Optics for Hire (OFH) introduces a groundbreaking approach to 3D depth mapping, leveraging our extensive expertise in distance measurement and imaging technologies. Our innovative method, detailed in US Application No. 14/256,085, utilizes a pattern projector combined with an astigmatic lens to create precise depth maps. This cutting-edge technology is a testament to our commitment to advancing the field of robotic vision, where our clients have already achieved global success with millions of units sold.

The core of our technology involves projecting circular spots using a laser with a lenslet array or grating. These spots are then collected by an image sensor through an astigmatic lens, which alters the shape of the point spread function (PSF) based on the object's distance. By decoding the image using sophisticated techniques such as the Hough transform and boundary definition, we can accurately determine distances by analyzing the ratio between the long and short axes of the spots. This unique approach offers significant advantages over traditional methods, particularly in its resilience to multi-path interference and variations in object reflection or ambient light. 

 Our method belongs to the "Depth from Defocus" class of range-finding techniques, which rely on picture analysis rather than light phase shifts. By introducing astigmatism to the image collecting lens, the eccentricity of the elliptical PSF varies with object distance, allowing for precise depth measurement. This system can be remarkably compact, with enhanced performance when the projection and collection paths are closely aligned. Furthermore, in certain applications, the system can function effectively without a projected pattern, showcasing its versatility and adaptability.

Multipath errors, a common issue in Time-of-Flight (TOF) based rangefinders, are caused by unwanted reflections from angled surfaces. Our solution effectively mitigates these errors, particularly in challenging scenarios where surfaces are positioned at a 90° angle. Through rigorous testing with glossy paper-coated cartons, we have demonstrated the robustness of our method in overcoming these challenges, ensuring accurate and reliable depth mapping in diverse environments.