CN106767410A - 高分辨率点图案 - Google Patents

高分辨率点图案 Download PDF

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CN106767410A
CN106767410A CN201611216235.XA CN201611216235A CN106767410A CN 106767410 A CN106767410 A CN 106767410A CN 201611216235 A CN201611216235 A CN 201611216235A CN 106767410 A CN106767410 A CN 106767410A
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S·蒂里斯
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Hand Held Products Inc
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Abstract

本发明包括一种用于使用结构光投射器和图像传感器来测量对象3D形状的系统，图像传感器诸如扫描仪或相机。结构光投射器将伪随机点图案“投射”到位于平面表面上的对象上。图像传感器捕获来自反射表面的对象的3D图像，并且确定对象的尺寸或形状。表面显示投射的点图案并且基于投射的点图案来定义网格。点图案包括分布在网格上的多个点，使得某个子窗口大小内的相邻各点为独特子图案。相邻各点相对于网格的一条轴线按照交错网格格式来布置。

Description

高分辨率点图案
优先权申请的交叉引用
本申请要求2015年11月19日提交的针对“a Pattern for Object Dimensioning”的美国专利申请No.62/257,322的权益，据此通过引用将该美国专利申请以其整体并入本文。
技术领域
本发明涉及用于提供非接触三维(3D)表面测量结果的3D感测系统。更具体地，3D感测系统和方法利用结构光照明和点图案以用于促进对象的3D表面测量。
背景技术
通常来说，基于图案的结构光投射的3D感测连同图像传感器一起可以提供对象或形状的非接触3D表面测量结果。一些实施例中，图像传感器可以是相机。其他实施例中，图像传感器可以是扫描仪。已经产生关于该主题的很多出版物，其描述了大量空间和/或临时编码的图案，以便实现3D扫描。对于手持3D扫描仪来说良好的移动容忍可能相对重要，所以通常使用的是空间编码图案。该方法还需要适应由于相机和光投射器之间的视差距离引起的相机和入射光之间不一致的影响。
通常采用的图案为“伪随机”点图案(诸如由Microsoft Kinect或者其他公司所使用的点图案)或者“列编码”图案(如在1990年由Vuylsteke和Oosterlinck描述的一种图案)，其基于带有诊断连接/断开的棋盘图案来编码列索引。然而，这些图案可能缺乏用于工业应用的对象测量结果中期望的性能和精度。
因此，存在一种用以改善3D感测系统的测量结果的质量的需求。
发明内容
相应地，在一方面，本发明包含使用基于伪随机点图案在对象上的结构光投射的3D感测系统来确定对象的尺寸或形状的方法和系统。
示例性实施例中，三维(3D)感测系统包括用于利用结构光照明将点图案投射到位于表面上的对象的光源；表示显示在表面上的投射的点图案的网格。该点图案包括多个点，其分布在网格上以使得某个子窗口大小内的相邻各点是各点的独特子图案。某个子窗口大小内的相邻各点相对于网格的一条轴线按照交错网格格式来布置。
三维(3D)感测系统还包括图像传感器，其用于捕获从表面反射的对象的图像，以便识别所捕获图像内各点的位置，并且用于基于对象的3D感测来确定对象的尺寸或形状。所述各点基于高斯差分(DOG)算法加双三次插值以亚像素精度定位在网格上。
额外地，点图案包括“伪随机”点图案。光源包括垂直腔面发射激光器(VCSEL)。对象位于平面表面上。通过执行De Bruijn序列获得用于各点的独特子图案的可能组合的列索引，De Bruijn序列之后是编码序列。按照交错网格格式相邻的各点位于网格垂直轴上的三个可能位置中的一个。三个可能位置在网格的网格间距15％以内，以便保持行索引确定。
在另一个示例性实施例中，一种照明对象以便三维(3D)感测系统确定该对象的尺寸的方法，包括利用结构光照明将伪随机点图案传输到位于平面表面上的对象上；基于伪随机点图案在网格上分布各点，使得某个子窗口大小内的一组相邻各点是各点的独特子图案。某个子窗口大小内的各点的独特子图案中的一个或多个点的位置相对于网格的一条轴线被修改。另外，该方法包括通过利用De Bruijn序列来获得对于各点的独特子图案的可能组合的列索引；捕获对象的图像；并且基于对象的3D感测来确定对象的尺寸。
一个或多个点相对于网格的一条轴线的位置的修改包括在不影响行索引确定的情况下来修改网格的一条轴线上的一个或多个点的位置。修改一个或多个点相对于网格的一条轴线的位置包括以小于网格的网格间距的15％的量来修改一个或多个点相对于网格的一条轴线的位置。针对独特子图案的某个子窗口大小包括基于伪随机点图案的网格位置的10％到15％。在轴线上的各点的大量可能的位置根据图像传感器分辨率而改变。在垂直轴上所述各点的可能的位置的数目可以为三。所述各点基于高斯差分(DOG)算法加双三次插值以亚像素精度定位在网格上。
在另外一个示例性实施例中，用于三维(3D)感测的伪随机点图案包括表示伪随机点图案的网格；以及网格的某个子窗口大小内一组相邻点，其定义各点的独特子图案。各点的独特子图案包括一个或多个点，在网格的一条轴线上修改它们的位置。利用结构光照明将伪随机点图案投射到对象上，以利用3D感测来获得对象的尺寸信息。各点的独特子图案包括对于网格上的每个点具有三个可能的垂直位置的各点的交错网格。在一个对应四个点的4×2子窗口内的每个点的三个可能的垂直位置利用81个不同值来编码列索引。三个可能的垂直位置包括上移、下移和无移位位置。以小于网格的网格间距的15％的量来修改其位置沿网格的一条轴线被修改的一个或多个点，以便维持行索引确定。各点基于高斯差分(DOG)算法加双三次插值以亚像素精度定位在网格上。
