WO2013155379A2 - Système de capture d'image orthographique - Google Patents

Système de capture d'image orthographique Download PDF

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Publication number
WO2013155379A2
WO2013155379A2 PCT/US2013/036314 US2013036314W WO2013155379A2 WO 2013155379 A2 WO2013155379 A2 WO 2013155379A2 US 2013036314 W US2013036314 W US 2013036314W WO 2013155379 A2 WO2013155379 A2 WO 2013155379A2
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WIPO (PCT)
Prior art keywords
image
camera
orthographic
data
active illumination
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PCT/US2013/036314
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English (en)
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WO2013155379A3 (fr
Inventor
Kari Myllykoski
Shaun Lamont
Kevin CAIN
Jim GROTELUESCHEN
Mark Freeman
Dejan Jovanovic
Keith BEARDMORE
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Smart Picture Technologies Inc.
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Application filed by Smart Picture Technologies Inc. filed Critical Smart Picture Technologies Inc.
Publication of WO2013155379A2 publication Critical patent/WO2013155379A2/fr
Publication of WO2013155379A3 publication Critical patent/WO2013155379A3/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformation in the plane of the image
    • G06T5/80—
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume

Definitions

  • the present invention generally relates to optical systems, more specifically to optical systems for changing the view of a photograph from one viewing angle to a virtual viewing angle, more specifically to changing the view of a photograph to a dimensionally correct orthographic view and more specifically to extract correct dimensions of objects from photographic images.
  • the present invention relates generally to and more specifically it relates to an image data capture and processing system, consisting of a digital imaging device, active illumination source, computer and software that generates 2 dimensional data sets from which real world coordinate information with planarity, scale, aspect, and innate dimensional qualities can be extracted from the captured image in order to transform the image data into other geometric perspectives and to extract real dimensional data from the imaged objects.
  • the image transformations may be homographic transformations, orthographic transformations, perspective transformations, or other transformations that takes into account distortions in the captured image caused by the camera angle.
  • Orthographic Image Capture System we use the name Orthographic Image Capture System to refer to a system that extracts real world coordinate accurate dimensional data from imaged objects. Although the Orthographic transformation is one specific type of transformation that might be used, there are a number of similar geometric
  • the invention generally relates to a 2 dimensional textures with applied transforms which includes a digital imaging sensor, an active illumination device, a calibration system, a computing device, and software to process the digital imaging data.
  • An object is to provide an orthographic image capture system for an image data capture and processing system, consisting of a digital imaging device, active illumination source, computer and software that generates 2d orthographic data sets, with planarity, scale, aspect, and innate dimensional qualities.
  • Another object is to provide an Orthographic Image Capture System that allows a digital camera or imager data to be optically corrected, by using a software system, for a variety of lens distortions.
  • Another object is to provide an Orthographic Image Capture System that has an active illumination device mounted to the digital imaging device in a secure and consistent manner, with both devices emitting and capturing data within a common field of view.
  • Another object is to provide an Orthographic Image Capture System that has a computer and software system that triggers the digital imager to capture an image, or series of images in which the active illumination data is also present.
  • Another object is to provide an Orthographic Image Capture System that has a computer and software system that integrates digital imager data with active illumination data, synthesizing and creating a 2 dimensional image with corrected planarity and orthographically rectified information.
  • Another object is to provide an Orthographic Image Capture System that has a computer and software system that integrates digital imager data with active illumination data, synthesizing and creating a 2 dimensional image with a scalar information, aspect ratio and dimensional qualities of pixels within scene at the distance point of planarity during image capture.
  • Another object is to provide an Orthographic Image Capture System that has a software system that integrates the planarity, scalar, and aspect information, to create a corrected data set, that can be exported in a variety of common file formats.
  • Another object is to provide an Orthographic Image Capture System that has a software system that creates additional descriptive notation in or with the common file format, to describe the image pixel scalar, dimension and aspect values, at a point of planarity.
