1460738184-70e482a2-6672-4f42-9f4a-5f44cdafce25

1. A method comprising:
receiving, by a computing device, a plurality of images captured with at least two optical sensors, wherein the plurality of images comprises a first image of an environment as perceived from a first viewpoint of a first optical sensor and a second image of the environment as perceived from a second viewpoint of a second optical sensor;
determining, by the computing device, a first depth estimate for at least one surface in the environment based on corresponding features between the first image and the second image;
causing, by the computing device, a texture projector to project a known texture pattern onto the environment;
determining, by the computing device and based on the first depth estimate, at least one region of at least one image of the plurality of images within which to search for a particular portion of the known texture pattern;
determining, by the computing device, points corresponding to the particular portion of the known texture pattern within the at least one region of the at least one image; and
determining, by the computing device, a second depth estimate for the at least one surface in the environment based on the determined points corresponding to the particular portion of the known texture pattern within the at least one region of the at least one image.
2. The method of claim 1, wherein determining, based on the first depth estimate, the at least one region of the at least one image within which to search for the particular portion of the known texture pattern comprises determining the at least one region using triangulation based on the first depth estimate and based on a position of the texture projector with respect to a position of an optical sensor used to capture the at least one image.
3. The method of claim 1:
wherein the known texture pattern is projected before the first image and the second image are captured; and
wherein the at least one image comprises the first image, the second image, or both.
4. The method of claim 1, further comprising causing the texture projector to project a random texture pattern onto the environment, wherein the first image and the second image are indicative of the environment and the random texture pattern.
5. The method of claim 4, wherein the at least one image comprises a third image of the plurality of images that is indicative of the environment and the known texture pattern.
6. The method of claim 1, wherein the at least one image is captured with a third optical sensor.
7. The method of claim 1, further comprising determining a size of the known texture pattern based on a size of the at least one region of the at least one image.
8. The method of claim 1:
wherein the at least one image comprises the first image and the second image;
wherein the at least one region of the at least one image comprises a first region of the first image and a second region of the second image; and
wherein determining points corresponding to the particular portion of the known texture pattern within the at least one region of the at least one image comprises: (1) determining a first set of points corresponding to the particular portion of the known texture pattern within the first region of the first image, and (2) determining a second set of points corresponding to the particular portion of the known texture pattern within the second region of the second image.
9. The method of claim 8, wherein determining the second depth estimate for the at least one surface in the environment comprises: (1) determining a first structured-light depth estimate based on the first set of points, (2) determining a second structured-light depth estimate based on the second set of points, and (3) determining a second depth estimate that combines the first structured-light depth estimate and the second structured-light depth estimate.
10. The method of claim 1, wherein the first optical sensor, the second optical sensor, and the texture projector are coupled to a robotic manipulator.
11. The method of claim 1, further comprising determining a third depth estimate by combining the first depth estimate and the second depth estimate.
12. A non-transitory computer-readable medium having stored therein instructions, that when executed by one or more processors of a computing device, cause the computing device to perform functions comprising:
receiving a plurality of images captured with at least two optical sensors, wherein the plurality of images comprises a first image of an environment as perceived from a first viewpoint of a first optical sensor and a second image of the environment as perceived from a second viewpoint of a second optical sensor;
determining a first depth estimate for at least one surface in the environment based on corresponding features between the first image and the second image;
causing a texture projector to project a known texture pattern onto the environment;
determining, based on the first depth estimate, at least one region of at least one image of the plurality of images within which to search for a particular portion of the known texture pattern;
determining points corresponding to the particular portion of the known texture pattern within the at least one region of the at least one image; and
determining a second depth estimate for the at least one surface in the environment based on the determined points corresponding to the particular portion of the known texture pattern within the at least one region of the at least one image.
13. The non-transitory computer-readable medium of claim 12, wherein determining, based on the first depth estimate, the at least one region of the at least one image within which to search for the particular portion of the known texture pattern comprises determining the at least one region using triangulation based on the first depth estimate and based on a position of the texture projector with respect to a position of an optical sensor used to capture the at least one image.
14. The non-transitory computer-readable medium of claim 12:
wherein the known texture pattern is projected before the first image and the second image are captured; and
wherein the at least one image comprises the first image, the second image, or both.
15. The non-transitory computer-readable medium of claim 12, wherein the functions further comprise determining a size of the known texture pattern based on a size of the at least one region of the at least one image.
16. A system comprising:
at least two optical sensors;
a texture projector configured to project a known texture pattern onto an environment; and
a computing device configured to:
receive a plurality of images captured with the at least two optical sensors, wherein the plurality of images comprises a first image of an environment as perceived from a first viewpoint of a first optical sensor and a second image of the environment as perceived from a second viewpoint of a second optical sensor,
determine a first depth estimate for at least one surface in the environment based on corresponding features between the first image and the second image,
cause the texture projector to project a known texture pattern onto the environment,
determine, based on the first depth estimate, at least one region of at least one image of the plurality of images within which to search for a particular portion of the known texture pattern,
determine points corresponding to the particular portion of the known texture pattern within the at least one region of the at least one image, and
determine a second depth estimate for the at least one surface in the environment based on the determined points corresponding to the particular portion of the known texture pattern within the at least one region of the at least one image.
17. The system of claim 16:
wherein the known texture pattern is projected before the first image and the second image are captured; and
wherein the at least one image comprises the first image, the second image, or both.
18. The system of claim 16, further comprising a robotic manipulator, wherein the texture projector is coupled to the robotic manipulator.
19. The system of claim 18, wherein the at least two optical sensors are coupled to the robotic manipulator.
20. The system of claim 16, wherein the computing device is further configured to determine a size of the known texture pattern based on a size of the at least one region of the at least one image.