前述的说明性概要，以及本发明其他示例性目标和/或优点，以及实现本发明的方式，在如下详细说明及其附图内进行进一步解释。
附图说明
图1图示了用于基于点图案的结构光投射来测量对象的3D感测系统。
图2图示了用于3D感测系统的高分辨率点图案。
图3图示了用于3D感测系统的点图案，其中各点以亚像素精度按照交错网格格式定位。
具体实施方式
本发明包括用于使用结构光投射器和图像传感器来测量对象3D形状的系统，所述图像传感器诸如扫描仪或相机。结构光投射器将伪随机点图案“投射”到位于表面上的对象上。图像扫描仪捕获已被反射表面反射的对象的3D图像并且确定对象的尺寸。
尽管物理世界是三维的，但传统的相机和图像传感器只能获得二维(2D)图像，其缺少深度信息。该根本限定可以极大地限制感知和理解真实世界物体复杂性的能力。利用结构化光照明地3D感测方法可促进物体的3D表面测量。应用可以包括：确定零售或者工业环境中包装或产品的形状，用于生产控制的精确形状测量(例如，涡轮叶片)，反向工程(例如，从现有对象获得精确CAD数据)，体积测量(例如，马达内的燃烧室容积)，磨料和工具的分类，地面的精确结构测量，切削工具叶片的半径确定，以及平面性的精确测量。
如上所述，用于3D物体扫描的系统可能基于图案投射，并且可被称为三角测量系统。它们包括发射图案的结构化光投射器，以及包括记录系统的图像传感器。投射或者发射的图案反射离开物体所位于的表面，并且反射的图像由记录系统扫描，以及然后数据被处理，从而可构建扫描区域的三维模型。平面表面提供最佳测量结果。
投射图案的功能是用于提取关于空间深度(第三维)的信息。3D信息可以与形成用于物体的基础和形成识别以及体积测量结果的3D点云相结合。点云是某个坐标系中的一组数据点。三维坐标系中，这些点通常由X，Y和Z坐标定义，并且经常可适用于表示物体的外表面。可以由3D扫描仪创建点云。
更具体地，术语“3D成像”指的是能够获得真实的3D数据的技术，即作为3D坐标x、y、z的函数的3D物体某个属性的各值(诸如密度分布)。表面成像处理物体表面上各点的x、y、z坐标测量结果。由于该表面通常是非平面的，所以在3D空间内描述该表面，并且成像问题因而被称为3D表面成像。该过程也被称为3D表面测量。
3D表面成像的一个基本方法是基于“结构光”的使用，即利用特殊设计的2D空间变化密度图案主动照明物体。图1图示了用于基于结构光投射来测量物体的3D感测系统实施例100。如图1所图示，空间变化的2D结构化照明由特殊投影器或者通过空间光调制器调制的光源来生成。结构光投射器104投射图案到物体108所位于的表面上。在这种情况下，图案为点图案106。图像传感器102可被用于捕获被结构光投射器104投射的物体的2D图像。图像传感器102可以为相机或扫描仪。
如果物体为没有任何3D表面变化的平面表面，所获取图像内所示的图案可以与投射的结构光图案的图案类似。然而，当物体内的表面是非平面时，表面的几何形状可以使投射的结构光图案失真，如从相机中看到的。结构光3D表面成像技术的原理的基于来自投射的结构光图案的失真的信息来提取3D表面形状。物体内部各对象的精确3D表面轮廓可以通过使用各种结构光原理和算法来计算。
图案投射的一种变体为点图案，正如前面提到的。投射的图案由成群的点组成。发射器或光源可以为红外激光，从而投射的点图案可能对于人眼来说不可见。在这种情况下，红外图像传感器可用于图案识别。图像处理可将点图案与存储的参考图案进行比较。发射器和投射表面之间的距离可以从各变形量以及检测到的位置变化推导出来。图案投射的该变体可用于扫描移动物体。
利用点图案，光被汇聚到各小点上，从而引起每单位表面面积的高能量，并且获得所捕获图像内的良好的信噪比(SNR)以及相比起棋盘方法来说对环境光照更低的敏感度，棋盘方法中光分布在超过50％的表面上。另外，通常更容易在图片中检测和准确定位孤立的亮点。可采用高斯差分(DOG)算法加上双三次插值来以亚像素精度定位各点。
图2图示了用于3D感测系统的点图案200。点图案200定义可能对分析从来自物体和平面表面处反射的点图案扫描的信息有用的网格。二维(2D)网格图案技术的基本概念是独特地标记投射的2D图案中的每个子窗口，从而在任何一个子窗口中的图案都是独特的，并且关于其在图案中的2D位置可充分识别。点图案200可以具有高分辨率。
对于3D感测，通常识别所捕获图像内的每个点。为了利用“伪随机”点图案获得该识别，各点分布在一网格上，从而某个子窗口大小内的相邻各点构成独特子图案，这导致低的点密度，通常大约为网格位置的10％到15％，并且因此导致与网格分辨率相比的较低数量的3D测量点。
另一方面，利用棋盘图案和列编码技术，可以获得等于棋盘分辨率的3D测量点的数量，但是与点图案相比SNR相当低，并且可能要求高得多的光能。此外，为了产生这些图案，通常使用光源上方的罩，该罩吸收大约50％的光。该方法可能不是节约能源的最好方法，特别是对于手持系统来说节约能源可能是重要的。
为了获得高分辨率，快速和准确的图像处理，对环境照明良好的免疫力以及良好的能效，理想的图案投射可以是完全填充的常规明亮光点网格，正如可利用VCSEL阵列产生的。然而这种情况下，也许不可能识别捕获图像内的每个点，以及因此不能对每个点实行距离测量，而这是3D重构的基础。
采用基于结构光照明明的3D扫描系统，各点之间的差异通常仅沿着一个方向(即，水平差异或垂直差异)。对于水平差异，在捕获的各图像内，每个点根据每个光点到物体的相应的距离而水平移位，并且保持完美的水平对齐。无论距离是多少，这些对齐的点行的垂直位置在捕获图像内为常量，其允许确定行索引。