  • Another object is to provide an Orthographic Image Capture System that has a software system that displays the corrected image.
  • Another object is to provide an Orthographic Image Capture System that has a software system can export the corrected data set, and additional descriptive notation.
  • FIGURE 1 illustrates top down view of a an orthographic image capture
  • FIGURE 2 illustrates a captured image taken from a non-orthographic
  • FIGURE 3 illustrates a virtual orthographic image of the wall created from the image captured from a non-orthographic camera angle
  • FIGURE 4 illustrates in greater scale the illumination pattern shown in Figure
  • FIGURE 5 illustrates an alternative illumination pattern
  • FIGURE 6 illustrates an alternative illumination pattern
  • FIGURE 7 illustrates an alternative illumination pattern
  • FIGURE 8 illustrates an alternative illumination pattern
  • FIGURE 9 illustrates an alternative illumination pattern
  • FIGURE 10 illustrates an alternative illumination pattern
  • FIGURE 11 illustrates an alternative illumination pattern
  • FIGURE 12 illustrates an upper perspective view of an embodiment of a system with a single Camera and single Active Illumination configured in a common housing;
  • FIGURE 13 illustrates an upper perspective view of an embodiment of a system with a single Camera and dual Active Illumination configured in a common housing;
  • FIGURE 14 illustrates an upper perspective view of an embodiment of a system with a single Camera and Active Illumination configured in individual housings, with adaptor to fix the relative relationship of the housings;
  • FIGURE 15 illustrates an upper perspective view of an embodiment of a system with a single Camera and dual Active Illumination configured in individual housings, with adaptor to fix relative relationship of the housings;
  • FIGURE 16 illustrates an upper perspective view of an embodiment of a system with dual Cameras and dual Active Illumination configured in individual housings, with adaptor to fix relative relationship of the housings in a horizontal arrangement;
  • FIGURE 17 illustrates an upper perspective view of an embodiment of a system with dual Cameras and dual Active Illumination configured in individual housings, with adaptor to fix relative relationship of the housings in vertical arrangement;
  • FIGURE 18 illustrates an upper perspective view of an embodiment of a system with a single Camera and dual Active Illumination configured in individual housings, with adaptor to fix relative relationship in vertical arrangement;
  • FIGURE 19 illustrates an upper perspective view of an embodiment of a system with dual Cameras and Active Illumination configured in individual housings, with adaptor to fix relative relationship of the housings in a vertical arrangement;
  • FIGURE 20 illustrates an embodiment of data processing flow for generating the desired transformed image from the non-transformed raw image
  • FIGURE 21 illustrates an embodiment of data processing flow for generating correct world coordinate dimensions from a non-transformed raw image
  • FIGURE 22 illustrates an embodiment with an example of dimensional data which can be extracted from the digital image
  • FIGURE 23 illustrates the undistorted active illumination pattern of Figure 4.
  • FIGURE 24 illustrates the distorted active illumination pattern of Figure 4 for a camera angle like the angle illustrated in Figure 1;
  • FIGURE 25 illustrates the distorted active illumination pattern of Figure 4 for a camera angle like the angle illustrated in Figure 1 but lowered so that it was looking up at the wall;
  • FIGURE 26 illustrates the pixel mapping of the distortion ranges of the pattern illustrated in Figure 4 and Figure 23.
  • FIGURES like numerals being used to refer to like and corresponding parts of the various drawings.
  • the present invention generally relates to an improved optical system for changing the view of an image from an actual viewing angle to a virtual viewing angle.
  • the system creates orthographically correct views of an image as well as remapping the image coordinates into a set of geometrically correct world coordinates from an image taken from an arbitrary viewing angle.
  • the system also extracts dimensional information of the object imaged from images of the object taken from an arbitrary viewing angle.
  • Figure 1 illustrates an object (a wall 120 with windows 122, 124, 126) being captured 100 in photographic form by an orthographic image capture system 110.
