WO2007105215A2 - Depth-varying light fields for three dimensional sensing - Google Patents
Depth-varying light fields for three dimensional sensing Download PDFInfo
- Publication number
- WO2007105215A2 WO2007105215A2 PCT/IL2007/000327 IL2007000327W WO2007105215A2 WO 2007105215 A2 WO2007105215 A2 WO 2007105215A2 IL 2007000327 W IL2007000327 W IL 2007000327W WO 2007105215 A2 WO2007105215 A2 WO 2007105215A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- pattern
- spots
- optical element
- image
- optical
- Prior art date
Links
Classifications
-
- 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
- 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
- G01B11/24—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
- G01B11/2513—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 with several lines being projected in more than one direction, e.g. grids, patterns
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/254—Image signal generators using stereoscopic image cameras in combination with electromagnetic radiation sources for illuminating objects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
- G06T2207/10012—Stereo images
Definitions
- the present invention relates generally to methods and systems for mapping of three- dimensional (3D) objects, and specifically to 3D optical ranging and mapping.
- primary speckle 1 When a coherent beam of light passes through a diffuser and is projected onto a surface, a primary speckle 1 pattern can be observed on the surface.
- the primary speckle is caused by interference among different components of the diffused beam.
- the term "primary speckle” is used in this sense in the present patent application, in distinction to secondary speckle, which is caused by diffuse reflection of coherent light from the rough surface of an object
- Hart describes the use of a speckle pattern in a high-speed 3D imaging system, in Taiwanese Patent TW 527528 B and in U.S. Patent Application 09/616,606, whose disclosures are incorporated herein by reference.
- the system includes a single-lens camera subsystem with an active imaging element and CCD element, and a correlation processing subsystem.
- the active imaging element can be a rotating aperture which allows adjustable non-equilateral spacing between defocused images to achieve greater depth of field and higher sub-pixel displacement accuracy.
- a speckle pattern is projected onto an object, and images of the resulting pattern are acquired from multiple angles. The images are locally cross- correlated using an image correlation technique, and the surface is resolved by using relative camera position information to calculate the three-dimensional coordinates of each locally- correlated region.
- a random speckle pattern is projected upon a 3D surface and is imaged by a plurality of cameras to obtain a plurality of two-dimensional digital images.
- the two-dimensional images are processed to obtain a three-dimensional characterization of the surface.
- phase-only filter codes the laser beam into M different diffraction patterns, corresponding to M different range segments in the workspace.
- each plane in the illuminated scene is irradiated with the pattern corresponding to the range of the plane from the light source.
- a common camera can be used to capture images of the scene, which may be processed to determine the ranges of objects in the scene.
- the .authors describe an iterative procedure for designing the phase-only filter based on the Gerchberg-Saxton algorithm.
- Embodiments of the present invention that are described hereinbelow provide methods and systems for 3D mapping and ranging using shaped spot illumination patterns.
- Such patterns comprise an array of bright spots having a controlled, identifiable shape.
- the relative positions of the spots are uncorrelated (for example, in a random or pseudo-random pattern, such as a speckle pattern), but the spots in any case share a similar, predefined shape characteristic.
- the spots are elongated in a certain direction, which is common to all the spots in a given plane transverse to the illumination beam, but other spot shapes may alternatively be used.
- the spot shape characteristic changes with distance from the illumination source.
- This distance-varying shape characteristic may be achieved by passing the illumination beam through one or more optical elements that are designed to superpose two optical constraints: one to split the beam into multiple spots, and another to create the distance-varying shape.
- This superposition approach permits a rich variety of distance- varying patterns to be created simply and flexibly.
- the shapes of the spots appearing on parts of the surface of an object that is illuminated by the pattern may be used to determine the range of those parts from the source.
- transverse shifts of parts of the pattern on the surface, relative to a reference pattern at a known range are used to reconstruct a 3D map of the surface.
- the combination of shape-based ranging and shift-based mapping can be used to create an accurate 3D map covering a large range of distance from the illumination source.
- a method for mapping including: projecting onto an object a pattern of multiple spots having respective positions and shapes, such that the positions of the spots in the pattern are uncorrelated, while the shapes share a common characteristic; capturing an image of the spots on the object; and processing the image so as to derive a three-dimensional (3D) map of the object.
- the pattern of spots includes a random speckle pattern.
- the common characteristic of the shapes varies as a function of distance from a source of the pattern, and processing the image includes analyzing the characteristic of the spots on a surface of the object in the image so as to determine the distance of the surface from the source.
- the spots share an elongate shape, which rotates as a function of distance from a source of the pattern, and analyzing the characteristic includes determining a direction of the spots on the surface of the object. Additionally or alternatively, processing the image includes finding respective offsets between the pattern on multiple areas of the object in the image and the pattern in a reference image, and using the offsets together with the distance to derive the 3D map. Finding the respective offsets may include choosing the reference image from among a plurality of reference images responsively to the distance of the surface from the source.
- the spots in the pattern have an elongate shape, which is aligned in a first direction
- processing the image includes finding respective offsets in a second direction, perpendicular to the first direction, between the pattern on multiple areas of the object in the image and the pattern in a reference image so as to derive the 3D map.
- Projecting the pattern of spots may include passing a beam of coherent light through a diffuser, wherein the beam has a profile at the diffuser that is elongated in the second direction.
- capturing the image includes capturing a succession of images while the object is moving, and processing the image includes tracking a movement of the object by processing the succession of the images.
- the object is a part of a human body, and tracking the movement includes identifying a gesture made by the part of the human body and providing an input to a computer application responsively to the gesture.
- a method for imaging including: defining a first optical constraint such that application of the first optical constraint to a beam of light splits the beam into a pattern of multiple spots; defining a second optical constraint such that application of the second optical constraint to the beam of light causes the beam to form a spot having a shape characteristic that changes in a predefined manner as a function of a distance along an axis of the beam; designing at least one optical element so as to superpose the first and second optical constraints; and directing a beam of light through the at least one optical element so as to project the pattern onto a surface such that the multiple spots in the pattern have the shape characteristic.
- the at least one optical element includes a first optical element for splitting the beam into the pattern and a second optical element for applying the shape characteristic.
- the pattern includes a speckle pattern
- the first optical element includes a diffuser.
- the at least one optical element includes a diffractive optical element (DOE).
- DOE includes at least one zone plate for imparting an elongate shape to the spots.
- the at least one zone plate may include a plurality of superposed zone plates, having different, respective periods and angular orientations so as to cause the elongate shape of the spots to rotate as a function of the distance.
- the at least one optical element includes a refractive optical element.
- the pattern defined by the first optical constraint has a duty cycle that is no greater than 1/4.
- the pattern defines respective positions of the spots such that the positions are uncorrelated.
- the second optical constraint causes the spot to have an elongate shape, which rotates as a function of the distance.
- the second optical constraint causes the spot to have an annular shape.
- the method includes capturing an image of the spots on the surface, and processing the image so as to determine the distance of the surface from the at least one optical element.
- apparatus for mapping including: an illumination assembly, which is configured to project onto an object a pattern of multiple spots having respective positions and shapes, such that the positions of the spots in the pattern are uncorrelated, while the shapes share a common characteristic; an imaging assembly, which is configured to capture an image of the spots on the object; and an image processor, which is coupled to process the image so as to derive a three- dimensional (3D) map of the object.
- an illumination assembly which is configured to project onto an object a pattern of multiple spots having respective positions and shapes, such that the positions of the spots in the pattern are uncorrelated, while the shapes share a common characteristic
- an imaging assembly which is configured to capture an image of the spots on the object
- an image processor which is coupled to process the image so as to derive a three- dimensional (3D) map of the object.
- apparatus for imaging including: at least one optical element, which is designed so as to superpose first and second optical constraints, such that application of the first optical constraint to a beam of light splits the beam into a pattern of multiple spots, and application of the second optical constraint to the beam of light causes the beam to form a spot having a shape characteristic that changes in a predefined manner as a function of a distance along an axis of the beam; and a light source, which is configured to direct a beam of light through the at least one optical element so as to project the pattern onto a surface such that the multiple spots in the pattern have the shape characteristic.
- Fig. 1 is a schematic, pictorial illustration of a system for 3D ranging and mapping, in accordance with an embodiment of the present invention
- Fig. 2 is a schematic top view of a speckle imaging device, in accordance with an embodiment of the present invention
- Fig. 3 A is a schematic representation of a speckle pattern created by projection of a laser beam through a randomizing optical element, in accordance with an embodiment of the present invention
- Fig. 3 B is a schematic representation of a light pattern created by a diffractive optical element (DOE), in accordance with an embodiment of the present invention
- Figs. 3 C and 3D are schematic representations of speckle patterns created by projection of a laser beam through the optical elements of Figs. 3A and 3B, in accordance with an embodiment of the present invention
- Fig. 4 is a flow chart that schematically illustrates a method for 3D ranging and mapping, in accordance with an embodiment of the present invention
- Figs. 5 A-5P are schematic representations of a set of zone plates at different rotation angles, which are used in creating a DOE, in accordance with an embodiment of the present invention
- Fig. 5Q is a schematic, frontal view of a DOE created by superposing the zone plates of Figs. 5A-5P, in accordance with an embodiment of the present invention
- Fig. 6 A is a schematic representation of a speckle pattern created by projection of a laser beam through a randomizing optical element, in accordance with an embodiment of the present invention
- Fig. 6B is a schematic representation of a light pattern created by a diffractive optical element (DOE), in accordance with an embodiment of the present invention.
