High resolution dot pattern

• US 10,225,544 B2
• Filed: 11/17/2016
• Issued: 03/05/2019
• Est. Priority Date: 11/19/2015
• Status: Active Grant

• Current Assignee: Hand Held Products Incorporated (Honeywell International Inc.)
• Original Assignee: Hand Held Products Incorporated (Honeywell International Inc.)
• Inventors: Thuries, Serge
• Primary Examiner(s): Williams, Jeffery A
• Application Number:
  US15/354,008
• Publication Number:
  US 20170150124A1
• Time in Patent Office: 838 Days
• CPC Class Codes: G01B 11/25 by projecting a pattern, e.g. one or more lines, moiré fringes on the object G01B11/255 takes precedence ; image analysis for depth or shape recovery G06T7/50
• CPC Class Codes: G01B 11/2513 with several lines being projected in more than one direction, e.g. grids, patterns
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 7/50 Depth or shape recovery
• CPC Class Codes: G06T 7/521 from laser ranging, e.g. using interferometry; from the projection of structured light
• CPC Class Codes: G06V 10/145 Illumination specially adapted for pattern recognition, e.g. using gratings
• CPC Class Codes: H01S 5/423 having a vertical cavity
• CPC Class Codes: H04N 13/207 using a single 2D image sensor
• CPC Class Codes: H04N 13/254 in combination with electromagnetic radiation sources for illuminating objects
• CPC Class Codes: H04N 2013/0074 Stereoscopic image analysis

Abstract

The present invention embraces a system for measuring the 3D shape of an object using a structured light projector and an image sensor such as a scanner or camera. The structured light projector “projects” a pseudo random dot pattern onto the object that is positioned on a planar surface. The image sensor captures the 3D image of the object from the reflective surface and determines the dimensions or shape of the object. The surface displays the projected dot pattern and defines a grid based on the projected dot pattern. The dot pattern comprising a plurality of dots distributed on the grid such that neighboring dots within a certain sub-window size are unique sub-patterns. The neighboring dots are arranged in a staggered grid format relative to one axis of grid.

Claims

1. A three dimensional (3D) sensing system, comprising:

a light source for projecting a dot pattern with structured light illumination onto an object, the dot pattern comprising a plurality of dots distributed on a grid such that neighboring dots within a certain sub-window size are a unique sub-pattern of dots, wherein the neighboring dots within the certain sub-window size are arranged in a staggered grid format relative to one axis of grid and the dots are located on the grid with subpixel accuracy based on a difference of Gaussian (DOG) algorithm plus bicubic interpolation; and

an image sensor for capturing an image of the object;

wherein the system is configured to identify a location of the dots in the captured image and determine dimensions and/or a shape of the object.

2. The system as in claim 1, wherein, the dot pattern comprises a “

pseudo random”

dot pattern.

3. The system as in claim 1, wherein, the light source comprises a vertical-cavity surface-emitting laser (VCSEL).

4. The system as in claim 1, wherein the object is positioned on a planar surface.

5. The system as in claim 1, wherein, a column index for possible combinations of the unique sub-pattern of dots is achieved by executing a De Bruijn sequence, followed by an encoding sequence.

6. The system as in claim 1, wherein, the neighboring dots in the staggered grid format are located in one of three possible positions on a vertical axis of the grid.

7. The system as in claim 6, wherein, the three possible positions are within 15% of a grid pitch of the grid in order to maintain row index determination.

8. A method of illuminating an object for a three dimensional (3D) sensing system for determining dimensions of the object, the method comprising:

illumination an object with a pseudo random dot pattern, wherein the pseudo random dot pattern comprises a grid of dots such that a group of neighboring dots within a certain sub-window size is a unique sub-pattern of dots, wherein a position of one or more dots in the unique sub-pattern of dots within the certain sub-window size is modified relative to one axis of the grid, wherein the unique sub-pattern of dots has a column index based on a De Bruijn sequence;

capturing an image of the object; and

determining the dimensions of the object based on the captured object.

9. The method of claim 8, wherein the modification of the position of the one or more dots relative to one axis of the grid comprises modifying the positions of the one or more dots on the one axis of the grid without impacting row index determination.

10. The method of claim 9, wherein the modification of the positions of one or more dots relative to one axis of the grid comprises modifying the positions of one or more dots relative to one axis of the grid by an amount of less than 15% of a grid pitch of the grid.

11. The method of claim 8, wherein the certain sub-window size for the unique sub-pattern comprises 10% to 15% of grid positions based on the pseudo random dot pattern.

12. The method of claim 8, wherein a number of possible positions for the dots on an axis varies depending on an image sensor resolution.

13. The method of claim 12, wherein the number of possible positions for the dots on a vertical axis is three.

14. The method of claim 8, wherein the dots are located on the grid with subpixel accuracy based on a difference of Gaussian (DOG) algorithm plus bicubic interpolation.

15. A pseudo random dot pattern light source for three dimensional (3D) sensing, comprising:

a light source projecting a grid representing the pseudo random dot pattern and a group of neighboring dots within a certain sub-window size of the grid that defines a unique sub-pattern of dots, wherein the unique sub-pattern of dots comprises one or more dots whose positions are modified in one axis of the grid, and wherein the unique sub-pattern of dots comprises a staggered grid of dots with three possible positions for each dot on the grid.

16. The pseudo random dot pattern of claim 15, wherein, the staggered grid of dots comprises three possible vertical positions for each dot on the grid.

17. The pseudo random dot pattern of claim 16, wherein, the three possible vertical positions for each dot in a 4×

2 sub-window, which corresponds to four dots, encodes a column index with 81 different values.

18. The pseudo random dot pattern of claim 16, wherein, the three possible vertical positions comprise shift up, shift down and no shift positions.

19. The pseudo random dot pattern of claim 16, wherein, the one or more dots whose positions are modified in one axis of the grid are modified by an amount less than 15% of a grid pitch of the grid in order to maintain row index determination.

20. The pseudo random dot pattern of claim 15, wherein, the dots are located on the grid with subpixel accuracy based on a difference of Gaussian (DOG) algorithm plus bicubic interpolation.