  • Figure 1 also illustrates two images 130 and 140 of the object 120 generated by the orthographic image capture system.
  • the first image 130 is a conventional photographic image of the object 120 taken from a non-orthographic arbitrary viewing angle 112.
  • the second image 140 is a view of the object 120 as would be seen from a virtual viewing angle 152.
  • the virtual viewing angle 152 is an orthographic viewing angle of the object as would be seen from a virtual camera 150.
  • the object In view 130 the object (wall 120 with windows 122, 124, 126) are seen in a perspective view as wall 132, and windows 134, 136, and 138: the farthest window 138 appears smallest.
  • object In the orthographic view 140, object (wall 120 with windows 122, 124, 126) are seen in an orthographic perspective as wall 132, and windows 134, 136, and 138: the windows which are the same size appear to be the same size in this image.
  • the components of the orthographic image capture system 110 illustrated in Figure 1 include the housing 114, a digital imaging optics and sensor (camera 116), and an active illumination device 118.
  • the calibration system, computing device, and software to process the image data are discussed below.
  • the camera 116 is optical data capture device, with the output being preferably having multiple color fields in a pattern or array, and is commonly known as a digital camera.
  • the camera function is to capture the color image data within a scene, including the active illumination data. In other embodiments a black and white camera would work, almost as well, as well or in some cases better than a color camera.
  • the camera 116 is preferably a digital device that directly records and stores photographic images in digital form. Capture is usually accomplished by use of cameral optics (not shown) which capture incoming light and a photosensor (not shown), which transforms the light amplitude and frequency into colors.
  • the photosensors are typically constructed in an array, that allows for multiple individual pixels to be generated, with each pixel having a unique area of light capture. The data from the multiple array of photosensors is then stored as an image. These stored images can be uploaded to a computer immediately, stored in the camera, or stored in a memory module.
  • the camera may be a digital camera, that stores images to memory, That transmits images, or otherwise makes image data available to a computing device.
  • the camera shares a housing with the computing device.
  • the camera includes a computer that performs preprocessing of data to generate and imbed information about the image that can later be used by the onboard computer and/or an external computer to which the image data is transmitted or otherwise made available.
  • the active illumination device in the one several embodiments is an optical radiation emission device.
  • the emitted radiation shall have some form of beam focusing to enable precision beam emission - such as light beams generated by a laser.
  • the function is to emit a beam, or series of beams at a specific color and angle relative to the camera element.
  • the active illumination has fixed geometric properties, that remain static in operation.
  • the active illumination can be any source that can generate a beam, or series of beams that can be captured with the camera.
  • the source can produce a fixed illumination pattern, that once manufactured, installed and calibrated does not alter, move, modulate, or change geometry in any way.
  • the fixed pattern of the illumination may be a random or fixed geometric pattern, that is of known and predefined structure. The illumination pattern does not need to be visible to the naked eye provided that it can be captured by the camera for the software to detect its location in the image as further described below.
  • FIG. 1 The illumination pattern generated by the active illumination device 118 is not illustrated in Figure 1.
  • Figure 2 and Figure 3 illustrate the images 130 and 140 respectively from Figure 1 in greater detail. Specifically these illustrations include illustrations of the pattern 162 and 160 respectively of the projected by the active illumination device 118. However an embodiment of a pattern 160 and 162 is illustrated in Figures 2 and Figure 3.
  • the pattern shown in greater detail in Figure 4 is the same pattern projected in Figure 2 and Figure3.
  • Figure 2 illustrates how the camera sees the pattern 162; while, Figure 3 illustrates how the pattern looks (ideally as projected) when the orthographic imaging system creates a virtual orthographic view of the object from the non-orthographic image with the image coordinates transformed into dimensionally corrected and oriented world coordinates.
  • Figure 4 illustrates an embodiment of a projection pattern.
