US Patent 11513231 Field calibration of a structured light range-sensor

The technology described herein recalibrates a structured light sensor in the field using time-of-flight sensor data. Structured light sensors are sensitive to mechanical changes that result in decreased accuracy. A structured light system calculates the range to an object by comparing a reference image to the actual image of the scene. The reference image is what the projected light pattern would look like on a flat object at a known distance. When the projected image changes, the reference image no longer matches the projected pattern. The calibration technology described herein captures a new reference image based on the current sensor characteristics using a time-of-flight capable sensor as the structured light imaging sensor.