The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.

1. A dynamometer tool for manually applying torque to a fastener element, the dynamometer tool having a longitudinal axis and comprising:
a drive portion at a distal end of the dynamometer tool;
a handle portion at a proximal end of the dynamometer tool;
an intermediate portion connecting said drive portion to said handle portion, said intermediate portion including a tubular element, said tubular element containing a mechanical calibration device;
a support module totally within the dynamometer tool, said support module including
(i) a body substantially cylindrical in shape and extending along the longitudinal axis, said body being delimited by two end faces, having a passageway extending along the longitudinal axis and being open at each of said two end faces for allowing an operator to insert an adjusting tool from the proximal end of the dynamometer tool and through said passageway in order to access said mechanical calibration device, and having at least one recess arranged around the longitudinal axis, and
(ii) at least one electrical power supply member in said at least one recess; and

an equilibrium-breaking mechanism for delivering a predetermined torsion torque to said drive portion,
wherein said mechanical calibration device extends along the longitudinal axis and is for calibrating a biasing structure that cooperates with said equilibrium-breaking mechanism for setting the predetermined torsion torque.
2. The dynamometer tool according to claim 1, wherein
said at least one recess faces outwardly relative to the longitudinal axis.
3. The dynamometer tool according to claim 1, wherein
said at least one recess extends parallel to the longitudinal axis.
4. The dynamometer tool according to claim 1, wherein
said at least one recess comprises three recesses extending along the longitudinal axis, and
said at least one electrical power supply member in said at least one recess comprises an electrical power supply member in each of said three recesses.
5. The dynamometer tool according to claim 1, wherein
said support module further includes a tubular guide sleeve extending from at least one of said two end faces, said tubular guide sleeve being coaxial with said passageway so as to define with said passageway a duct.
6. The dynamometer tool according to claim 1, wherein
at least one of said two end faces has thereon positioning structure for positioning an electronic element perpendicularly to the longitudinal axis andor fastening structure for fastening an electronic element perpendicularly to the longitudinal axis.
7. The dynamometer tool according to claim 1, wherein said body comprises a one-piece plastic part.
8. The dynamometer tool according to claim 1, wherein
said support module further includes an electronic circuit board positioned perpendicularly to the longitudinal axis.
9. The dynamometer tool according to claim 8, wherein
said electronic circuit board positioned perpendicularly to the longitudinal axis has a contact tab for establishing contact with a terminal of said at least one electrical power supply member.
10. The dynamometer tool according to claim 1, wherein
said support module is within said handle portion.
11. The dynamometer tool according to claim 1, wherein
said handle portion comprises a handle support and a separate sleeve mounted on said handle support.
12. The dynamometer tool according to claim 1, further comprising:
access structure for allowing the adjusting tool to be inserted from outside the proximal end of the dynamometer tool and through said passageway in order to access said mechanical calibration device.
13. The dynamometer tool according to claim 12, wherein
said access structure comprises a passageway through a stopper at the proximal end of the dynamometer tool, with said passageway through said stopper extending along the longitudinal axis.
14. The dynamometer tool according to claim 1, wherein
said support module further includes data transmission structure for transmitting data by radio.
15. The dynamometer tool according to claim 1, wherein
the dynamometer tool is a torque wrench or a torque screwdriver.
16. The dynamometer tool according to claim 1, wherein
said biasing structure comprises
a compression spring, for biasing said equilibrium-breaking mechanism, such that
said mechanical calibration device is for calibrating said compression spring, and
said mechanical calibration device includes a second drive portion for cooperating with the adjusting tool when the adjusting tool is passed through said passageway.
17. The dynamometer tool according to claim 16, wherein
the adjusting tool includes a bit constituting a screwdriver blade or a wrench.
18. A dynamometer tool for manually applying torque to a fastener element, the dynamometer tool having a longitudinal axis and comprising:
a drive portion at a distal end of the dynamometer tool;
a handle portion at a proximal end of the dynamometer tool;
an intermediate portion connecting said drive portion to said handle portion, said intermediate portion including a tubular element, said tubular element containing a mechanical calibration device;
a support module totally within the dynamometer tool, said support module including
(i) a body substantially cylindrical in shape and extending along the longitudinal axis, said body being delimited by two end faces, having a passageway extending along the longitudinal axis and being open at each of said two end faces for allowing an operator to insert an adjusting tool from the proximal end of the dynamometer tool and through said passageway in order to access said mechanical calibration device, and having at least one seat arranged around the longitudinal axis, and
(ii) at least one electronic circuit board on said at least one seat; and