- DOE diffractive optical element
- Figs. 6C and 6D are schematic representations of speckle patterns created by projection of a laser beam through the optical elements of Figs. 6A and 6B, in accordance with an embodiment of the present invention.
- Fig. 1 is a schematic, pictorial illustration of a system 20 for 3D ranging and mapping, in accordance with an embodiment of the present invention.
- System 20 comprises an imaging device 22, which generates and projects a pattern of spots onto an object 28 and captures an image of the spot pattern appearing on the object. Details of the design and operation of device 22 are shown in the figures that follow and are described hereinbelow with reference thereto.
- the pattern of spots that is projected by imaging device 22 comprises a speckle pattern.
- speckle pattern refers to a projected pattern of bright spots whose positions are uncorrelated in planes transverse to the projection beam axis. The positions are uncorrelated in the sense that the auto-correlation of the positions of the speckles in the pattern as a function of transverse shift is insignificant for any shift larger than the spot size. Random patterns, such as those created by primary laser speckle (as described above), are uncorrelated in this sense. Patterns created by human or computer design, such as pseudo-random and quasi-random patterns, may also be uncorrelated.
- the spots may be arranged in a regular, non-random pattern, such as the type of pattern that may be created by passing the illumination beam through a Damman grating or a suitable lenslet array.
- the spot pattern have a low duty cycle, i.e., that the fraction of the area of the pattern with above-average brightness be no greater than 1/e, and desirably less than 1/4 or even 1/10.
- the low duty cycle is advantageous in enhancing the signal/noise ratio of spot shift detection for 3D mapping. It also helps to avoid interference effects that may result when neighboring spots overlap.
- the shapes of the spots in the patterns that are used in embodiments of the present invention are not entirely random, as in conventional laser speckle patterns, but rather have a common shape characteristic.
- the spots are elongated along a certain axis.
- the spots may have other common shape characteristics, so long as the shapes are controlled, and changes in the shapes as a function of distance along the axis of the illumination beam are identifiable.
- the term "changes of shape" in this context means changes other than the simple linear increase in spot size that normally occurs with distance from the illumination source.
- An image processor 24 processes image data generated by device 22 in order to perform depth ranging and, optionally, 3D mapping of object 28.
- ranging refers to finding a coarse measure of distance from the imaging device to the object
- 3D map refers to a set of 3D coordinates representing the surface of the object.
- 3D mapping or equivalently, “3D reconstruction.”
- Both ranging and mapping may be used together, as coarse and fine phases, in the process of 3D reconstruction, as described hereinbelow. Therefore, ranging may also be considered to be a sort of rough 3D mapping.
- Image processor 24, which performs such ranging and mapping may comprise a general-purpose computer processor, which is programmed in software to carry out the functions described hereinbelow.
- the software may be downloaded to processor 24 in electronic form, over a network, for example, or it may alternatively be provided on tangible media, such as optical, magnetic, or electronic memory media.
- some or all of the functions of the image processor may be implemented in dedicated hardware, such as a custom or semi-custom integrated circuit or a programmable digital signal processor (DSP).
- DSP programmable digital signal processor
- processor 24 is shown in Fig. 1, by way of example, as a separate unit from imaging device 22, some or all of the processing functions of processor 24 may be performed by suitable dedicated circuitry within the housing of the imaging device or otherwise associated with the imaging device.
- the 3D map that is generated by processor 24 may be used for a wide range of different purposes.
- the map may be sent to an output device, such as a display 26, which shows a pseudo-3D image of the object.
- object 28 comprises all or a part (such as a hand) of the body of a subject.
- system 20 may be used to provide a gesture-based user interface, in which user movements detected by means of device 22 control an interactive computer application, such as a game, in place of tactile interface elements such as a mouse, joystick or other accessory.
- system 20 may be used to create 3D maps of objects of other types, for substantially any application in which 3D coordinate profiles are needed.
- Fig. 2 is a schematic top view of device 22, in accordance with an embodiment of the present invention.
- An illumination assembly 30 in device 22 comprises a coherent light source 34, typically a laser, and one or more optical elements 36, 38, which are typically used in combination to create a speckle pattern or other pattern of spots, as described hereinbelow.
- the term "light” in the context of the present patent application refers to any sort of optical radiation, including infrared and ultraviolet, as well as visible light.
- the beam of light emitted by source 34 passes through optical elements 36 and 38 and illuminates a target region 46 in which object 28 is located.
- An image capture assembly 32 captures an image of the pattern that is projected onto object 28.
- Assembly 32 comprises objective optics 40, which focus the image onto an image sensor 42.
- sensor 40 comprises a rectilinear array of detector elements 44, such as a CCD or CMOS-based image sensor array.
- illumination assembly 30 and image capture assembly 32 are held in a fixed spatial relation.
- This configuration and the processing techniques described hereinbelow make it possible to perform 3D mapping using the single image capture assembly, without relative movement between the illumination and image capture assemblies and without moving parts.
- the techniques of illumination, ranging and mapping that are described hereinbelow may be used in conjunction with other sorts of image capture assemblies, in various different configurations, such as those described in the Background section above.
- the image capture assembly may be movable relative to the illumination assembly.
- two or more image capture assemblies may be used to capture images of object 28 from different angles.
- assemblies 30 and 32 may be mounted so that an axis passing through the centers of the entrance pupil of image capture assembly 32 and the spot formed by light source 34 on optical element 36 is parallel to one of the axes of sensor 40 (taken for convenience to be the X-axis, while the Z-axis corresponds to distance from device 22).
- This sort of triangulation approach is appropriate particularly in 3D mapping using speckle patterns, although aspects of the approach may be adapted for use with other types of spot patterns, as well.
- the group of spots in each area of the captured image is compared to the reference image to find the most closely-matching group of spots in the reference image.
- the relative shift between the matching groups of spots in the image gives the Z-direction shift of the area of the captured image relative to the reference image.
- the shift in the spot pattern may be measured using image correlation or other image matching computation methods that are known in the art.
- Patterns of spots with a common shape characteristics can be used to enhance the operation of system 20 in a number of ways.
- processor 24 computes the correlation between images for the purpose of detecting Z-direction shifts, the computation will be insensitive to small shifts of the speckles in the Y-direction. This feature improves the robustness of the X-direction shift computation (and may make it possible to use a smaller correlation window in the computation).
- optical element 36 may be configured as a diffuser, with a randomly-arranged array of grains that are elongated in the X-direction.
- the grains may be opaque, for example, or they may alternatively be of different thickness so as to cause phase changes in the transmitted light.
- element 36 may comprise a conventional, isotropic diffuser, while the beam from light source 34 is elongated in the X-direction.
- a cylindrical lens (not shown) between the source and diffuser may be used for this purpose, for example.
- element 36 comprise a diffuser (which may be isotropic) and element 38 comprise a diffractive optical element (DOE).
- DOE diffractive optical element
- element 38 may simply comprise a suitable grating or zone plate with lines oriented parallel to the X-axis.
- elements 36 and 38 are shown in Fig. 2, for the sake of conceptual clarity, as separate components, the diffuser and DOE are typically in contact with one another and may be glued together. Alternatively, elements 36 and 38 may be made as a single piece, by forming the DOE on one side of an optical blank and grinding the other side to create the diffuser. Further alternatively, the optical constraints imposed by the diffuser and grating or zone plate may be combined in a single DOE, in which the X-oriented lines and a pseudorandom diffusing pattern are superposed, for example. In all of these cases, the pattern of speckles in the far field will be a convolution of the random position distribution provided by the diffuser with the shape defined by the Fourier transform of the DOE. A similar superposition approach may be used in generating DOEs that create more complex patterns, which vary with distance Z. In some embodiments, the DOE may be designed to create a pattern of spots having different shapes in different distance ranges.
- the spots may have one shape at distance Z ⁇ , another at ⁇ 2, and so forth.
- the elongated shape of the spots may be rotated by 45° from range to range.
- the spots will have the orientation of the range of ⁇ 2,
- processor 24 may then determine the distance range of the object, independently of the 3D reconstruction process based on spot position correlation. Ranging and mapping may be used in combination to generate 3D maps with enhanced range and/or resolution, as described further hereinbelow.
- a set of one or more optical elements for such purposes may be designed based on a superposition of constraints.
- such an element or elements for generating speckles with four different orientations in different, respective ranges may be produced by superposing a splitter (which generates a pattern of spots with low duty cycle and uncorrelated positions) with an element that, taken on its own, implements a single Z-varying pattern at four orientations in four predefined ranges.
- the element creating the single pattern may be, for instance, a superposition of four zone plates, each of which focuses light to a line in the proper, respective direction in one of the ranges.
- the superposition may be computed and then implemented in a suitable computer-generated hologram (CGH) or other DOE.
- CGH computer-generated hologram
- the constraints can be implemented using two filters F S ,F V , corresponding to optical elements 36 and 38, as follows:
- Figs. 3A-3D are schematic representations of images created by projecting a laser beam through DOEs 36 and 38 that are designed in accordance with an embodiment of the present invention.
- the object of this design is to create a pattern of elongated speckles whose axis of elongation varies over 180° as a function of Z over a given range from ZQ to ZQ + AZ.
- Figs. 3A and 3B show the patterns created by Fs and Fv, respectively, which are defined as follows:
- F s creates a far-field pattern of random speckles, which need not vary in Z.
