more objects in the illuminated portion of the environment; a camera to capture environment images from the environment while the projector concurrently projects the projection images, the camera receiving the environment images along at least the portion of the first optical path; an image noise cancelation component to at least partially remove, from the environment images captured by the camera, internal reflection of the projection images projected by the projector along at least the portion of the first optical path; and a processor to determine distance information of the one or more objects relative to the time of flight sensor, the distance information determined based at least in part on the determined time of flight value.