Single-eye range estimation by using displaced apertures with color filters

It is shown that a simple single-eye range sensing system can be easily constructed by introducing two displaced apertures with color filters on the main lens. The color image obtained can be separated into two images, corresponding to views from two viewpoints, with an RGB (red, green, blue) decoder. Range data can then be estimated from the disparity between the two images. A small range sensor system can be realized by adding displaced colored apertures to a color camera. The operation of the sensor is described, along with aspects of processing, implementation, and calibration