US Patent 10021372 Systems and methods for improved depth sensing

Methods and apparatus for active depth sensing are disclosed. In some aspects, an imaging device may generate first depth information based on an active sensing technology, such as structured light. In some aspects, at least some of the first depth information may be missing or inaccurate, perhaps due to an extended range between the imaging device and a subject of the image. Additional range information may then be generated based on a zero order component of the structured light. The additional range information may then be used alone or combined with the first depth information and used to control one or more parameters of an imaging device, such as an exposure time and/or aperture.