- Fs may be designed to create a pattern of 1000 x 1000 pixels, comprising 200 x 200 bright speckles 50, randomly distributed, with the rest of the field dark. Depending on the sizes of the spots, the duty cycle is typically roughly between 4% and 25%.
- Optical element 36 to implement this pattern may comprise a phase-only DOE, created using techniques that are known in the art.
- F v creates N light intensity patterns in the near-field volume between the planes ZQ and ZQ
- the pattern comprises
- Optical element 38 implementing this pattern may be designed using the Gerchberg-Saxton method described above, by superposing multiple zone plates as described below, or using any other suitable method of DOE design that is known in the art. Because the pattern is small, the computation required to generate the DOE is relatively simple in any case.
- Figs. 3C and 3D show the pattern of speckles that is created by superposing elements
- the patterns comprise 200 x 200 elongated speckles 52 and 54, respectively, oriented at different angles depending on Z. As the distance increases from ZQ to ZQ + ⁇ Z, the speckles rotate by 180°. By detecting the angle ⁇ of the speckles that are projected onto a surface of object 28, processor 24 is thus
- Fig. 4 is a flow chart that schematically illustrates a method for 3D ranging and mapping, in accordance with an embodiment of the present invention. The method is described hereinbelow, for the sake of clarity, with reference to system 20, as illustrated in Figs. 1 and 2, using the speckle pattern shown in Figs. 3C and 3D. This method may similarly be applied, however, in speckle-based imaging systems of other sorts, such as those described in the references cited above. Furthermore, other sorts of spot patterns and of Z- varying spot shape characteristics may alternatively be created and used in place of the rotating linear shape of the speckles shown in Figs. 3C and 3D.
- imaging device 22 is operated to capture one or more reference speckle images.
- a planar surface may be placed at one or more known fiducial distances from the origin along the Z-axis, such as at Z ⁇ , ⁇ 2, Z3, ....
- Imaging assembly 32 captures a reference image of the speckle pattern that is projected onto the surface by illumination assembly 30 at each distance.
- the speckle pattern is essentially a convolution of the small Z-varying pattern of Fy and the far-field spot pattern of Fs
- respective reference patterns can be determined separately for the two filters and then convolved to give the combined pattern at each distance Z. This approach can reduce the amount of memory required for storing the reference patterns.
- the design of the entire pattern can be standardized, thus rendering the capture of the reference unnecessary.
- Object 28 is introduced into target region 46, and device 22 captures a test image of the speckle pattern that is projected onto the surface of the object, at a test capture step 60.
- Processor 24 then computes the orientation angle of the speckles, at a ranging step 62.
- the processor may, for example, perform a spectral analysis of the test image.
- the shape of the spectrum (for example, the directions of the major and minor axes) will correspond to the orientation angle of the speckles, which will in turn indicate the range of the object.
- the processor may compute the cross-correlation between the speckle shape and a number of different reference shapes.
- the speckle angle may vary over the surface, so that different parts of the object will have different ranges.
- Processor 24 may identify the loci of any abrupt changes in speckle angle as edges of the object.
- Processor 24 may use the shape-based range measurement of step 62 by itself in generating a rough 3D map of object 28. hi the embodiment shown in Fig. 4, however, the processor uses this range measurement in conjunction with spot position triangulation in reconstructing the 3D map of object 28, at a reconstruction step 64.
- the processor typically measures local offsets between the speckle pattern at different points on the object surface in the test image and corresponding areas of the speckle pattern in the appropriate reference image. The processor then uses triangulation, based on the offsets, to determine the Z-coordinates of these object points. Methods that may be used for these purposes are described in the above-mentioned PCT patent applications and in the other references cited above.
- the combination of ranging at step 62 with 3D reconstruction at step 64 enables system 20 to perform 3D reconstruction with greater precision and/or lower computational cost than can generally be achieved by speckle-based triangulation alone, and may also be used to increase the range in the Z-direction over which the measurement is made. For example, if multiple reference images were captured at different fiducial distances, as mentioned above, the processor can measure the local offsets relative to the reference image whose fiducial distance is closest to the range found at step 62. Even if only a single reference image is used, the triangulation accuracy and/or speed at step 64 can be enhanced since processor 24 can use the ranging result to limit the number of different local offset values that it has to check or to compute the offset with greater precision.
- Steps 60-64 may be repeated continually in order to track motion of object 28 within target region 46.
- device 22 captures a succession of test images while the object is moving, and processor 24 repeats steps 62 and 64 in order to track the 3D movement of the object. It may be possible to skip step 62 in some iterations by assuming that the object has not moved too far since the previous iteration.
- triangulation based on shifts of the speckle pattern is used for coarse range measurement, and changes in the speckle shape characteristic are used for accurate 3D mapping.
- the accuracy of triangulation depends, inter alia, on the separation along the X-axis between illumination assembly 30 and image capture assembly 32. If only coarse triangulation is required, assemblies 30 and 32 can be positioned close together, thus permitting a more compact design of device 22.
- Enhanced accuracy of the shape-based Z-direction measurement may be achieved, for example, by replicating the Z- varying pattern of the speckle shape over several cycles within target region 46. In other words, taking the example of the rotating linear speckle shape described above and the arrangement shown in Fig. 2, the speckle orientation may vary over
- Processor 24 uses the speckle triangulation result to decide in which of these three ranges object 28 is located, and then uses the speckle orientations to construct the precise 3D map of the object within this range.
- other Z-varying spot shape characteristics may be used in this context in place of the directional variation illustrated in Figs. 3C and 3D.
- Various methods may be used to replicate the Z-varying shape over multiple cycles in
- the pattern may be focused onto target region 46 using a suitable multifocal lens (not shown).
- a suitable multifocal lens may comprise, for example, a superposition of several Fresnel zone plates with different respective focal lengths.
- a suitable multifocal lens may be designed using techniques described by Ben Eliezer, et al., in "All Optical Extended Depth of Field Imaging System," Journal of Optica and Pure Physics - A, 5 (2003), pages Sl 64-Sl 69, which is incorporated herein by reference.
- optical element 38 may be designed ab initio, using the superposition techniques described above, to give a speckle shape that repeats over multiple cycles.
- Figs. 5A-5Q schematically illustrate a method for producing optical element 38 so as to create a pattern of shaped spots, in accordance with an embodiment of the present invention.
- Figs. 5A-5P are schematic, frontal views of a set of zone plates 70
- Fig. 5Q is a schematic frontal view of a DOE 72 created by superposing the zone plates of Figs. 5A- 5P.
- DOE 72 can serve as the filter Fy, for use together with a suitable diffuser or other beam splitting filter Fs, in order to produce the sort of rotating, linear spots that are shown above in Figs. 3C and 3D.
- the transmission function of such a zone plate is given by:
- zone plates 70 may be designed as transparent, phase-only zone plates.
- DOE 72 comprises a superposition 74 of these N zone plates. This superposition will produce a line which rotates as a function of Z at a rate of rad/m.
- the superposition may be produced, as shown in Fig. 5Q, as an assemblage of "pie slices" cut from the sixteen component zone plates.
- pieces of the different zone plates may be extracted at random and assembled to create the superposition.
- the component zone plates may be summed at each point in DOE 72 to create a single pattern, with appropriate quantization of the summed transmittance or phase shift at each point.
- optical element 38 may comprise an array of refractive lenses instead of the zone plates described above.
- a superposition of cylindrical lenses (such as micro-lenses) at different orientations, in pie-slice or random distribution may be used to create the desired Z- varying pattern.
- FIGS. 6A-6D are schematic representations of images created by projecting a laser beam through DOEs that are designed in accordance with another embodiment of the present invention.
- Figs. 6A-6D show one example, in which speckles 80 and 82 have a common morphological characteristic, in the form of a circular or elliptical shape. The radius of the shape of each spot varies with distance from the illumination assembly at a different rate from the linear magnification of the pattern as a whole, thereby providing information on the distance.
- Other sorts of shapes and patterns will be apparent to those skilled in the art and are considered to be within the scope of the present invention.
- Figs. 6A and 6B show the patterns created by Fs and Fv, respectively.
- F s creates a pattern of random speckles 50, which need not vary in Z.
- F v creates an annular light intensity pattern in the target region. The radius of the annulus varies with Z in such a fashion as to enable ranging based on the radii of the spots that are observed in the image captured by image capture assembly 32.
- an optical element implementing this pattern may be designed using the Gerchberg-Saxton method, or by superposing multiple diffractive optical elements that create simple circular or elliptical patterns with different size characteristics, or using any other suitable method of DOE design that is known in the art.
- FIGS. 6C and 6D show images of the pattern of speckles that is projected onto a surface by passing coherent light through elements 36 and 38 (corresponding to Fs and Fy), with the surface at two different values of Z.
- the images are shown as they would be captured by image capture assembly 32.
- the patterns comprise elliptical speckles 80 and 82, respectively, with different radii depending on Z.
- processor 24 is thus able to determine the range of the surface from device 22.
- the processor may detect and analyze changes in the shapes of the speckles in order to determine the angular skew of the surface relative to the X-Y plane.
- the embodiments described above relate to specifically to speckle shaping and speckle-based 3D ranging and mapping
- the methods described above for designing multi-constraint filters and other optical elements - and particularly elements that create Z- varying patterns - may also be used to create optical elements in other applications in which complex light patterns are needed.