利用在常规网格上分布的点图案，可能没有方法确定列索引。利用这样的系统，属于相同行的所有点在所捕获图像内具有相同的垂直位置。为了添加额外的信息，目前公开的图案包括在网格源上的各点垂直位置的轻微修改。例如，基本方法建议有区别的3个不同垂直位置。根据图像传感器分辨率并且知道这些点可以亚像素精度来定位，垂直位置的数目可以更多(例如，5、7、10、13、15、20、30、50或者任意数量的垂直位置)。
附图3图示了在2×2邻域(4×2子窗口)内具有四个点的点图案300，对于每个点具有三个可能的可用垂直位置。如果相比起网格间距来说偏移较小(例如直到15％)，这可能不影响行索引确定。利用3个位置结构(无移位，上移，下移)，每个点带来额外1.585比特的信息。网格间距是两个邻近点的中心之间的距离，其中各点在假想网格上是对称放置的。
如果我们考虑2×2邻域(4×2子窗口)，其意味着6.34比特(1.585比特×4)的信息是可用来编码具有81个不同组合的列索引。(不同组合等于每个点的位置的数目，例如，3个位置，提高到第N次幂，这里N是点的数目，例如，34＝81)。为了获得具有所有可能组合的列索引，编码序列通常遵循De Bruijn序列。
按照图3，点图案300表示交错网格(五点形，梅花形，或者按照交错行)的概念，每个点有三个可能垂直位置(N、U、D或无移位，上移，下移)并且使用对应4个点的4×2子窗口分析，以便编码具有81个不同值的列索引。
在这里使用的De Bruijn序列为：
B(3，4)＝
NNNNUNNNNDNNUUNNUDNNDUNNDDNUNUNDNUUUNUUDNUDUNUDDNDNDUUNDUDNDDUNDDDUUUUDUUDDUDUDDDD
并且相应的81个列索引序列为：
0，1，3，9，27，2，6，18，55，4，12，36，28，5，15，45，56，
7，21，63，29，8，24，73，57，10，30，11，33，19，58，13，
39，37，31，14，42，46，59，16，48，64，32，17，51，74，60，
20，61，22，66，38，34，23，69，47，62，25，75，65，35，26，
79，76，67，40，41，43，49，68，44，52，77，70，50，71，53，
80，78，72，54
正如前面所提到的，目前所公开的图案和用于实现图案的方法仅仅是示例性的。为此，前述的概念和方法可使用不同的De Bruijn序列，位置移位，水平的和/或垂直的位置移位的数量，点的形状，和/或邻域大小来应用以获得不同图案，这落入当前所公开的概念的范围内。
附加示例性实施例
在示例性实施例中，图案为投射到图像传感器视场内的高分辨率点图案。在一些示例性实施例中，垂直腔面发射激光器(VCSEL)发射图案。
在另一个示例性实施例中，本发明包括投射在确定对象尺寸中使用的图案的光源。在示例性实施例中，光源为发光二级管(LED)。在示例性实施例中，光源为VCSEL。用于发射图案的光源可为高分辨率点图案。
在另外一个示例性实施例中，本发明包含尺寸标注的设备，其包括具有视场的图像传感器和用于投射点图案的光源。
* * *
为了补充本公开，本申请通过引用以整体结合下面的共同分配的专利、专利申请公布以及专利申请。
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美国专利申请公布No.2014/0175172；
美国专利申请公布No.2014/0191644；
美国专利申请公布No.2014/0191913；
美国专利申请公布No.2014/0197238；
美国专利申请公布No.2014/0197239；
美国专利申请公布No.2014/0197304；
美国专利申请公布No.2014/0214631；
美国专利申请公布No.2014/0217166；
美国专利申请公布No.2014/0217180；
美国专利申请公布No.2014/0231500；
美国专利申请公布No.2014/0232930；
美国专利申请公布No.2014/0247315；
美国专利申请公布No.2014/0263493；
美国专利申请公布No.2014/0263645；
美国专利申请公布No.2014/0267609；
美国专利申请公布No.2014/0270196；
美国专利申请公布No.2014/0270229；
美国专利申请公布No.2014/0278387；
美国专利申请公布No.2014/0278391；
美国专利申请公布No.2014/0282210；
美国专利申请公布No.2014/0284384；
美国专利申请公布No.2014/0288933；
美国专利申请公布No.2014/0297058；
美国专利申请公布No.2014/0299665；
美国专利申请公布No.2014/0312121；
美国专利申请公布No.2014/0319220；
美国专利申请公布No.2014/0319221；
美国专利申请公布No.2014/0326787；
美国专利申请公布No.2014/0332590；
美国专利申请公布No.2014/0344943；
美国专利申请公布No.2014/0346233；
美国专利申请公布No.2014/0351317；
美国专利申请公布No.2014/0353373；
美国专利申请公布No.2014/0361073；
美国专利申请公布No.2014/0361082；
美国专利申请公布No.2014/0362184；
美国专利申请公布No.2014/0363015；
美国专利申请公布No.2014/0369511；
美国专利申请公布No.2014/0374483；
美国专利申请公布No.2014/0374485；
美国专利申请公布No.2015/0001301；
美国专利申请公布No.2015/0001304；
美国专利申请公布No.2015/0003673；
美国专利申请公布No.2015/0009338；
美国专利申请公布No.2015/0009610；
美国专利申请公布No.2015/0014416；
美国专利申请公布No.2015/0021397；
美国专利申请公布No.2015/0028102；