  • This pattern is good for capturing orthographic images of a two-dimensional object. Such as the wall 120 in Figure 1.
  • the non-orthographic view angle is primarily non-orthographic in one dimension: pan angle of the camera.
  • the tilt angle or both the pan and tilt angle of the camera may be non- orthographic.
  • the pattern shown in Figure 4 provides enough information in all three non-orthographic conditions: pan off angle, tilt off angle or both pan and tilt off angle.
  • Figure 5, Figure 6, Figure 7, Figure 8, and Figure 9 also illustrate examples of the limitless patterns that can be used. However, in embodiments that also make orthographic corrections to an image captured by a camera, based on the distortions caused the camera's optic system, patterns with more data points such as Figure 5 and particularly Figure 6 may be more desirable.
  • the illumination source 118 may utilize a lens system to allow for precision beam focus and guidance, a diffraction grating, beam splitter, or some other beam separation tool, for generation of multi path beams.
  • a laser is a device that emits light (electromagnetic radiation) through a process of optical amplification based on the stimulated emission of photons. The emitted laser light is notable for its high degree of spatial and temporal coherence, unattainable using other technologies.
  • a focused LED, halogen, or other radiation source may be utilized as the active illumination source.
  • Figure 10 and Figure 11 illustrate in greater detail the creation of the pattern illustrated in Figure 4.
  • the pattern is generated by placing a diffraction grating in front of a laser diode.
  • Figure 10 illustrates a Diffractive Optical Element, (DOE) for generating the desired pattern.
  • DOE Diffractive Optical Element
  • the DOE 180 has an active diffraction area 188 diameter of about 5mm, a physical size of about 7mm. And a thickness between 0.5 and 1mm.
  • the DOE is placed before a red laser diode with a nominal wavelength of 635nm with an expected range of 630-640nm.
  • the pattern generated is the five points 191, 192, 193, 194, 195 illustrated in Figure 11.
  • the DOE design described above: the ⁇ 206 and 208 and ⁇ ⁇ 202 and 204 values are Fifteen degrees (15.0°). In another design these angles were 11 degrees (11°) rather than 15. In other embodiments a 530nm green laser was employed. It should be appreciated that these are just two of many possible options.
  • the orthographic image capture system 110 is a computer and computer instruction sets (software) which perform processing of the image data collected by the camera 116.
  • the computer is located in the same housing as the camera 116 and active illumination system 118.
  • the housing also contains a power supply and supporting circuitry for powering the device and connection(s) 212 for charging the power supply.
  • the system 110 also includes communications circuitry 220 to communicate with wired 222 to other electronic devices 224 or wirelessly 228.
  • the system 110 also includes memory(s) for storing instructions and picture data and supporting other functions of the system 110.
  • the system 110 also includes circuitry 230 for supporting the active illumination system 118 and circuitry 240 for supporting the digital camera.
  • the processing tasks may be partially or totally performed by firmware programmed processors.
  • the onboard processors may perform some tasks and outside processors may perform other tasks. For example, the onboard processors may identify the locations of illumination pattern in the picture. Calculate corrections due to the non-orthographic image save the information and send it to another computer or data processors to complete other data processing tasks.
  • the orthographic image capture system 110 requires that data processing tasks be performed, Regardless of the location of the data processing components or how the tasks are divided, data processing tasks must be accomplished..
  • an onboard computer 200 no external processing is required.
  • the data can be exported to another digital device 224 which can perform the same or additional data processing tasks.
  • a computer is a programmable machine designed to automatically carry out a sequence of arithmetic or logical operations. The particular sequence of operations can be changed readily, allowing the computer to solve more than one kind of problem.
  • the software system controls calibration, operation, timing, camera and active illumination control, data capture processing, data display and export.
  • Computer software or just software is a collection of computer programs and related data that provides the instructions for telling a computer what to do and how to do it.
