Smart Bi-Spectral Image Sensor for 3D Vision

The work presented here is related to Cyclope, an embedded active 3D vision system. The challenge is to realize an integrated sensor which achieve real-time depth vision with constraints on the size, consumption and computational ressources. Cyclope is based on active vision and is integrated in a VSiP (Visual System in Package) allowing multiple technology cohabitation, such as a CMOS imager or an AsGa VSCEL, in the same chip size package. In this paper we present an acquisition method which allows to grab both texture and IR pattern images at a 25 image/s frame rate. The method uses a pulsed IR laser pattern projector and CMOS image sensor with programmable integration time. This sensor is realized in a standard silicon technology and without additional optical filtering. The first experimental results are presented to validate our approach with the realization of a functional prototype using a SOPC board, a structured pattern projector and the designed image sensor.