美国专利申请公布No.2015/0028103；
美国专利申请公布No.2015/0028104；
美国专利申请公布No.2015/0029002；
美国专利申请公布No.2015/0032709；
美国专利申请公布No.2015/0039309；
美国专利申请公布No.2015/0039878；
美国专利申请公布No.2015/0040378；
美国专利申请公布No.2015/0048168；
美国专利申请公布No.2015/0049347；
美国专利申请公布No.2015/0051992；
美国专利申请公布No.2015/0053766；
美国专利申请公布No.2015/0053768；
美国专利申请公布No.2015/0053769；
美国专利申请公布No.2015/0060544；
美国专利申请公布No.2015/0062366；
美国专利申请公布No.2015/0063215；
美国专利申请公布No.2015/0063676；
美国专利申请公布No.2015/0069130；
美国专利申请公布No.2015/0071819；
美国专利申请公布No.2015/0083800；
美国专利申请公布No.2015/0086114；
美国专利申请公布No.2015/0088522；
美国专利申请公布No.2015/0096872；
美国专利申请公布No.2015/0099557；
美国专利申请公布No.2015/0100196；
美国专利申请公布No.2015/0102109；
美国专利申请公布No.2015/0115035；
美国专利申请公布No.2015/0127791；
美国专利申请公布No.2015/0128116；
美国专利申请公布No.2015/0129659；
美国专利申请公布No.2015/0133047；
美国专利申请公布No.2015/0134470；
美国专利申请公布No.2015/0136851；
美国专利申请公布No.2015/0136854；
美国专利申请公布No.2015/0142492；
美国专利申请公布No.2015/0144692；
美国专利申请公布No.2015/0144698；
美国专利申请公布No.2015/0144701；
美国专利申请公布No.2015/0149946；
美国专利申请公布No.2015/0161429；
美国专利申请公布No.2015/0169925；
美国专利申请公布No.2015/0169929；
美国专利申请公布No.2015/0178523；
美国专利申请公布No.2015/0178534；
美国专利申请公布No.2015/0178535；
美国专利申请公布No.2015/0178536；
美国专利申请公布No.2015/0178537；
美国专利申请公布No.2015/0181093；
美国专利申请公开No.2015/0181109；
针对“a Laser Scanning Module Employing an Elastomeric U-Hinge Based LaserScanning Assembly”的美国专利申请No.13/367,978，2012年2月7日提交(Feng等人)；
针对“an Electronic Device”的美国专利申请No.29/458,405，2013年6月19日提交(Fitch等人)；
针对“an Electronic Device Enclosure”的美国专利申请No.29/459,620，2013年7月2日提交(London等人)；
针对“an Electronic Device Case”的美国专利申请No.29/468,118，2013年9月26日提交(Oberpriller等人)；
针对“Indicia-reader Having Unitary Construction Scanner”的美国专利申请No.14/150,393，2014年1月8日提交(Colavito等人)；
针对“Indicia Reader for Size-Limited Applications”的美国专利申请No.14/200,405，2014年3月7日提交(Feng等人)；
针对“Hand-Mounted Indicia-Reading Device with Finger Motion Triggering”的美国专利申请No.14/231,898，2014年4月1日提交(VanHorn等人)；
针对“an Imaging Terminal”的美国专利申请No.29/486,759，2014年4月2日提交(Oberpriller等人)；
针对“Docking System and Method Using Near Field Communication”的美国专利申请No.14/257,364，2014年4月21日提交(Showering)；
针对“Autofocus Lens System for Indicia Readers”的美国专利申请No.14/264,173，2014年4月29日提交(Ackley等人)；
针对“MULTIPURPOSE OPTICAL READER”的美国专利申请No.14/277,337，2014年5月14日提交(Jovanovski等人)；
针对“TERMINAL HAVING ILLUMINATION AND FOCUS CONTROL”的美国专利申请No.14/283,282，2014年5月21日提交(Liu等人)；
针对“a MOBILE-PHONE ADAPTER FOR ELECTRONIC TRANSACTIONS”的美国专利申请No.14/327,827，2014年7月10日提交(Hejl)；
针对“a SYSTEMAND METHOD FOR INDICIAVERIFICATION”的美国专利申请No.14/334,934，2014年7月18日提交(Hejl)；
针对“LASER SCANNING CODE SYMBOL READING SYSTEM”的美国专利申请No.14/339,708，2014年7月24日提交(Xian等人)；
