Acquisition of three-dimensional images by an active stereo technique using locally unique patterns
First Claim
Patent Images
1. A system for obtaining a disparity map of a scene, comprising:
- (a) at least one projection device configured to project a locally unique pattern onto at least a portion of the scene;
(b) sensors for acquiring a plurality of images of the scene, each one of the plurality of images being associated with a unique viewing position; and
(c) a computing device configured to match corresponding pixels in at least two of said images containing said locally unique pattern to generate said disparity map.
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Abstract
A system and method for acquiring three-dimensional (3-D) images of a scene. The system includes a projection device for projecting a locally unique pattern (LUP) onto a scene, and sensors for imaging the scene containing the LUP at two or more viewpoints. A computing device matches corresponding pixels in the images by using the local uniqueness of the pattern to produce a disparity map. A range map can then be generated by triangulating points in the imaged scene.
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Citations
48 Claims
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1. A system for obtaining a disparity map of a scene, comprising:
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(a) at least one projection device configured to project a locally unique pattern onto at least a portion of the scene;
(b) sensors for acquiring a plurality of images of the scene, each one of the plurality of images being associated with a unique viewing position; and
(c) a computing device configured to match corresponding pixels in at least two of said images containing said locally unique pattern to generate said disparity map. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 30, 31, 32, 33, 34)
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27. The system of claim I, wherein said viewing positions include a first and a second viewing position, said first viewing position being arranged above said second viewing position, and said projection device disposed along the line defined by said first and second viewing positions.
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35. A method for obtaining a disparity map of a scene, comprising the steps of:
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(a) causing a locally unique pattern to be projected onto at least a portion of the scene;
(b) receiving a plurality of images acquired of the scene, each one of the plurality of images being associated with a unique viewing position; and
(c) matching corresponding pixels in at least two of said images containing said locally unique pattern to generate said disparity map. - View Dependent Claims (36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47)
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48. A computer-readable medium storing information for performing the steps of:
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(d) causing a projection device to project a locally unique pattern onto at least a portion of a scene;
(e) receiving a plurality of images of the scene, each one of the plurality of images being associated with a unique viewing position; and
(f) matching corresponding pixels in at least two of said images containing said locally unique pattern to generate said disparity map.
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Specification