  • One embodiment of a suitable calibration system employs a specific physical item (Image board) that is of a predetermined size, and shape, which has a specifically patterned or textured surface, and known geometric properties.
  • the Active illumination system emits radiation in a known pattern with fixed geometric properties, upon the Image Board or upon a scene that contains the Image Board, in conjunction with information provided by an optional Distance Tool, with multiple pose and distance configurations, a Calibration map is processed and defined for the imaging system.
  • the calibration board may be a flat surface containing a superimposed image, a complex manifold surface, containing a superimposed image, an image that is displayed upon via a computer monitor, television, or other image projection device or a physical object that has a pattern of features or physical attributes with known geometric properties.
  • the calibration board may be any item that has unique geometry or textured surface that has a matching digital model.
  • the Distance Tool is used.
  • the camera and active illumination system is positioned perpendicular to the plane surface to be measured, or in other words, it is positioned to directly photograph an orthographic image.
  • the Distance Tool is then used to provide the ground truth range to the surface. Data is taken in this manner for multiple distances from the surface and a Calibration Mable is compiled.
  • the Camera and Active Illumination devices are Electrically linked.
  • the two types of devices (camera(s) and active illumination device(s)) are linked through their respective support circuitry 230 and 240 via the computer 200.
  • the devices are in separate housings, there may be a data linkage (not shown) in addition to the mechanical linkage 320 or 322. These linkages are desirable in order to coordinate in a synchronous manner the active illumination and camera image capture functions.
  • the calibration is accomplished by capturing multiple known Image Board and Distance data images.
  • the Camera(s) Active Illumination device(s) and Software may be integrated with the computer, software and software controllers within a single electro mechanical device such as a laptop, tablet, phone, PDA.
  • the Active Illumination device(s) may be an additional module, added as clamps, shells, sleeves or any similar modification to a device that already has a camera computer and software to which the orthographic image capture system software can be added.
  • the Camera(s) and Active Illumination device(s) may have overlapping optical paths with common fields of view, and this may be modified by multiple assemblies of: Camera or Active Illumination, combined in a fixed array. This provides a means to capture enough information to make corrections to the image based on distortions to the image caused by the optics of the camera, for example to correct the pincushion or barrel distortion of a telephoto, wide angle, or fish eye lens, as well as other optical aberrations such as astigmatism and coma.
  • the triggering of the Active illumination may be synchronized with the panoramic view image capturing to capture multiple planar surfaces in a panoramic scene such as all of the walls of a room.
  • Lens Systems and Filter System, Active Illumination, devices with different diffractive optical element can be added to or substituted for existing optics on the Camera(s): Active Illumination devices to provide for different operable ranges and usage environments
  • Computer is electronically linked to Camera and Active Illumination with: Electrical And Command To Camera and Electrical And Command To Active
  • Power for: Camera and Active Illumination may be supplied and controlled by the Computer and Software.
  • the user has an assembled or integrated Orthographic Image Capture System, consisting of all Cameras, Active Illumination Computer and Software elements, and sub- elements.
  • the Active illumination pattern is a non-dynamic, fixed in geometry, and matches the pattern and geometry configuration used during the calibration process with Calibration System, Image Board and optional Distance Tool and Calibration Map.
  • Calibration System generates a unique. Calibration Data file, which is stored with the Software.
  • the user aims Orthographic Image Capture System, in a pose, that allows the Camera and Active Illumination device to occupy the same physical space upon a selected predominantly planar surface, that is to be imaged.
  • Computer and Software are then triggered by a software or hardware trigger, that sends instructions to Timing To Camera and Timing To Active Illumination, via Electrical And Command To Camera and Electrical And Command To Active Illumination, which then emits radiation that is focused, split or diffracted by the Active illumination Lens System, in a fixed geometric manner.
  • the Camera may have a Filter System added or integral, which enables a more effective capture of the Active Illumination and Lens System emitted data, by reducing the background radiation, or limiting the radiation wavelengths that are captured by Camera for Software processing with reduced signal to noise ratios.