针对“an AXIALLY REINFORCED FLEXIRLE SCAN ELEMENT”的美国专利申请No.14/340,627，2014年7月25日提交(Rueblinger等人)；
针对“MULTIFUNCTION POINT OF SALE APPARATUS WITH OPTICAL SIGNATURECAPTURE”的美国专利申请No.14/446,391，2014年7月30日提交(Good等人)；
针对“INTERACTIVE INDICIA READER”的美国专利申请No.14/452,697，2014年8月6日提交(Todeschini等人)；
针对“DIMENSIONING SYSTEM WITH GUIDED ALIGNMENT”的美国专利申请No.14/453,019，2014年8月6日提交(Li等人)；
针对“MOBILE COMPUTING DEVICE WITH DATA COGNITION SOFTWARE”的美国专利申请No.14/462,801，2014年8月19日提交(Todeschini等人)；
针对“VARIABLE DEPTH OF FILED BARCODE SCANNER”的美国专利申请No.14/483,056，2014年9月10日提交(McCloskey等人)；
针对“IDENTIFYING INVENTORY ITEMS IN A STORAGE FACILITY”的美国专利申请No.14/513,808，2014年10月14日提交(Singel等人)；
针对“HANDHELD DEMENSIONING SYSTEM WITH FEEBACK”的美国专利申请No.14/519,195，2014年10月21日提交(Laffargue等人)；
针对“DEMENSIONING SYSTEM WITH MULTIPATH INTERFERENCE MITIGATION”的美国专利申请No.14/519,179，2014年10月21日提交(Thuries等人)；
针对“SYSTEM AND METHOD FOR DIMENSIONING”的美国专利申请No.14/519,211，2014年10月21日提交(Ackley等人)；
针对“HANDHELD DIMENSIONER WITH DATA-QUALITY INDICATION”的美国专利申请No.14/519,233，2014年10月21日提交(Laffargue等人)；
针对“HANDHELD DEMENSIONING SYSTEM WITH MEASUREMENT-CONFORMANCE FEEDBACK”的美国专利申请No.14/519,249，2014年10月21日提交(Ackley等人)；
针对“METHOD AND SYSTEM FOR RECOGNIZING SPEECH USING WILDCARDS INANEXPECTED RESPONSE”的美国专利申请No.14/527,191，2014年10月29日提交(Braho等人)；
针对“ADAPTABLE INTERFACE FOR A MOBILE COMPUTING DEVICE”的美国专利申请No.14/529,563，2014年10月31日提交(Schoon等人)；
针对“BARCODE READER WITH SECURITY FEATURES”的美国专利申请No.14/529,857，2014年10月31日提交(Todeschini等人)；
针对“PORTABLE ELECTRONIC DEVICES HAVING A SEPARATE LOCATION TRIGGER UNITFOR USE IN CONTROLLING AN APPLICATION UNIT”的美国专利申请No.14/398,542，2014年11月3日提交(Bian等人)；
针对“DIRECTING AN INSPECTOR THROUGH AN INSPECTION”的美国专利申请No.14/531,154，2014年11月3日提交(Miller等人)；
针对“BARCODE SCANNING SYSTEM USING WEARABLE DEVICE WITH EMBEDDED CAMERA”的美国专利申请No.14/533,319，2014年11月5日提交(Todeschini)；
针对“CONCATENATED EXPECTED RESPONSES FOR SPEECH RECOGNITION”的美国专利申请No.14/535,764，2014年11月7日提交(Braho等人)；
针对“AUTO-CONTRAST VIEWFINDER FOR AN INDICIA READER”的美国专利申请No.14/568,305，2014年12月12日提交(Todeschini等人)；
针对“DYNAMIC DIAGNOSTIC INDICATOR GENERATION”的美国专利申请No.14/573,022，2014年12月17日提交(Goldsmith)；
针对“SAFETY SYSTEM AND METHOD”的美国专利申请No.14/578,627，2014年12月22日提交(Ackley等人)；
针对“MEDIA GATE FOR THERMAL TRANSFER PRINTERS”的美国专利申请No.14/580,262，2014年12月23日提交(Bowles)；
针对“SHELVING AND PACKAGE LOCATING SYSTEMS FOR DELIVERY VEHICLES”的美国专利申请No.14/590,024，2015年1月6日提交(Payne)；
针对“SYSTEM AND METHOD FOR DETECTING BARCODE PRINTING ERRORS”的美国专利申请No.14/596,757，2015年1月14日提交(Ackley)；
