US Patent 10228243 Distance sensor with parallel projection beams

A method for calculating a distance to an object includes projecting a plurality of projection beams from each of a plurality of projection points, wherein the plurality of projection points is arranged around a lens of an image capturing device, and wherein at least two beams of the plurality of projection beams are parallel to each other, capturing an image of the field of view, wherein the object is visible in the image and a projection pattern generated by the at least two beams of the plurality of projection beams is also visible in the image, and calculating the distance to the object using information in the image.