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP07713347.8A EP1994503B1 (en) | 2006-03-14 | 2007-03-13 | Depth-varying light fields for three dimensional sensing |
JP2008558984A JP5592070B2 (en) | 2006-03-14 | 2007-03-13 | Light field that changes depth for 3D detection |
CN200780009053.8A CN101501442B (en) | 2006-03-14 | 2007-03-13 | Depth-varying light fields for three dimensional sensing |
KR1020087022317A KR101408959B1 (en) | 2006-03-14 | 2007-03-13 | Depth-varying light fields for three dimensional sensing |
Applications Claiming Priority (6)
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 | ||
US85243606P | 2006-10-16 | 2006-10-16 | |
US60/852,436 | 2006-10-16 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2007105215A2 true WO2007105215A2 (en) | 2007-09-20 |
WO2007105215A3 WO2007105215A3 (en) | 2009-04-09 |
Family
ID=38509879
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/IL2007/000327 WO2007105215A2 (en) | 2006-03-14 | 2007-03-13 | Depth-varying light fields for three dimensional sensing |
Country Status (5)
Country | Link |
---|---|
US (1) | US8374397B2 (en) |
EP (1) | EP1994503B1 (en) |
JP (1) | JP5592070B2 (en) |
CN (1) | CN101501442B (en) |
WO (1) | WO2007105215A2 (en) |
Cited By (26)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1997046A2 (en) * | 2006-01-11 | 2008-12-03 | Densys, Ltd. | Three-dimensional modeling of the oral cavity |
FR2921719A1 (en) * | 2007-09-28 | 2009-04-03 | Noomeo Soc Par Actions Simplif | Physical object e.g. apple, three-dimensional surface's synthesis image creating method for e.g. industrial farm, involves calculating depth coordinate measured at axis for each point of dusty seeds from projection of point on surface |
DE102007058590B4 (en) * | 2007-12-04 | 2010-09-16 | Sirona Dental Systems Gmbh | Recording method for an image of a recording object and recording device |
CN102047669A (en) * | 2008-06-02 | 2011-05-04 | 皇家飞利浦电子股份有限公司 | Video signal with depth information |
US8050461B2 (en) | 2005-10-11 | 2011-11-01 | Primesense Ltd. | Depth-varying light fields for three dimensional sensing |
JP2012504771A (en) * | 2008-10-06 | 2012-02-23 | マンチスビジョン リミテッド | Method and system for providing three-dimensional and distance inter-surface estimation |
US8150142B2 (en) | 2007-04-02 | 2012-04-03 | Prime Sense Ltd. | Depth mapping using projected patterns |
US8350847B2 (en) | 2007-01-21 | 2013-01-08 | Primesense Ltd | Depth mapping using multi-beam illumination |
US8390821B2 (en) | 2005-10-11 | 2013-03-05 | Primesense Ltd. | Three-dimensional sensing using speckle patterns |
US8400494B2 (en) | 2005-10-11 | 2013-03-19 | Primesense Ltd. | Method and system for object reconstruction |
US8456517B2 (en) | 2008-07-09 | 2013-06-04 | Primesense Ltd. | Integrated processor for 3D mapping |
US8462207B2 (en) | 2009-02-12 | 2013-06-11 | Primesense Ltd. | Depth ranging with Moiré patterns |
EP2614652A2 (en) * | 2010-09-07 | 2013-07-17 | Intel Corporation | A 3-d camera |
US8494252B2 (en) | 2007-06-19 | 2013-07-23 | Primesense Ltd. | Depth mapping using optical elements having non-uniform focal characteristics |
US8493496B2 (en) | 2007-04-02 | 2013-07-23 | Primesense Ltd. | Depth mapping using projected patterns |
RU2502136C2 (en) * | 2007-10-05 | 2013-12-20 | Артек Груп, Инк. | Combined object capturing system and display device and associated method |
US8717417B2 (en) | 2009-04-16 | 2014-05-06 | Primesense Ltd. | Three-dimensional mapping and imaging |
GB2507813A (en) * | 2012-11-13 | 2014-05-14 | Focalspec Oy | Inspecting seals of items |
US8786682B2 (en) | 2009-03-05 | 2014-07-22 | Primesense Ltd. | Reference image techniques for three-dimensional sensing |
US8830227B2 (en) | 2009-12-06 | 2014-09-09 | Primesense Ltd. | Depth-based gain control |
WO2015021084A1 (en) * | 2013-08-09 | 2015-02-12 | Microsoft Corporation | Speckle sensing for motion tracking |
US9052512B2 (en) | 2011-03-03 | 2015-06-09 | Asahi Glass Company, Limited | Diffractive optical element and measuring apparatus |
USD733141S1 (en) | 2014-09-10 | 2015-06-30 | Faro Technologies, Inc. | Laser scanner |
US9582889B2 (en) | 2009-07-30 | 2017-02-28 | Apple Inc. | Depth mapping based on pattern matching and stereoscopic information |
US10349037B2 (en) | 2014-04-03 | 2019-07-09 | Ams Sensors Singapore Pte. Ltd. | Structured-stereo imaging assembly including separate imagers for different wavelengths |
CN112945141A (en) * | 2021-01-29 | 2021-06-11 | 中北大学 | Structured light rapid imaging method and system based on micro-lens array |
Families Citing this family (84)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9330324B2 (en) | 2005-10-11 | 2016-05-03 | Apple Inc. | Error compensation in three-dimensional mapping |
US20110096182A1 (en) * | 2009-10-25 | 2011-04-28 | Prime Sense Ltd | Error Compensation in Three-Dimensional Mapping |
US8781159B2 (en) * | 2009-05-13 | 2014-07-15 | Applied Vision Corporation | System and method for dimensioning objects using stereoscopic imaging |
DK2438397T3 (en) * | 2009-06-01 | 2019-01-28 | Dentsply Sirona Inc | Method and device for three-dimensional surface detection with a dynamic frame of reference |
US8417385B2 (en) * | 2009-07-01 | 2013-04-09 | Pixart Imaging Inc. | Home appliance control device |
CN102656543A (en) * | 2009-09-22 | 2012-09-05 | 泊布欧斯技术有限公司 | Remote control of computer devices |
JP5588310B2 (en) * | 2009-11-15 | 2014-09-10 | プライムセンス リミテッド | Optical projector with beam monitor |
GB0921461D0 (en) * | 2009-12-08 | 2010-01-20 | Qinetiq Ltd | Range based sensing |
JP4783456B2 (en) * | 2009-12-22 | 2011-09-28 | 株式会社東芝 | Video playback apparatus and video playback method |
US20110187878A1 (en) * | 2010-02-02 | 2011-08-04 | Primesense Ltd. | Synchronization of projected illumination with rolling shutter of image sensor |
US8982182B2 (en) | 2010-03-01 | 2015-03-17 | Apple Inc. | Non-uniform spatial resource allocation for depth mapping |
WO2012018017A1 (en) * | 2010-08-06 | 2012-02-09 | 旭硝子株式会社 | Diffractive optical element and measurement device |
US9098931B2 (en) | 2010-08-11 | 2015-08-04 | Apple Inc. | Scanning projectors and image capture modules for 3D mapping |
US9870068B2 (en) | 2010-09-19 | 2018-01-16 | Facebook, Inc. | Depth mapping with a head mounted display using stereo cameras and structured light |
US9066087B2 (en) | 2010-11-19 | 2015-06-23 | Apple Inc. | Depth mapping using time-coded illumination |
US9167138B2 (en) | 2010-12-06 | 2015-10-20 | Apple Inc. | Pattern projection and imaging using lens arrays |
JP5948948B2 (en) * | 2011-03-03 | 2016-07-06 | 旭硝子株式会社 | Diffractive optical element and measuring device |
JP5948949B2 (en) * | 2011-06-28 | 2016-07-06 | 旭硝子株式会社 | Diffractive optical element and measuring device |
US9857868B2 (en) | 2011-03-19 | 2018-01-02 | The Board Of Trustees Of The Leland Stanford Junior University | Method and system for ergonomic touch-free interface |
US9030528B2 (en) | 2011-04-04 | 2015-05-12 | Apple Inc. | Multi-zone imaging sensor and lens array |
US8840466B2 (en) | 2011-04-25 | 2014-09-23 | Aquifi, Inc. | Method and system to create three-dimensional mapping in a two-dimensional game |
US8897523B2 (en) | 2011-07-09 | 2014-11-25 | Gauss Surgical | System and method for counting surgical samples |
US10426356B2 (en) | 2011-07-09 | 2019-10-01 | Gauss Surgical, Inc. | Method for estimating a quantity of a blood component in a fluid receiver and corresponding error |
US8948447B2 (en) * | 2011-07-12 | 2015-02-03 | Lucasfilm Entertainment Companyy, Ltd. | Scale independent tracking pattern |
US8869073B2 (en) * | 2011-07-28 | 2014-10-21 | Hewlett-Packard Development Company, L.P. | Hand pose interaction |
US8971572B1 (en) | 2011-08-12 | 2015-03-03 | The Research Foundation For The State University Of New York | Hand pointing estimation for human computer interaction |
US9518864B2 (en) | 2011-12-15 | 2016-12-13 | Facebook, Inc. | Controllable optical sensing |
CN102565903B (en) * | 2012-01-11 | 2014-08-13 | 中国科学院上海光学精密机械研究所 | Method for preparing random dammann grating |
US8854433B1 (en) | 2012-02-03 | 2014-10-07 | Aquifi, Inc. | Method and system enabling natural user interface gestures with an electronic system |