针对“OPTICAL READING APPARATUS HAVING VARIABLE SETTINGS”的美国专利申请No.14/416,147，2015年1月21日提交(Chen等人)；
针对“DEVICE FOR SUPPORTING AN ELECTRONIC TOOL ON A USER’S HAND”的美国专利申请No.14/614,706，2015年2月5日提交(Oberpriller等人)；
针对“CARGO APPORTIONMENT TECHNIQUES”的美国专利申请No.14/614,796，2015年2月5日提交(Morton等人)；
针对“TABLE COMPUTER”的美国专利申请No.29/516,892，2015年2月6日提交(Bidwell等人)；
针对“METHODS FOR TRAINING A SPEECH RECOGNITION SYSEM”的美国专利申请No.14/619,093，2015年2月11日提交(Pecorari)；
针对“DEVICE，SYSTEM，AND METHOD FOR DETERMINING THE STATUS OF CHECKOUTLANES”的美国专利申请No.14/628,708，2015年2月23日提交(Todeschini)；
针对“TERMINAL INCLUDING IMAGING ASSEMBLY”的美国专利申请No.14/630,841，2015年2月25日提交(Gomez等人)；
针对“SYSTEM AND METHOD FOR RELIABLE STORE-AND-FORWARD DATA HANDLING BYENCODED INFORMATION READING TERMINALS”的美国专利申请No.14/635,346，2015年3月2日提交(Sevier)；
针对“SCANNER”的美国专利申请No.29/519,017，2015年3月2日提交(Zhou等人)；
针对“DESIGN PATIERN FOR SECURE STORE”的美国专利申请No.14/405,278，2015年3月9日提交(Zhu等人)；
针对“DECODABLE INDICIA READING TERMINAL WITH COMBINED ILLUMINATION”的美国专利申请No.14/660,970，2015年3月18日提交(Kearney等人)；
针对“REPROGRAMMING SYSTEM AND METHOD FOR DEVICES INCLUDING PROGRAMMINGSYMBOL”的美国专利申请No.14/661,013，2015年3月18日提交(Soule等人)；
针对“MULTIFUNCTION POINT OF SALE SYSTEM”的美国专利申请No.14/662,922，2015年3月19日提交(Van Horn等人)；
针对“VEHICLE MOUNT COMPUTER WITH CONFIGURABLE IGNITION SWITCH BEHAVIOR”的美国专利申请No.14/663,638，2015年3月20日提交(Davis等人)；
针对“METHOD AND APPLICATION FOR SCANNING A BARCODE WITH A SMART DEVICEWHILE CONTINUOUSLY RUNNING AND DISPLAYING AND APPLICATION ON THE SMART DEVICEDISPLAY”的美国专利申请No.14/664,063，2015年3月20日提交(Todeschini)；
针对“TRANSFORMING COMPONENTS OF A WEB PAGE TO VOICE PROMPTS”的美国专利申请No.14/669,280，2015年3月26日提交(Funyak等人)；
针对“AIMER FOR BARCODE SCANNING”的美国专利申请No.14/674,329，2015年3月31日提交(Bidwell)；
针对“INDICIA READER”的美国专利申请No.14/676,109，2015年4月1日提交(Huck)；
针对“DEVICE MANAGEMENT PROXY FOR SECURE DEVICES”的美国专利申请No.14/676,327，2015年4月1日提交(Yeakley等人)；
针对“NAVIGATION SYSTEM CONFIGURED TO INTEGRATE MOTION SENSING DEVICEINPUTS”的美国专利申请No.14/676,898，2015年4月2日提交(Showering)；
针对“DIMENSIONING SYSTEM CALIBRATION SYSTEMS AND METHODS”的美国专利申请No.14/679,275，2015年4月6日提交(Laffargue等人)；
针对“HANDLE FOR A TABLET COMPUTER”的美国专利申请No.29/523,098，2015年4月7日提交(Bidwell等人)；
针对“SYSTEM AND METHOD FOR POWER MANAGEMENT OF MOBILE DEVICES”的美国专利申请No.14/682,615，2015年4月9日提交(Murawski等人)；
针对“MULTIPLE PLATFORM SUPPORT SYSTEM AND METHOD”的美国专利申请No.14/686,822，2015年4月15日提交(Qu等人)；
针对“SYSTEM FOR COMMUNICATION VIA A PERIPHERAL HUB”的美国专利申请No.14/687,289，2015年4月15日提交(Kohtz等人)；
针对“SCANNER”的美国专利申请No.29/524,186，2015年4月17日提交(Zhou等人)；
针对“MEDICATION MANAGEMENT SYSTEM”的美国专利申请No.14/695,364，2015年4月24日提交(Sewell等人)；