  • the data capture procedure delivers information for processing into Raw Data.
  • the Raw Data is integrated with Calibration Data with Calibration Processing, to generate Export Data and Display Data.
  • the Export Data and Display Data is a common file format image file, which has been displayed in corrected world coordinates where each pixel has a known dimension and aspect ratio, or the untransformed image of the scene with selected dimensional information that has been transformed into corrected world coordinates, or integrated with other similarly corrected images in a fashion that form natural relative scalar qualities in 2 dimensions.
  • the Orthographic Image Capture System may consist of a plurality of Cameras, and Active Illumination elements that are mounted in an array that is calibrated under a Calibration System.
  • Figure 20 illustrates a flow chart 400 of major data processing steps for the software and hardware of an orthographic image capture system.
  • the first step illustrated is a synchronized triggering of the active imaging device onto the planar object 402.
  • the next step is capturing of the digital image containing the active imaging pattern 404.
  • the next step is processing the image data to extract the position of characteristic elements of the active imaging pattern 406.
  • the software then calculates a transformation matrix and the non-orthographic orientation and position of the camera relative to the plane of the object 408 and 410. These are calculable based on determining the distortions and position shift to the pattern imaged and determining corrections that would restore the geometric ratios of the active illumination pattern. Information about the distance to the imaged surface is also contained in the imaged pattern.
  • the software creates a transformed image of the object as though the picture was taken from a virtual orthographic viewing angle on the object and present the view to the user 412 and 414.
  • the user is then provided with an opportunity to select key points of dimensional interest in the image using a mouse and keyboard and/or any other similar means such as a touch screen 416.
  • the software processes these points and provides the user with the actual dimensional information based on the dimensional points of interest selected by the user 418.
  • An example of the last two steps is illustrated in Figure 22. Where the user has selected the area of the wall 450 minus the three windows 452, 454, 456 and provided with an answer of 114 square feet.
  • Figure 21 illustrates an alternative embodiment of the data processing flow of a software implementation of an orthographic image capture system.
  • the first path the user is shown the raw image and selects key dimension points of interest 504.
  • the second path is that a separate routine automatically identifies key dimensional locations in the image 506.
  • the software is analyzing the image to locate key geometric points of interest in the active illumination pattern projected on the imaged object 508.
  • the software determines a transformation matrix and scene geometry 510 and 512.
  • the software applies the transformation matrix to the key points of dimensional interest that were automatically determined and/or input by the user 514 and then the software presents the user with dimensional information requested or automatically selected in step 506.
  • Figure 23 illustrates the same undistorted pattern illustrated in Figure 4.
  • Figures 24 and Figure 25 illustrate examples of distortion of the pattern in an
  • orthographic image capture system employing the fixed relationship of the camera and an active illumination device described in A Simple Method for Range Finding via Laser Triangulation by Hoa G. Nguyen and Michael R Blackburn,
  • the distortion(s) illustrated in Figure 25 reflect a camera angle similar to the angle illustrated in Figure 1 : of a wall - taken from the left angled to right (horizontal pan right) and but with the cameral lowered and looking up at the wall (ie. vertical tilt up). Note that the points in the pattern 502, 504, 506, 508 move along line segments 512, 514, 516 and 518 respectively.
  • Filtering image for the active illumination pattern steps (406 in Figure 20 and 408 in Figure 21) can be limited for a search for pixels proximate to the line segments 552, 554, 556, 558, and 560 illustrated in Figure 26.
  • This limited area of search greatly speeds up pattern filtering step(s).
  • the horizontal x axis represents the horizontal camera pixels
  • the vertical y axis represents the vertical camera pixels
  • the line segments 552, 554, 556, 558 represent the coordinate along which the laser points may be found and thus the areas proximate to these line segments is where the search of laser points can be concentrated.
