WO2015198148A3 - Active triangulation calibration - Google Patents

Active triangulation calibration Download PDF

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Publication number
WO2015198148A3
WO2015198148A3 PCT/IB2015/001522 IB2015001522W WO2015198148A3 WO 2015198148 A3 WO2015198148 A3 WO 2015198148A3 IB 2015001522 W IB2015001522 W IB 2015001522W WO 2015198148 A3 WO2015198148 A3 WO 2015198148A3
Authority
WO
WIPO (PCT)
Prior art keywords
active triangulation
image
epipolar
structured light
markers
Prior art date
Application number
PCT/IB2015/001522
Other languages
French (fr)
Other versions
WO2015198148A2 (en
Inventor
Michael Slutsky
Yonatan Samet
Eyal Gordon
Original Assignee
Michael Slutsky
Yonatan Samet
Eyal Gordon
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Michael Slutsky, Yonatan Samet, Eyal Gordon filed Critical Michael Slutsky
Publication of WO2015198148A2 publication Critical patent/WO2015198148A2/en
Publication of WO2015198148A3 publication Critical patent/WO2015198148A3/en

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
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Optics & Photonics (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Measurement Of Optical Distance (AREA)

Abstract

According to examples of the presently disclosed subject an active triangulation system includes an active triangulation setup and a calibration module. The active triangulation setup includes a projector and a sensor. The projector is configured to project a structured light pattern that includes a repeating structure of a plurality of unique feature types and a plurality of markers distributed in the projected structured light pattern, where an epipolar distance between any two epipolar lines which are associated with an appearance in the image of any two respective markers is greater than a distance between any two distinguishable epipolar lines. The sensor is configured to capture an image of a reflected portion of the projected structured light. The calibration module is configured to determine an epipolar field for the active triangulation setup according to locations of the markers in the image, and to calibrate the active triangulation setup.
PCT/IB2015/001522 2014-06-24 2015-06-24 Active triangulation calibration WO2015198148A2 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201462016278P 2014-06-24 2014-06-24
US62/016,278 2014-06-24
US201462087845P 2014-12-05 2014-12-05
US62/087,845 2014-12-05

Publications (2)

Publication Number Publication Date
WO2015198148A2 WO2015198148A2 (en) 2015-12-30
WO2015198148A3 true WO2015198148A3 (en) 2016-03-10

Family

ID=54345535

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2015/001522 WO2015198148A2 (en) 2014-06-24 2015-06-24 Active triangulation calibration

Country Status (1)

Country Link
WO (1) WO2015198148A2 (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9881375B2 (en) 2014-12-05 2018-01-30 Mantis Vision Ltd. Markers in 3D data capture
CN112747687B (en) * 2020-12-18 2022-06-14 中广核核电运营有限公司 Line structure light vision measurement calibration method and system
WO2023078903A1 (en) * 2021-11-03 2023-05-11 Trinamix Gmbh Structured light pattern combined with projection of markers

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008062407A2 (en) 2006-11-21 2008-05-29 Mantisvision Ltd. 3d geometric modeling and 3d video content creation
US8090194B2 (en) 2006-11-21 2012-01-03 Mantis Vision Ltd. 3D geometric modeling and motion capture using both single and dual imaging
CN107806826B (en) 2012-03-26 2021-10-26 螳螂慧视科技有限公司 Three-dimensional camera and projector thereof

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
HIROSHI KAWASAKI ET AL: "One-shot scanning method using an unealibrated projector and camera system", COMPUTER VISION AND PATTERN RECOGNITION WORKSHOPS (CVPRW), 2010 IEEE COMPUTER SOCIETY CONFERENCE ON, IEEE, PISCATAWAY, NJ, USA, 13 June 2010 (2010-06-13), pages 104 - 111, XP031729740, ISBN: 978-1-4244-7029-7 *
KASPER CLAES ET AL: "Robot positioning using structured light patterns suitable for self calibration and 3D tracking", PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS, 22 August 2007 (2007-08-22), pages 188 - 193, XP055235174 *
XAVIER MAURICE ET AL: "Epipolar based structured light pattern design for 3-D reconstruction of moving surfaces", ROBOTICS AND AUTOMATION (ICRA), 2011 IEEE INTERNATIONAL CONFERENCE ON, IEEE, 9 May 2011 (2011-05-09), pages 5301 - 5308, XP032017132, ISBN: 978-1-61284-386-5, DOI: 10.1109/ICRA.2011.5979582 *
XAVIER MAURICE ET AL: "Real-time structured light coding for adaptive patterns", JOURNAL OF REAL-TIME IMAGE PROCESSING, vol. 8, no. 2, 1 June 2013 (2013-06-01), pages 169 - 178, XP055063587, ISSN: 1861-8200, DOI: 10.1007/s11554-011-0200-2 *

Also Published As

Publication number Publication date
WO2015198148A2 (en) 2015-12-30

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