AU2013219966B2 (en) | 2012-02-15 | 2015-04-02 | Apple Inc. | Scanning depth engine |
DE102012103766A1 (en) * | 2012-04-27 | 2013-10-31 | Bircher Reglomat Ag | Method for controlling and / or monitoring the areas around resealable building openings |
WO2013173356A1 (en) | 2012-05-14 | 2013-11-21 | Gauss Surgical | System and methods for managing blood loss of a patient |
CN109738621B (en) | 2012-05-14 | 2021-05-11 | 高斯外科公司 | System and method for estimating amount of blood component in liquid tank |
US9014903B1 (en) * | 2012-05-22 | 2015-04-21 | Google Inc. | Determination of object heading based on point cloud |
WO2013184998A2 (en) | 2012-06-08 | 2013-12-12 | Unitedhealth Group Incorporated | Interactive sessions with participants and providers |
US9111135B2 (en) | 2012-06-25 | 2015-08-18 | Aquifi, Inc. | Systems and methods for tracking human hands using parts based template matching using corresponding pixels in bounded regions of a sequence of frames that are a specified distance interval from a reference camera |
US8934675B2 (en) | 2012-06-25 | 2015-01-13 | Aquifi, Inc. | Systems and methods for tracking human hands by performing parts based template matching using images from multiple viewpoints |
WO2014020603A2 (en) | 2012-08-01 | 2014-02-06 | Real View Imaging Ltd. | Increasing an area from which a computer generated hologram may be viewed |
US8836768B1 (en) | 2012-09-04 | 2014-09-16 | Aquifi, Inc. | Method and system enabling natural user interface gestures with user wearable glasses |
US10234941B2 (en) * | 2012-10-04 | 2019-03-19 | Microsoft Technology Licensing, Llc | Wearable sensor for tracking articulated body-parts |
CN102970548B (en) * | 2012-11-27 | 2015-01-21 | 西安交通大学 | Image depth sensing device |
CN102999910B (en) * | 2012-11-27 | 2015-07-22 | 宁波盈芯信息科技有限公司 | Image depth calculating method |
CN103020988B (en) * | 2012-11-27 | 2015-02-25 | 宁波盈芯信息科技有限公司 | Method for generating motion vector of laser speckle image |
US9091628B2 (en) | 2012-12-21 | 2015-07-28 | L-3 Communications Security And Detection Systems, Inc. | 3D mapping with two orthogonal imaging views |
TWI454968B (en) | 2012-12-24 | 2014-10-01 | Ind Tech Res Inst | Three-dimensional interactive device and operation method thereof |
US9129155B2 (en) | 2013-01-30 | 2015-09-08 | Aquifi, Inc. | Systems and methods for initializing motion tracking of human hands using template matching within bounded regions determined using a depth map |
US9092665B2 (en) | 2013-01-30 | 2015-07-28 | Aquifi, Inc | Systems and methods for initializing motion tracking of human hands |
US9298266B2 (en) | 2013-04-02 | 2016-03-29 | Aquifi, Inc. | Systems and methods for implementing three-dimensional (3D) gesture based graphical user interfaces (GUI) that incorporate gesture reactive interface objects |
US20140307055A1 (en) | 2013-04-15 | 2014-10-16 | Microsoft Corporation | Intensity-modulated light pattern for active stereo |
WO2014171418A1 (en) | 2013-04-19 | 2014-10-23 | 凸版印刷株式会社 | Three-dimensional shape measurement device, three-dimensional shape measurement method, and three-dimensional shape measurement program |
US9798388B1 (en) | 2013-07-31 | 2017-10-24 | Aquifi, Inc. | Vibrotactile system to augment 3D input systems |
CA2924622C (en) | 2013-10-23 | 2020-03-10 | Oculus Vr, Llc. | Three dimensional depth mapping using dynamic structured light |
CN105705903A (en) | 2013-11-06 | 2016-06-22 | 凸版印刷株式会社 | 3D-shape measurement device, 3D-shape measurement method, and 3D-shape measurement program |
CN105829829B (en) * | 2013-12-27 | 2019-08-23 | 索尼公司 | Image processing apparatus and image processing method |
US9507417B2 (en) | 2014-01-07 | 2016-11-29 | Aquifi, Inc. | Systems and methods for implementing head tracking based graphical user interfaces (GUI) that incorporate gesture reactive interface objects |
US9619105B1 (en) | 2014-01-30 | 2017-04-11 | Aquifi, Inc. | Systems and methods for gesture based interaction with viewpoint dependent user interfaces |
CN103839258A (en) * | 2014-02-13 | 2014-06-04 | 西安交通大学 | Depth perception method of binarized laser speckle images |
CN106796661B (en) | 2014-08-12 | 2020-08-25 | 曼蒂斯影像有限公司 | System, method and computer program product for projecting a light pattern |
DE112015005073B4 (en) | 2014-11-06 | 2020-08-06 | Sony Corporation | Imaging system containing a lens with longitudinal chromatic aberration, endoscope and imaging method |
US9817159B2 (en) | 2015-01-31 | 2017-11-14 | Microsoft Technology Licensing, Llc | Structured light pattern generation |
CN107532885B (en) * | 2015-02-25 | 2020-03-03 | 脸谱科技有限责任公司 | Intensity variation in light patterns for depth mapping of objects in a volume |
JP6575795B2 (en) | 2015-03-11 | 2019-09-18 | パナソニックIpマネジメント株式会社 | Human detection system |
TWI623889B (en) * | 2015-03-17 | 2018-05-11 | 國立高雄應用科技大學 | 3d hand gesture image recognition method and system thereof |
EP3274653B1 (en) | 2015-03-22 | 2020-11-25 | Facebook Technologies, LLC | Depth mapping with a head mounted display using stereo cameras and structured light |
US9575183B2 (en) * | 2015-03-31 | 2017-02-21 | The Boeing Company | Tracking measurement system and method |
US9984519B2 (en) | 2015-04-10 | 2018-05-29 | Google Llc | Method and system for optical user recognition |
EP3295239B1 (en) * | 2015-05-13 | 2021-06-30 | Facebook Technologies, LLC | Augmenting a depth map representation with a reflectivity map representation |
US10610133B2 (en) | 2015-11-05 | 2020-04-07 | Google Llc | Using active IR sensor to monitor sleep |
JP6934253B2 (en) | 2015-12-23 | 2021-09-15 | ガウス サージカル, インコーポレイテッドGauss Surgical, Inc. | How to assess the amount of blood components in a surgical fabric |
JP6668764B2 (en) | 2016-01-13 | 2020-03-18 | セイコーエプソン株式会社 | Image recognition device, image recognition method, and image recognition unit |
JP6668763B2 (en) | 2016-01-13 | 2020-03-18 | セイコーエプソン株式会社 | Image recognition device, image recognition method, and image recognition unit |
JP6631261B2 (en) | 2016-01-14 | 2020-01-15 | セイコーエプソン株式会社 | Image recognition device, image recognition method, and image recognition unit |
JP6607121B2 (en) | 2016-03-30 | 2019-11-20 | セイコーエプソン株式会社 | Image recognition apparatus, image recognition method, and image recognition unit |
US10241244B2 (en) | 2016-07-29 | 2019-03-26 | Lumentum Operations Llc | Thin film total internal reflection diffraction grating for single polarization or dual polarization |
US11229368B2 (en) | 2017-01-13 | 2022-01-25 | Gauss Surgical, Inc. | Fluid loss estimation based on weight of medical items |
US10158845B2 (en) | 2017-01-18 | 2018-12-18 | Facebook Technologies, Llc | Tileable structured light projection for wide field-of-view depth sensing |
WO2018172610A1 (en) * | 2017-03-19 | 2018-09-27 | Kovilta Oy | Systems and methods for modulated image capture |
JP6970376B2 (en) | 2017-12-01 | 2021-11-24 | オムロン株式会社 | Image processing system and image processing method |
WO2019165862A1 (en) * | 2018-02-27 | 2019-09-06 | Oppo广东移动通信有限公司 | Laser projection module, depth camera, and electronic device |
CN108388072B (en) * | 2018-02-27 | 2020-01-10 | Oppo广东移动通信有限公司 | Laser projection module, depth camera and electronic device |
CN108490630B (en) * | 2018-03-12 | 2019-10-22 | Oppo广东移动通信有限公司 | Laser projection mould group, depth camera and electronic device |
WO2019240010A1 (en) | 2018-06-11 | 2019-12-19 | Agc株式会社 | Diffraction optical element, projection device, and measurement device |
JP7030757B2 (en) * | 2018-10-23 | 2022-03-07 | ヴァイアヴィ・ソリューションズ・インコーポレイテッド | An optical element including a plurality of regions, an optical system including the optical element, and a method of using the optical system. |
US11442282B2 (en) | 2018-10-26 | 2022-09-13 | Viavi Solutions Inc. | Optical element including a plurality of regions |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6259561B1 (en) * | 1999-03-26 | 2001-07-10 | The University Of Rochester | Optical system for diffusing light |
US20040218262A1 (en) * | 2003-02-21 | 2004-11-04 | Chuang Yung-Ho | Inspection system using small catadioptric objective |
WO2007043036A1 (en) * | 2005-10-11 | 2007-04-19 | Prime Sense Ltd. | Method and system for object reconstruction |