  • the fixed projection axis of the active illuminator is slightly offset from the optical axis of the camera, which is useful in obtaining range information as described in Appendix A.
  • the direction of the projection axis of the active illuminator relative to the camera axis has been chosen based on the particular pattern of active illumination such that, as the images of the active illumination dots shift on the camera sensor over the distance range of the orthographic image capture system, the lines of pixels on the camera sensor over which they shift do not intersect.
  • the line segments 512 and 514 and 518 and 520 do not intersect. This decreases the chance of ambiguity, i.e., of confusing one spot for another in the active illumination pattern. This may be particularly helpful where the active illuminator is a laser which is fitted with a DOE which are prone to produce "ghost images”.
  • Figure 1 shows the configuration for triangulation ranging (Everett, 1995):
  • Figure 1 Configuration for triangulation ranging.
  • PI and P2 represent two reference points (e.g., camera and laser source), while P3 is a target point.
  • the range B can be determined from the knowledge of the baseline separation A and the angles ⁇ and ⁇ using the law of sines:
  • Figure 2 diagrams the setup of our laser and camera.
  • the camera is represented by the image plane, focal point, and optical axis.
  • the laser is directly above the camera, although its exact position is unimportant (we will only deal with the beam of light, represented by line CE in the diagram).
  • the laser is positioned so that the path of the laser and the optical axis form a vertical plane.
  • Point P is the target of interest.
  • x the projection of point P on the optical axis
  • u is the (vertical) projection of point P on the image plane (the scan line in the image on which the spot is detected).
  • E is the point where the path of the laser intersects the optical axis. We angle the laser such that point E is at the center of the range of interests.
  • this technique also works with the laser path parallel to the optical axis. There is no particular need for accurate determination or setting of the axes, beyond a concern for precision to be discussed later. There is also no need to know the baseline distance between camera and laser, nor the focal length (f) of the camera.
  • Figure 2 Setup of laser and camera.
  • yj and >3 ⁇ 4 are also difficult to measure. They are the offsets perpendicular to the optical axis, not the height from the ground. Also, the optical axis does not necessarily pass through the center of the image, but varies from camera to camera.
  • Figure 3 Laser and camera combination. To assess target range, the target is acquired and the optical axis automatically placed at its center using the pan-and-tilt unit. The laser illuminates a spot on the target, and the vertical position of the spot in the image is used for range calculations. To accommodate small targets, the distance v (separation between laser spot and optical axis) must be kept small. This in turn means that the baseline separation between the laser source and the camera cannot be large, and the angle of the laser path must be small (fairly parallel to the optical axis). We chose to place the laser approximately 7 cm above the camera with a slight downward tilt (E - 1.2 m). The distances we were interested in were between 0.5 m and 2 m.
  • Figure 4 shows the robot directing a remote manipulator arm to reach a cup being suspended as a target (see [Blackburn and Nguyen, 1994]).
  • Figure 4 Robot directing remote manipulator arm.

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Abstract

La présente invention a trait à un système de capture d'image destiné à un système de capture et de traitement de données image, lequel système est constitué d'un dispositif d'imagerie numérique, d'une source d'éclairage actif, d'un ordinateur et d'un logiciel qui génère 2 ensembles de données dimensionnelles à partir desquels des informations de coordonnées du monde réel avec une planarité, une échelle, un aspect et des qualités dimensionnelles innées peuvent être extraites de l'image capturée afin de transformer les données image en autres perspectives géométriques et d'extraire des données dimensionnelles réelles à partir des objets imagés. Les transformations de l'image peuvent être des transformations homographiques, des transformations orthographiques, des transformations de perspective ou d'autres transformations qui prennent en compte les distorsions de l'image capturée qui sont causées par l'angle de la prise de vue.
PCT/US2013/036314 2012-04-12 2013-04-12 Système de capture d'image orthographique WO2013155379A2 (fr)

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