WO2007105205A3 - Three-dimensional sensing using speckle patterns - Google Patents

Three-dimensional sensing using speckle patterns Download PDF

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Publication number
WO2007105205A3
WO2007105205A3 PCT/IL2007/000306 IL2007000306W WO2007105205A3 WO 2007105205 A3 WO2007105205 A3 WO 2007105205A3 IL 2007000306 W IL2007000306 W IL 2007000306W WO 2007105205 A3 WO2007105205 A3 WO 2007105205A3
Authority
WO
WIPO (PCT)
Prior art keywords
speckle pattern
speckle patterns
dimensional sensing
primary speckle
images
Prior art date
Application number
PCT/IL2007/000306
Other languages
French (fr)
Other versions
WO2007105205A2 (en
Inventor
Alexander Shpunt
Zeev Zalevsky
Original Assignee
Prime Sense Ltd
Alexander Shpunt
Zeev Zalevsky
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from PCT/IL2006/000335 external-priority patent/WO2007043036A1/en
Application filed by Prime Sense Ltd, Alexander Shpunt, Zeev Zalevsky filed Critical Prime Sense Ltd
Priority to KR1020087025030A priority Critical patent/KR101331543B1/en
Priority to CN2007800166255A priority patent/CN101496033B/en
Priority to US12/282,517 priority patent/US8390821B2/en
Priority to JP2008558981A priority patent/JP5174684B2/en
Publication of WO2007105205A2 publication Critical patent/WO2007105205A2/en
Publication of WO2007105205A3 publication Critical patent/WO2007105205A3/en
Priority to US13/541,775 priority patent/US9330324B2/en
Priority to US13/748,617 priority patent/US9063283B2/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B5/00—Optical elements other than lenses
    • G02B5/18—Diffraction gratings
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/557—Depth or shape recovery from multiple images from light fields, e.g. from plenoptic cameras

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Optics & Photonics (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Diffracting Gratings Or Hologram Optical Elements (AREA)
  • Image Processing (AREA)

Abstract

Apparatus (20) for 3D mapping of an object (28) includes an illumination assembly (30), including a coherent light source (32) and a diffuser (33), which are arranged to project a primary speckle pattern on the object. A single image capture assembly (38) is arranged to capture images of the primary speckle pattern on the object from a single, fixed location and angle relative to the illumination assembly. A processor (24) is coupled to process the images of the primary speckle pattern captured at the single, fixed angle so as to derive a 3D map of the object.
PCT/IL2007/000306 2005-10-11 2007-03-08 Three-dimensional sensing using speckle patterns WO2007105205A2 (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
KR1020087025030A KR101331543B1 (en) 2006-03-14 2007-03-08 Three-dimensional sensing using speckle patterns
CN2007800166255A CN101496033B (en) 2006-03-14 2007-03-08 Depth-varying light fields for three dimensional sensing
US12/282,517 US8390821B2 (en) 2005-10-11 2007-03-08 Three-dimensional sensing using speckle patterns
JP2008558981A JP5174684B2 (en) 2006-03-14 2007-03-08 3D detection using speckle patterns
US13/541,775 US9330324B2 (en) 2005-10-11 2012-07-05 Error compensation in three-dimensional mapping
US13/748,617 US9063283B2 (en) 2005-10-11 2013-01-24 Pattern generation using a diffraction pattern that is a spatial fourier transform of a random pattern

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
PCT/IL2006/000335 WO2007043036A1 (en) 2005-10-11 2006-03-14 Method and system for object reconstruction
ILPCT/IL2006/000335 2006-03-14
US78518706P 2006-03-24 2006-03-24
US60/785,187 2006-03-24

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
PCT/IL2006/000335 Continuation-In-Part WO2007043036A1 (en) 2005-03-30 2006-03-14 Method and system for object reconstruction

Related Child Applications (3)

Application Number Title Priority Date Filing Date
US12/282,517 A-371-Of-International US8390821B2 (en) 2005-10-11 2007-03-08 Three-dimensional sensing using speckle patterns
US12/605,340 Continuation-In-Part US20110096182A1 (en) 2005-10-11 2009-10-25 Error Compensation in Three-Dimensional Mapping
US13/748,617 Continuation US9063283B2 (en) 2005-10-11 2013-01-24 Pattern generation using a diffraction pattern that is a spatial fourier transform of a random pattern

Publications (2)

Publication Number Publication Date
WO2007105205A2 WO2007105205A2 (en) 2007-09-20
WO2007105205A3 true WO2007105205A3 (en) 2009-04-23

Family

ID=38509871

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IL2007/000306 WO2007105205A2 (en) 2005-10-11 2007-03-08 Three-dimensional sensing using speckle patterns

Country Status (5)

Country Link
US (2) US8390821B2 (en)
JP (1) JP5174684B2 (en)
KR (1) KR101331543B1 (en)
CN (1) CN101496033B (en)
WO (1) WO2007105205A2 (en)

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