JP2009528514A - スペックルの無相関を使用した距離マッピング(rangemapping) - Google Patents
スペックルの無相関を使用した距離マッピング(rangemapping) Download PDFInfo
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- 238000013507 mapping Methods 0.000 title abstract description 15
- 238000012360 testing method Methods 0.000 claims abstract description 51
- 238000000034 method Methods 0.000 claims abstract description 22
- 238000005286 illumination Methods 0.000 claims abstract description 21
- 238000003384 imaging method Methods 0.000 claims description 16
- 238000004883 computer application Methods 0.000 claims description 4
- 230000004323 axial length Effects 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 description 5
- 230000002596 correlated effect Effects 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 230000001427 coherent effect Effects 0.000 description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/02—Details
- G01C3/06—Use of electric means to obtain final indication
- G01C3/08—Use of electric radiation detectors
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- 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
- G01B11/2545—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 one projection direction and several detection directions, e.g. stereo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/0304—Detection arrangements using opto-electronic means
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
- G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Computer Networks & Wireless Communication (AREA)
- Human Computer Interaction (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Measurement Of Optical Distance (AREA)
- Position Input By Displaying (AREA)
Abstract
【選択図】図1
Description
Claims (14)
- 照明アセンブリからの一次スペックルパターンをターゲット領域内に投射する段階と、
前記ターゲット領域内において前記照明アセンブリからの異なる個々の距離において前記一次スペックルパターンの複数の基準画像をキャプチャする段階と、
前記ターゲット領域内において物体の表面上に投射された前記一次スペックルパターンの試験画像をキャプチャする段階と、
前記一次スペックルパターンが前記試験画像内の前記一次スペックルパターンと最も密接にマッチングしている基準画像を識別するべく、前記試験画像を前記基準画像と比較する段階と、
前記照明アセンブリからの前記識別された基準画像の距離に基づいて前記物体の位置を推定する段階と、を有するマッピング法。 - 前記物体の三次元(3D)マップを導出するべく、前記試験画像内の前記物体の複数のエリア上の前記一次スペックルパターンと前記識別された基準画像内の前記一次スペックルパターンとの間の個々のオフセットを見出す段階を有する請求項1に記載の方法。
- 前記照明アセンブリからの異なる個々の距離の少なくともいくつかは、前記個々の距離において前記一次スペックルパターンの軸方向の長さを上回る距離だけ軸方向に離隔している請求項1又は2に記載の方法。
- 前記試験画像を前記基準画像と比較する段階は、前記試験画像と、前記基準画像の少なくともいくつかの画像のそれぞれとの間における個々の相互相関を演算する段階と、前記試験画像との個々の相互相関において最大の相互相関を具備する前記基準画像を選択する段階と、を有する請求項1又は2に記載の方法。
- 前記試験画像をキャプチャする段階は、前記物体が移動している際に一連の試験画像をキャプチャする段階を有しており、この場合、前記物体の位置を推定する段階は、前記ターゲット領域内における前記物体の移動を追跡する段階を有する請求項1又は2に記載の方法。
- 前記物体は、人体の一部であり、この場合に、前記移動を追跡する段階は、前記人体の一部によって実行されたジェスチャーを識別する段階と、前記ジェスチャーに応答してコンピュータアプリケーションに対して入力を提供する段階と、を有する請求項5に記載の方法。
- 一次スペックルパターンをターゲット領域内に投射するべく構成された照明アセンブリと、
前記ターゲット領域内において前記照明アセンブリからの異なる個々の距離における前記一次スペックルパターンの複数の基準画像をキャプチャすると共に、前記ターゲット領域内において物体の表面上に投射された前記一次スペックルパターンの試験画像をキャプチャするべく構成された撮像アセンブリと、
前記一次スペックルパターンが前記試験画像内の前記一次スペックルパターンと最も密接にマッチングしている基準画像を識別するために前記試験画像を前記基準画像と比較すると共に、前記照明アセンブリからの前記識別された基準画像の距離に基づいて前記物体の位置を推定するべく結合されている画像プロセッサと、を有するマッピング装置。 - 前記画像プロセッサは、前記物体の三次元(3D)マップを導出するべく、前記試験画像内の前記物体の複数のエリア上の前記一次スペックルパターンと前記識別された基準画像内の前記一次スペックルパターンとの間の個々のオフセットを見出すべく構成されている請求項7に記載の装置。
- 前記照明アセンブリからの異なる個々の距離の少なくともいくつかは、前記個々の距離において前記一次スペックルパターンの軸方向の長さを上回る距離だけ軸方向において離隔している請求項7又は8に記載の装置。
- 前記画像プロセッサは、前記試験画像と、前記基準画像の少なくともいくつかの画像のそれぞれとの間における個々の相互相関を演算すると共に、前記試験画像との個々の相関において最大の相互相関を具備する前記基準画像を選択するべく構成されている請求項7又は8に記載の装置。
- 前記撮像アセンブリは、前記物体が移動している際に一連の試験画像をキャプチャするべく構成されており、この場合に、前記画像プロセッサは、前記ターゲット領域内における前記物体の移動を追跡するために前記試験画像を処理するべく構成されている請求項7又は8に記載の装置。
- 前記物体は、人体の一部であり、この場合に、前記画像プロセッサは、前記人体の一部によって実行されたジェスチャーを識別すると共に、前記ジャスチャーに応答してコンピュータアプリケーションに対して入力を提供するべく構成されている請求項11に記載の装置。
- プログラム命令が保存されているコンピュータ可読媒体を有するコンピュータソフトウェアプロダクトにおいて、
前記命令は、コンピュータによって読み取られた際に、
照明アセンブリによってターゲット領域内に投射された一次スペックルパターンの複数の基準画像を受け取る段階であって、この場合に、前記基準画像は、前記ターゲット領域内において前記照明アセンブリからの異なる個々の距離においてキャプチャされる、受取段階と、
前記ターゲット領域内において物体の表面上に投射された前記一次スペックルパターンの試験画像を受け取る段階と、
前記一次スペックルパターンが前記試験画像内の前記一次スペックルパターンと最も密接にマッチングする基準画像を識別するべく、前記試験画像を前記基準画像と比較する段階と、
前記照明アセンブリからの前記識別された基準画像の距離に基づいて前記物体の位置を推定する段階と、を前記コンピュータに実行させる、コンピュータソフトウェアプロダクト。 - 前記命令は、前記物体の三次元(3D)マップを導出するべく、前記試験画像内の前記物体の複数のエリア上の前記一次スペックルパターンと前記識別された基準画像内の前記一次スペックルパターンの間の個々のオフセットを見出す段階を前記コンピュータに実行させる請求項13に記載のプロダクト。
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US77665506P | 2006-02-27 | 2006-02-27 | |
US60/776,655 | 2006-02-27 | ||
PCT/IL2007/000262 WO2007096893A2 (en) | 2006-02-27 | 2007-02-27 | Range mapping using speckle decorrelation |
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JP2009528514A true JP2009528514A (ja) | 2009-08-06 |
JP4917615B2 JP4917615B2 (ja) | 2012-04-18 |
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WO (1) | WO2007096893A2 (ja) |
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Also Published As
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US20070216894A1 (en) | 2007-09-20 |
WO2007096893A2 (en) | 2007-08-30 |
CN101496032A (zh) | 2009-07-29 |
WO2007096893A3 (en) | 2009-04-09 |
JP4917615B2 (ja) | 2012-04-18 |
US7433024B2 (en) | 2008-10-07 |
CN101496032B (zh) | 2011-08-17 |
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