针对“SECURE UNATTENDED NETWORK AUTHENTICATION”的美国专利申请No.14/695,923，2015年4月24日提交(Kubler等人)；
针对“TABLET COMPUTER WITH REMOVABLE SCANNING DEVICE”的美国专利申请No.29/525,068，2015年4月27日提交(Schulte等人)；
针对“SYMBOL READING SYSTEM HAVING PREDICTIVE DIAGNOSTICS”的美国专利申请No.14/699,436,2015年4月29日提交(Nahill等人)；
针对“SYSTEM AND METHOD FOR REGULATING BARCODE DATA INJECTION INTO ARUNNING APPLICATION ON A SMART DEVICE”的美国专利申请No.14/702,110，2015年5月1日提交(Todeschini等人)；
针对“TRACKING BATTERY CONDITIONS”的美国专利申请No.14/702,979，2015年5月4日提交(Young等人)；
针对“INTERMEDIATE LINEAR POSITIONING”的美国专利申请No.14/704,050，2015年5月5日提交(Charpentier等人)；
针对“HANDS-FREE HUMAN MACHINE INTERFACE RESPONSIVE TO ADRIVER OF AVEHICLE”的美国专利申请No.14/705,012，2015年5月6日提交(Fitch等人)；
针对“METHOD AND SYSTEM TO PROTECT SOFTWARE-BASED NETWORK-CONNECTEDDEVICES FROM ADVANCED PERSISTENT THREAT”的美国专利申请No.14/705,407，2015年5月6日提交(Hussey等人)；
针对“SYSTEM AND METHOD FOR DISPLAY OF INFORMATION USING A VEHICLE-MOUNTCOMPUTER”的美国专利申请No.14/707,037，2015年5月8日提交(Chamberlin)；
针对“APPLICATION INDEPENDENT DEX/UCS INTERFACE”的美国专利申请No.14/707,123，2015年5月8日提交(Pape)；
针对“METHOD AND APPARATUS FOR READING OPTICAL INDICIA USING A PLURALITYOF DATA SOURCES”的美国专利申请No.14/707,492，2015年5月8日提交(Smith等人)；
针对“PRE-PAID USAGE SYSTEM FOR ENCODED INFORMATION READING TERMINALS”的美国专利申请No.14/710,666，2015年5月13日提交(Smith)；
针对“CHARGING BASE”的美国专利申请No.29/526,918，2015年5月14日提交(Fitch等人)；
针对“AUGUMENTED REALITY ENABLED HAZARD DISPLAY”的美国专利申请No.14/715,672，2015年5月19日提交(Venkatesha等人)；
针对“EVALUATING IMAGEVALUES”的美国专利申请No.14/715,916，2015年5月19日提交(Ackley)；
针对“INTERACTIVE USER INTERFACE FOR CAPTURING A DOCUMENT IN AN IMAGESIGNAL”的美国专利申请No.14/722,608，2015年5月27日提交(Showering等人)；
针对“IN-COUNTER BARCODE SCANNER”的美国专利申请No.29/528,165，2015年5月27日提交(Oberpriller等人)；
针对“ELECTRONIC DEVICE WITH WIRELESS PATH SELECTION CAPABILITY”的美国专利申请No.14/724,134，2015年5月28日提交(Wang等人)；
针对“METHOD OF PROGRAMMING THE DEFAULT CABLE INTERFACE SOFTWARE IN ANINDICIA READING DEVICE”的美国专利申请No.14/724,849，2015年5月29日提交(Barten)；
针对“IMAGING APPARATUS HAVING IMAGING ASSEMBLY”的美国专利申请No.14/724,908，2015年5月29日提交(Barber等人)；
针对“APPARATUS AND METHODS FOR MONITORING ONE OR MORE PORTABLE DATATERMINALS”的美国专利申请No.14/725,352(Caballero等人)；
针对“ELECTRONIC DEVICE”的美国专利申请No.29/528,590，2015年5月29日提交(Fitch等人)；
针对“MOBILE COMPUTER HOUSING”的美国专利申请No.29/528,890，2015年6月2日提交(Fitch等人)；
针对“DEVICE MANAGEMENT USING VIRTUAL INTERFACES CROSS-REFERENCE TORELATED APPLICATIONS”的美国专利申请No.14/728,397，2015年6月2日提交(Caballero)；
针对“DATA COLLECTION MODULE AND SYSTEM”的美国专利申请No.14/732,870，2015年6月8日提交(Powilleit)；
针对“INDICIAREADING DEVICE”的美国专利申请No.29/529,441，2015年6月8日提交(Zhou等人)；