Family Cites Families (128)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5588002A (en) * | 1978-12-26 | 1980-07-03 | Canon Inc | Optical making method of diffusion plate |
DE2951207A1 (en) | 1978-12-26 | 1980-07-10 | Canon Kk | METHOD FOR THE OPTICAL PRODUCTION OF A SPREADING PLATE |
US4542376A (en) | 1983-11-03 | 1985-09-17 | Burroughs Corporation | System for electronically displaying portions of several different images on a CRT screen through respective prioritized viewports |
JPS6079108U (en) * | 1983-11-08 | 1985-06-01 | オムロン株式会社 | speckle rangefinder |
JPH0762869B2 (en) | 1986-03-07 | 1995-07-05 | 日本電信電話株式会社 | Position and shape measurement method by pattern projection |
US4843568A (en) | 1986-04-11 | 1989-06-27 | Krueger Myron W | Real time perception of and response to the actions of an unencumbered participant/user |
JPH0615968B2 (en) | 1986-08-11 | 1994-03-02 | 伍良 松本 | Three-dimensional shape measuring device |
JPH01240863A (en) * | 1988-03-23 | 1989-09-26 | Kowa Co | Method and apparatus for generating speckle pattern |
JP2714152B2 (en) * | 1989-06-28 | 1998-02-16 | 古野電気株式会社 | Object shape measurement method |
JP2673196B2 (en) * | 1989-10-13 | 1997-11-05 | 株式会社小野測器 | 3D shape sensor |
US5003166A (en) * | 1989-11-07 | 1991-03-26 | Massachusetts Institute Of Technology | Multidimensional range mapping with pattern projection and cross correlation |
US5075562A (en) | 1990-09-20 | 1991-12-24 | Eastman Kodak Company | Method and apparatus for absolute Moire distance measurements using a grating printed on or attached to a surface |
GB9116151D0 (en) | 1991-07-26 | 1991-09-11 | Isis Innovation | Three-dimensional vision system |
US5483261A (en) | 1992-02-14 | 1996-01-09 | Itu Research, Inc. | Graphical input controller and method with rear screen image detection |
DE69226512T2 (en) | 1992-03-12 | 1999-04-22 | Ibm | Image processing method |
US5636025A (en) | 1992-04-23 | 1997-06-03 | Medar, Inc. | System for optically measuring the surface contour of a part using more fringe techniques |
US5856871A (en) | 1993-08-18 | 1999-01-05 | Applied Spectral Imaging Ltd. | Film thickness mapping using interferometric spectral imaging |
US6041140A (en) * | 1994-10-04 | 2000-03-21 | Synthonics, Incorporated | Apparatus for interactive image correlation for three dimensional image production |
JPH08186845A (en) | 1994-12-27 | 1996-07-16 | Nobuaki Yanagisawa | Focal distance controlling stereoscopic-vision television receiver |
US5630043A (en) | 1995-05-11 | 1997-05-13 | Cirrus Logic, Inc. | Animated texture map apparatus and method for 3-D image displays |
IL114278A (en) | 1995-06-22 | 2010-06-16 | Microsoft Internat Holdings B | Camera and method |
JPH11510248A (en) | 1995-07-18 | 1999-09-07 | ザ バッド カンパニー | System and method for moire interferometry with extended image depth |
JPH09261535A (en) | 1996-03-25 | 1997-10-03 | Sharp Corp | Image pickup device |
US5614948A (en) | 1996-04-26 | 1997-03-25 | Intel Corporation | Camera having an adaptive gain control |
DE19638727A1 (en) | 1996-09-12 | 1998-03-19 | Ruedger Dipl Ing Rubbert | Method for increasing the significance of the three-dimensional measurement of objects |
JP3402138B2 (en) | 1996-09-27 | 2003-04-28 | 株式会社日立製作所 | Liquid crystal display |
IL119341A (en) | 1996-10-02 | 1999-09-22 | Univ Ramot | Phase-only filter for generating an arbitrary illumination pattern |
IL119831A (en) * | 1996-12-15 | 2002-12-01 | Cognitens Ltd | Apparatus and method for 3d surface geometry reconstruction |
JP2001507133A (en) * | 1996-12-20 | 2001-05-29 | ライフェフ/エックス・ネットワークス・インク | High-speed 3D image parameter display apparatus and method |
US5838428A (en) | 1997-02-28 | 1998-11-17 | United States Of America As Represented By The Secretary Of The Navy | System and method for high resolution range imaging with split light source and pattern mask |
JPH10327433A (en) | 1997-05-23 | 1998-12-08 | Minolta Co Ltd | Display device for composted image |
US6008813A (en) | 1997-08-01 | 1999-12-28 | Mitsubishi Electric Information Technology Center America, Inc. (Ita) | Real-time PC based volume rendering system |
DE19736169A1 (en) | 1997-08-20 | 1999-04-15 | Fhu Hochschule Fuer Technik | Method to measure deformation or vibration using electronic speckle pattern interferometry |
US6101269A (en) * | 1997-12-19 | 2000-08-08 | Lifef/X Networks, Inc. | Apparatus and method for rapid 3D image parametrization |
DE19815201A1 (en) | 1998-04-04 | 1999-10-07 | Link Johann & Ernst Gmbh & Co | Measuring arrangement for detecting dimensions of test specimens, preferably of hollow bodies, in particular of bores in workpieces, and methods for measuring such dimensions |
US6750906B1 (en) | 1998-05-08 | 2004-06-15 | Cirrus Logic, Inc. | Histogram-based automatic gain control method and system for video applications |
US6731391B1 (en) | 1998-05-13 | 2004-05-04 | The Research Foundation Of State University Of New York | Shadow moire surface measurement using Talbot effect |
DE19821611A1 (en) * | 1998-05-14 | 1999-11-18 | Syrinx Med Tech Gmbh | Recording method for spatial structure of three-dimensional surface, e.g. for person recognition |
GB2352901A (en) | 1999-05-12 | 2001-02-07 | Tricorder Technology Plc | Rendering three dimensional representations utilising projected light patterns |
US6084712A (en) | 1998-11-03 | 2000-07-04 | Dynamic Measurement And Inspection,Llc | Three dimensional imaging using a refractive optic design |
JP2001166810A (en) * | 1999-02-19 | 2001-06-22 | Sanyo Electric Co Ltd | Device and method for providing solid model |
US6751344B1 (en) | 1999-05-28 | 2004-06-15 | Champion Orthotic Investments, Inc. | Enhanced projector system for machine vision |
US6512385B1 (en) | 1999-07-26 | 2003-01-28 | Paul Pfaff | Method for testing a device under test including the interference of two beams |
US6268923B1 (en) | 1999-10-07 | 2001-07-31 | Integral Vision, Inc. | Optical method and system for measuring three-dimensional surface topography of an object having a surface contour |
JP2001141430A (en) * | 1999-11-16 | 2001-05-25 | Fuji Photo Film Co Ltd | Image pickup device and image processing device |
LT4842B (en) | 1999-12-10 | 2001-09-25 | Uab "Geola" | Universal digital holographic printer and method |
US6301059B1 (en) | 2000-01-07 | 2001-10-09 | Lucent Technologies Inc. | Astigmatic compensation for an anamorphic optical system |
US6937348B2 (en) | 2000-01-28 | 2005-08-30 | Genex Technologies, Inc. | Method and apparatus for generating structural pattern illumination |
JP4560869B2 (en) | 2000-02-07 | 2010-10-13 | ソニー株式会社 | Glasses-free display system and backlight system |
US6377353B1 (en) * | 2000-03-07 | 2002-04-23 | Pheno Imaging, Inc. | Three-dimensional measuring system for animals using structured light |
KR100355718B1 (en) | 2000-06-10 | 2002-10-11 | 주식회사 메디슨 | System and method for 3-d ultrasound imaging using an steerable probe |
US6810135B1 (en) | 2000-06-29 | 2004-10-26 | Trw Inc. | Optimized human presence detection through elimination of background interference |
TW527518B (en) * | 2000-07-14 | 2003-04-11 | Massachusetts Inst Technology | Method and system for high resolution, ultra fast, 3-D imaging |
US7227526B2 (en) * | 2000-07-24 | 2007-06-05 | Gesturetek, Inc. | Video-based image control system |
US6686921B1 (en) | 2000-08-01 | 2004-02-03 | International Business Machines Corporation | Method and apparatus for acquiring a set of consistent image maps to represent the color of the surface of an object |
US6754370B1 (en) | 2000-08-14 | 2004-06-22 | The Board Of Trustees Of The Leland Stanford Junior University | Real-time structured light range scanning of moving scenes |
US6639684B1 (en) | 2000-09-13 | 2003-10-28 | Nextengine, Inc. | Digitizer using intensity gradient to image features of three-dimensional objects |
US6813440B1 (en) | 2000-10-10 | 2004-11-02 | The Hong Kong Polytechnic University | Body scanner |
JP3689720B2 (en) * | 2000-10-16 | 2005-08-31 | 住友大阪セメント株式会社 | 3D shape measuring device |
JP2002152776A (en) | 2000-11-09 | 2002-05-24 | Nippon Telegr & Teleph Corp <Ntt> | Method and device for encoding and decoding distance image |
JP2002191058A (en) | 2000-12-20 | 2002-07-05 | Olympus Optical Co Ltd | Three-dimensional image acquisition device and three- dimensional image acquisition method |