针对“INDICIA-READING SYSTEMS HAVING AN INTERFACE WITH A USER’S NERVOUSSYSTEM”的美国专利申请No.14/735,717，2015年6月10日提交(Todeschini)；
针对“METHOD OF AND SYSTEM FOR DETECTING OBJECT WEIGHING INTERFERENCES”的美国专利申请No.14/738,038，2015年6月12日提交(Amundsen等人)；
针对“TACTILE SWITCH FOR A MOBILE ELECTRONIC DEVICE”的美国专利申请No.14/740,320，2015年6月16日提交(Bandringa)；
针对“CALIBRATING AVOLUME DIMENSIONER”的美国专利申请No.14/740,373，2015年6月16日提交(Ackley等人)；
针对“INDICIA READING SYSTEM EMPLOYING DIGITAL GAIN CONTROL”的美国专利申请No.14/742,818，2015年6月18日提交(Xian等人)；
针对“WIRELESS MESH POINT PORTABLE DATA TERMINAL”的美国专利申请No.14/743,257，2015年6月18日提交(Wang等人)；
针对“CYCLONE”的美国专利申请No.29/530,600，2015年6月18日提交(Vargo等人)；
针对“IMAGING APPARATUS COMPRISING IMAGE SENSOR ARRAY HAVING SHARED GLOBALSHUTIER CIRCUITRY”的美国专利申请No.14/744,633，2015年6月19日提交(Wang)；
针对“CLOUD-BASED SYSTEM FOR READING OF DECODABLE INDICIA”的美国专利申请No.14/744,836，2015年6月19日提交(Todeschini等人)；
针对“SELECTIVE OUTPUT OF DECODED MESSAGE DATA”的美国专利申请No.14/745,006，2015年6月19日提交(Todeschini等人)；
针对“OPTICAL PATTERN PROJECTOR”的美国专利申请No.14/747,197，2015年6月23日提交(Thuries等人)；
针对“DUAL-PROJECTOR THREE-DIMENSIONAL SCANNER”的美国专利申请No.14/747,490，2015年6月23日提交(Jovanovski等人)；以及
针对“CORDLESS INDICIA READER WITH A MULTIFUNCTION COIL FOR WIRELESSCHARGINGAND EAS DEACTIVATION”的美国专利申请No.14/748,446，2015年6月24日提交(Xie等人)。
* * *
说明书和/或附图中，已经公开了本发明的典型实施例。本发明不限于这样的示例性实施例。术语“和/或”的使用包括相关联的所列项目中的一个或多个的任意和全部组合。附图为示意性表示，因此并不一定按照比例绘制。除非另外指出，已经使用以一般性和描述性的含义来特定术语，并且不是为了限制。

Claims (14)

1.一种三维(3D)感测系统，包括：
光源，其用于利用结构光照明将点图案投射到对象上，所述点图案包括多个点，其分布在网格上以使得某个子窗口大小内的相邻各点是各点的独特子图案，其中某个子窗口大小内的相邻各点相对于网格的一条轴线按照交错网格格式来布置，并且所述各点基于高斯差分(DOG)算法加双三次插值以亚像素精度定位在网格上；以及
图像传感器，其用于捕获对象的图像；
其中所述系统配置成识别所捕获图像内各点的位置，并且确定对象的尺寸和/或形状。
2.根据权利要求1的系统，其中，所述点图案包括“伪随机”点图案。
3.根据权利要求1的系统，其中，所述光源包括垂直腔面发射激光器(VCSEL)。
4.根据权利要求1的系统，其中所述对象位于平面表面上。
5.根据权利要求1的系统，其中，通过执行De Bruijn序列来获得用于各点的独特子图案的可能组合的列索引，De Bruijn序列之后是编码序列。
6.根据权利要求1的系统，其中，按照交错网格格式的相邻各点位于网格的垂直轴线上的三个可能位置中的一个。
7.根据权利要求6的系统，其中，三个可能位置在网格的网格间距的15％以内，以便保持行索引确定。
8.一种照明对象以便三维(3D)感测系统确定该对象的尺寸的方法，该方法包括：
利用伪随机点图案照明对象，其中所述伪随机点图案包括各点的网格，使得某个子窗口大小内的一组相邻点是各点的独特子图案，其中该某个子窗口大小内的各点的独特子图案内的一个或多个点的位置相对于网格的一条轴线被修改，其中所述各点的独特子图案具有基于De Bruijn序列的列索引；
捕获对象的图像；以及
基于所捕获的对象来确定该对象的尺寸。
9.根据权利要求8的方法，其中相对于网格的一条轴线修改一个或多个点的位置包括在不影响行索引确定的情况下来修改网格的一条轴线上的一个或多个点的位置。
10.根据权利要求9的方法，其中相对于网格的一条轴线来修改一个或多个点的位置包括以小于网格的网格间距的15％的量来修改一个或多个点相对于网格的一条轴线的位置。
11.根据权利要求8的方法，其中针对独特子图案的某个子窗口大小包括基于伪随机点图案的网格位置的10％到15％。
12.根据权利要求8的方法，其中轴线上各点的大量可能位置根据图像传感器分辨率而改变。
13.根据权利要求12的方法，其中垂直轴线上的各点可能位置的数目为三。
14.根据权利要求8的方法，其中所述各点基于高斯差分(DOG)算法加双三次插值以亚像素精度定位在网格上。
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