JP2002213931A (en) | 2001-01-17 | 2002-07-31 | Fuji Xerox Co Ltd | Instrument and method for measuring three-dimensional shape |
US6841780B2 (en) | 2001-01-19 | 2005-01-11 | Honeywell International Inc. | Method and apparatus for detecting objects |
JP2002365023A (en) | 2001-06-08 | 2002-12-18 | Koji Okamoto | Apparatus and method for measurement of liquid level |
US6825985B2 (en) | 2001-07-13 | 2004-11-30 | Mems Optical, Inc. | Autostereoscopic display with rotated microlens and method of displaying multidimensional images, especially color images |
US6741251B2 (en) | 2001-08-16 | 2004-05-25 | Hewlett-Packard Development Company, L.P. | Method and apparatus for varying focus in a scene |
US7340077B2 (en) | 2002-02-15 | 2008-03-04 | Canesta, Inc. | Gesture recognition system using depth perceptive sensors |
US7369685B2 (en) | 2002-04-05 | 2008-05-06 | Identix Corporation | Vision-based operating method and system |
US7385708B2 (en) | 2002-06-07 | 2008-06-10 | The University Of North Carolina At Chapel Hill | Methods and systems for laser based real-time structured light depth extraction |
US7006709B2 (en) | 2002-06-15 | 2006-02-28 | Microsoft Corporation | System and method deghosting mosaics using multiperspective plane sweep |
FR2842591B1 (en) * | 2002-07-16 | 2004-10-22 | Ecole Nale Sup Artes Metiers | DEVICE FOR MEASURING VARIATIONS IN THE RELIEF OF AN OBJECT |
US6859326B2 (en) | 2002-09-20 | 2005-02-22 | Corning Incorporated | Random microlens array for optical beam shaping and homogenization |
US7194105B2 (en) | 2002-10-16 | 2007-03-20 | Hersch Roger D | Authentication of documents and articles by moiré patterns |
WO2004046645A2 (en) | 2002-11-21 | 2004-06-03 | Solvision | Fast 3d height measurement method and system |
US7103212B2 (en) | 2002-11-22 | 2006-09-05 | Strider Labs, Inc. | Acquisition of three-dimensional images by an active stereo technique using locally unique patterns |
US20040174770A1 (en) | 2002-11-27 | 2004-09-09 | Rees Frank L. | Gauss-Rees parametric ultrawideband system |
FR2849245B1 (en) * | 2002-12-20 | 2006-02-24 | Thales Sa | METHOD FOR AUTHENTICATION AND OPTICAL IDENTIFICATION OF OBJECTS AND DEVICE FOR IMPLEMENTING THE SAME |
US7127101B2 (en) | 2003-03-10 | 2006-10-24 | Cranul Technologies, Inc. | Automatic selection of cranial remodeling device trim lines |
US20040213463A1 (en) | 2003-04-22 | 2004-10-28 | Morrison Rick Lee | Multiplexed, spatially encoded illumination system for determining imaging and range estimation |
US20070057946A1 (en) | 2003-07-24 | 2007-03-15 | Dan Albeck | Method and system for the three-dimensional surface reconstruction of an object |
US20050111705A1 (en) | 2003-08-26 | 2005-05-26 | Roman Waupotitsch | Passive stereo sensing for 3D facial shape biometrics |
US6934018B2 (en) | 2003-09-10 | 2005-08-23 | Shearographics, Llc | Tire inspection apparatus and method |
US7187437B2 (en) | 2003-09-10 | 2007-03-06 | Shearographics, Llc | Plurality of light sources for inspection apparatus and method |
US7874917B2 (en) | 2003-09-15 | 2011-01-25 | Sony Computer Entertainment Inc. | Methods and systems for enabling depth and direction detection when interfacing with a computer program |
US7112774B2 (en) | 2003-10-09 | 2006-09-26 | Avago Technologies Sensor Ip (Singapore) Pte. Ltd | CMOS stereo imaging system and method |
US7961909B2 (en) | 2006-03-08 | 2011-06-14 | Electronic Scripting Products, Inc. | Computer interface employing a manipulated object with absolute pose detection component and a display |
WO2005076198A1 (en) * | 2004-02-09 | 2005-08-18 | Cheol-Gwon Kang | Device for measuring 3d shape using irregular pattern and method for the same |
US7427981B2 (en) * | 2004-04-15 | 2008-09-23 | Avago Technologies General Ip (Singapore) Pte. Ltd. | Optical device that measures distance between the device and a surface |
US7308112B2 (en) | 2004-05-14 | 2007-12-11 | Honda Motor Co., Ltd. | Sign based human-machine interaction |
JP2008507719A (en) | 2004-07-23 | 2008-03-13 | ジーイー・ヘルスケア・ナイアガラ・インク | Confocal fluorescence microscopy and equipment |
US20060017656A1 (en) | 2004-07-26 | 2006-01-26 | Visteon Global Technologies, Inc. | Image intensity control in overland night vision systems |
US7120228B2 (en) | 2004-09-21 | 2006-10-10 | Jordan Valley Applied Radiation Ltd. | Combined X-ray reflectometer and diffractometer |
JP2006128818A (en) | 2004-10-26 | 2006-05-18 | Victor Co Of Japan Ltd | Recording program and reproducing program corresponding to stereoscopic video and 3d audio, recording apparatus, reproducing apparatus and recording medium |
US7076024B2 (en) | 2004-12-01 | 2006-07-11 | Jordan Valley Applied Radiation, Ltd. | X-ray apparatus with dual monochromators |
US20060156756A1 (en) | 2005-01-20 | 2006-07-20 | Becke Paul E | Phase change and insulating properties container and method of use |
US20060221218A1 (en) | 2005-04-05 | 2006-10-05 | Doron Adler | Image sensor with improved color filter |
EP1875162B1 (en) | 2005-04-06 | 2014-06-11 | Dimensional Photonics International, Inc. | Determining positional error of an optical component using structured light patterns |
US20110096182A1 (en) | 2009-10-25 | 2011-04-28 | Prime Sense Ltd | Error Compensation in Three-Dimensional Mapping |
JP4917615B2 (en) | 2006-02-27 | 2012-04-18 | プライム センス リミティド | Range mapping using uncorrelated speckle |
CN101496033B (en) | 2006-03-14 | 2012-03-21 | 普莱姆森斯有限公司 | Depth-varying light fields for three dimensional sensing |
KR101408959B1 (en) | 2006-03-14 | 2014-07-02 | 프라임센스 엘티디. | Depth-varying light fields for three dimensional sensing |
US8488895B2 (en) | 2006-05-31 | 2013-07-16 | Indiana University Research And Technology Corp. | Laser scanning digital camera with pupil periphery illumination and potential for multiply scattered light imaging |
US7256899B1 (en) | 2006-10-04 | 2007-08-14 | Ivan Faul | Wireless methods and systems for three-dimensional non-contact shape sensing |
US7990545B2 (en) | 2006-12-27 | 2011-08-02 | Cambridge Research & Instrumentation, Inc. | Surface measurement of in-vivo subjects using spot projector |
US7840031B2 (en) | 2007-01-12 | 2010-11-23 | International Business Machines Corporation | Tracking a range of body movement based on 3D captured image streams of a user |
US8350847B2 (en) | 2007-01-21 | 2013-01-08 | Primesense Ltd | Depth mapping using multi-beam illumination |
US20080212835A1 (en) | 2007-03-01 | 2008-09-04 | Amon Tavor | Object Tracking by 3-Dimensional Modeling |
US8150142B2 (en) | 2007-04-02 | 2012-04-03 | Prime Sense Ltd. | Depth mapping using projected patterns |
TWI433052B (en) | 2007-04-02 | 2014-04-01 | Primesense Ltd | Depth mapping using projected patterns |
CA2627999C (en) | 2007-04-03 | 2011-11-15 | Her Majesty The Queen In Right Of Canada, As Represented By The Minister Of Industry Through The Communications Research Centre Canada | Generation of a depth map from a monoscopic color image for rendering stereoscopic still and video images |
WO2008155770A2 (en) | 2007-06-19 | 2008-12-24 | Prime Sense Ltd. | Distance-varying illumination and imaging techniques for depth mapping |
JP4412362B2 (en) | 2007-07-18 | 2010-02-10 | 船井電機株式会社 | Compound eye imaging device |
DE102007045332B4 (en) * | 2007-09-17 | 2019-01-17 | Seereal Technologies S.A. | Holographic display for reconstructing a scene |
US8166421B2 (en) | 2008-01-14 | 2012-04-24 | Primesense Ltd. | Three-dimensional user interface |
US8176497B2 (en) | 2008-01-16 | 2012-05-08 | Dell Products, Lp | Method to dynamically provision additional computer resources to handle peak database workloads |
US8384997B2 (en) | 2008-01-21 | 2013-02-26 | Primesense Ltd | Optical pattern projection |
CN101984767B (en) | 2008-01-21 | 2014-01-29 | 普莱姆森斯有限公司 | Optical designs for zero order reduction |
US8456517B2 (en) | 2008-07-09 | 2013-06-04 | Primesense Ltd. | Integrated processor for 3D mapping |
US8462207B2 (en) | 2009-02-12 | 2013-06-11 | Primesense Ltd. | Depth ranging with Moiré patterns |
US8786682B2 (en) | 2009-03-05 | 2014-07-22 | Primesense Ltd. | Reference image techniques for three-dimensional sensing |
US8717417B2 (en) | 2009-04-16 | 2014-05-06 | Primesense Ltd. | Three-dimensional mapping and imaging |
US8744121B2 (en) | 2009-05-29 | 2014-06-03 | Microsoft Corporation | Device for identifying and tracking multiple humans over time |
US9582889B2 (en) | 2009-07-30 | 2017-02-28 | Apple Inc. | Depth mapping based on pattern matching and stereoscopic information |
WO2011031538A2 (en) | 2009-08-27 | 2011-03-17 | California Institute Of Technology | Accurate 3d object reconstruction using a handheld device with a projected light pattern |
US8830227B2 (en) | 2009-12-06 | 2014-09-09 | Primesense Ltd. | Depth-based gain control |
US20110187878A1 (en) | 2010-02-02 | 2011-08-04 | Primesense Ltd. | Synchronization of projected illumination with rolling shutter of image sensor |
US20110188054A1 (en) | 2010-02-02 | 2011-08-04 | Primesense Ltd | Integrated photonics module for optical projection |
US8982182B2 (en) | 2010-03-01 | 2015-03-17 | Apple Inc. | Non-uniform spatial resource allocation for depth mapping |
-
2007
- 2007-03-13 EP EP07713347.8A patent/EP1994503B1/en active Active
- 2007-03-13 JP JP2008558984A patent/JP5592070B2/en active Active
- 2007-03-13 WO PCT/IL2007/000327 patent/WO2007105215A2/en active Application Filing
- 2007-03-13 CN CN200780009053.8A patent/CN101501442B/en active Active
-
2011
- 2011-03-09 US US13/043,488 patent/US8374397B2/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6259561B1 (en) * | 1999-03-26 | 2001-07-10 | The University Of Rochester | Optical system for diffusing light |
US20040218262A1 (en) * | 2003-02-21 | 2004-11-04 | Chuang Yung-Ho | Inspection system using small catadioptric objective |
WO2007043036A1 (en) * | 2005-10-11 | 2007-04-19 | Prime Sense Ltd. | Method and system for object reconstruction |
Cited By (37)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8050461B2 (en) | 2005-10-11 | 2011-11-01 | Primesense Ltd. | Depth-varying light fields for three dimensional sensing |
US8400494B2 (en) | 2005-10-11 | 2013-03-19 | Primesense Ltd. | Method and system for object reconstruction |
US8390821B2 (en) | 2005-10-11 | 2013-03-05 | Primesense Ltd. | Three-dimensional sensing using speckle patterns |
EP1997046A2 (en) * | 2006-01-11 | 2008-12-03 | Densys, Ltd. | Three-dimensional modeling of the oral cavity |
EP1997046A4 (en) * | 2006-01-11 | 2012-05-02 | Densys Ltd | Three-dimensional modeling of the oral cavity |
US8350847B2 (en) | 2007-01-21 | 2013-01-08 | Primesense Ltd | Depth mapping using multi-beam illumination |
US8493496B2 (en) | 2007-04-02 | 2013-07-23 | Primesense Ltd. | Depth mapping using projected patterns |
US8150142B2 (en) | 2007-04-02 | 2012-04-03 | Prime Sense Ltd. | Depth mapping using projected patterns |
US8494252B2 (en) | 2007-06-19 | 2013-07-23 | Primesense Ltd. | Depth mapping using optical elements having non-uniform focal characteristics |
US8483477B2 (en) | 2007-09-28 | 2013-07-09 | Noomeo | Method of constructing a digital image of a three-dimensional (3D) surface using a mask |
FR2921719A1 (en) * | 2007-09-28 | 2009-04-03 | Noomeo Soc Par Actions Simplif | Physical object e.g. apple, three-dimensional surface's synthesis image creating method for e.g. industrial farm, involves calculating depth coordinate measured at axis for each point of dusty seeds from projection of point on surface |
WO2009074751A3 (en) * | 2007-09-28 | 2009-08-06 | Noomeo | Method for three-dimensional digitisation |
WO2009074751A2 (en) * | 2007-09-28 | 2009-06-18 | Noomeo | Method for three-dimensional digitisation |
RU2502136C2 (en) * | 2007-10-05 | 2013-12-20 | Артек Груп, Инк. | Combined object capturing system and display device and associated method |
US8957954B2 (en) | 2007-12-04 | 2015-02-17 | Sirona Dental Systems Gmbh | Recording method for obtaining an image of an object and recording device |
DE102007058590B4 (en) * | 2007-12-04 | 2010-09-16 | Sirona Dental Systems Gmbh | Recording method for an image of a recording object and recording device |
CN102047669B (en) * | 2008-06-02 | 2013-12-18 | 皇家飞利浦电子股份有限公司 | Video signal with depth information |
CN102047669A (en) * | 2008-06-02 | 2011-05-04 | 皇家飞利浦电子股份有限公司 | Video signal with depth information |
US8456517B2 (en) | 2008-07-09 | 2013-06-04 | Primesense Ltd. | Integrated processor for 3D mapping |
JP2012504771A (en) * | 2008-10-06 | 2012-02-23 | マンチスビジョン リミテッド | Method and system for providing three-dimensional and distance inter-surface estimation |
US8462207B2 (en) | 2009-02-12 | 2013-06-11 | Primesense Ltd. | Depth ranging with Moiré patterns |
US8786682B2 (en) | 2009-03-05 | 2014-07-22 | Primesense Ltd. | Reference image techniques for three-dimensional sensing |
US8717417B2 (en) | 2009-04-16 | 2014-05-06 | Primesense Ltd. | Three-dimensional mapping and imaging |
US9582889B2 (en) | 2009-07-30 | 2017-02-28 | Apple Inc. | Depth mapping based on pattern matching and stereoscopic information |
US8830227B2 (en) | 2009-12-06 | 2014-09-09 | Primesense Ltd. | Depth-based gain control |
EP2614652A4 (en) * | 2010-09-07 | 2014-10-29 | Intel Corp | A 3-d camera |
EP2614652A2 (en) * | 2010-09-07 | 2013-07-17 | Intel Corporation | A 3-d camera |
US9052512B2 (en) | 2011-03-03 | 2015-06-09 | Asahi Glass Company, Limited | Diffractive optical element and measuring apparatus |
GB2507813A (en) * | 2012-11-13 | 2014-05-14 | Focalspec Oy | Inspecting seals of items |
GB2507813B (en) * | 2012-11-13 | 2017-06-21 | Focalspec Oy | Apparatus and method for inspecting seals of items |
WO2015021084A1 (en) * | 2013-08-09 | 2015-02-12 | Microsoft Corporation | Speckle sensing for motion tracking |
US9208566B2 (en) | 2013-08-09 | 2015-12-08 | Microsoft Technology Licensing, Llc | Speckle sensing for motion tracking |
US10349037B2 (en) | 2014-04-03 | 2019-07-09 | Ams Sensors Singapore Pte. Ltd. | Structured-stereo imaging assembly including separate imagers for different wavelengths |
USD741864S1 (en) | 2014-09-10 | 2015-10-27 | Faro Technologies, Inc. | Laser scanner |
USD733141S1 (en) | 2014-09-10 | 2015-06-30 | Faro Technologies, Inc. | Laser scanner |
CN112945141A (en) * | 2021-01-29 | 2021-06-11 | 中北大学 | Structured light rapid imaging method and system based on micro-lens array |
CN112945141B (en) * | 2021-01-29 | 2023-03-14 | 中北大学 | Structured light rapid imaging method and system based on micro-lens array |
Also Published As
Publication number | Publication date |
---|---|
US20110158508A1 (en) | 2011-06-30 |
US8374397B2 (en) | 2013-02-12 |
WO2007105215A3 (en) | 2009-04-09 |
EP1994503A2 (en) | 2008-11-26 |
EP1994503A4 (en) | 2014-02-26 |
JP5592070B2 (en) | 2014-09-17 |
JP2009530604A (en) | 2009-08-27 |
CN101501442B (en) | 2014-03-19 |
CN101501442A (en) | 2009-08-05 |
EP1994503B1 (en) | 2017-07-05 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US8050461B2 (en) | Depth-varying light fields for three dimensional sensing | |
US8374397B2 (en) | Depth-varying light fields for three dimensional sensing | |
US10514148B2 (en) | Pattern projection using microlenses | |
US8761495B2 (en) | Distance-varying illumination and imaging techniques for depth mapping | |
US7433024B2 (en) | Range mapping using speckle decorrelation | |
US8150142B2 (en) | Depth mapping using projected patterns | |
KR101331543B1 (en) | Three-dimensional sensing using speckle patterns | |
JP5001286B2 (en) | Object reconstruction method and system | |
US20070263903A1 (en) | Enhancing stereo depth measurements with projected texture | |
JP2009531655A5 (en) | ||
Drouin et al. | Active triangulation 3D imaging systems for industrial inspection | |
Obara et al. | Structured light field generated by two projectors for high-speed three dimensional measurement | |
Tan | Particle displacement measurement using optical diffraction |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 200780009053.8 Country of ref document: CN |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 07713347 Country of ref document: EP Kind code of ref document: A2 |
|
REEP | Request for entry into the european phase |
Ref document number: 2007713347 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2007713347 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1020087022317 Country of ref document: KR |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2008558984 Country of ref document: JP |