Method and apparatus for dynamic space-time imaging system

• US 20060082590A1
• Filed: 10/14/2004
• Published: 04/20/2006
• Est. Priority Date: 10/14/2004
• Status: Active Grant

• Current Assignee: Tamiras Per Pte Ltd LLC (Intellectual Ventures LLC)
• Original Assignee: David M. Rondinone, Glen R. Stevick, Jerome R. Singer, Matthew D. Rocklin
• Inventors: Rondinone, David M., Singer, Jerome R., Stevick, Glen R., Rocklin, Matthew D.
• Granted Patent: US 7,620,209 B2
• Time in Patent Office: Days
• US Class Current: 345/587
• CPC Class Codes: A61B 5/0064 Body surface scanning
• CPC Class Codes: A61B 5/0077 Devices for viewing the surface of the body, e.g. camera, magnifying lens
• CPC Class Codes: A61B 5/113 occurring during breathing
• CPC Class Codes: A61B 5/1176 Recognition of faces
• CPC Class Codes: G01N 21/8806 Specially adapted optical and illumination features
• CPC Class Codes: G01S 17/88 Lidar systems specially adapted for specific applications
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G06T 7/521 from laser ranging, e.g. using interferometry; from the projection of structured light
• CPC Class Codes: G06V 2201/12 Acquisition of 3D measurements of objects
• CPC Class Codes: G06V 40/10 Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
• 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

Abstract

A method for creating a 3D map of the surface contours of an object includes projecting a variety of patterns onto the object, and imaging the patterns as they fall on the object to encode the topographic features of the object. The images are processed in a computer program in a manner such that a complete 3D map of the surface of the object is obtained in digital form. Reiteration of the method can detect motional variation such as a breathing human, flexure of a complex mechanical structure, or a stress-strain testing of an airplane, vehicle, beam, bridge, or other structure.

Claims

1. A method for creating a three dimensional map of the surface of an object, including the step of:

selectively projecting at least one pattern of lines on at least one portion of the surface of the object;

digitally capturing the image of said at least one pattern on the object;

calculating the distance of each incremental portion of the image to the object, and storing the distance data to comprise the three dimensional map;

rendering a three dimensional image of the at least one portion of the surface of the object using the data from the three dimensional map,

2. The method of claim 1, further including the step of establishing a fiducial distance from said image to said object, and scaling said distance data according to said fiducial distance.

3. The method of claim 2, wherein said step of establishing the fiducial distance includes using a rangefinder.

4. The method of claim 2, wherein said step of establishing the fiducial distance includes projecting a pair of parallel light rays onto said object, said pair of rays having a known spacing, said light rays forming point images on the object having the same known spacing.

5. The method of claim 2, wherein said step of establishing the fiducial distance includes placing an object of known size adjacent to the object before projecting the at least one pattern and capturing the image.

6. The method of claim 1, wherein the step of selectively projecting includes projecting a plurality of patterns sequentially, said plurality of patterns having progressively finer lines at closer spacing.

7. The method of claim 1, wherein the step of selectively projecting includes projecting a plurality of patterns using different, respective wavelengths for each pattern, and the step of digitally capturing includes recording a plurality of images, each image being recorded in the different, respective wavelengths of said plurality of patterns.

8. The method of claim 7, wherein said steps of selectively projecting and digitally capturing occur simultaneously at all the different, respective wavelengths.

9. The method of claim 1, wherein the step of selectively projecting includes projecting a plurality of patterns using different, respective polarized light for each pattern, and the step of digitally capturing includes recording a plurality of images, each image being recorded in the different, respective polarizations of said plurality of patterns.

10. The method of claim 9, wherein said steps of selectively projecting and digitally capturing occur simultaneously at all the different, respective polarizations.

11. The method of claim 1, further including the step of comparing the three dimensional map with a data set describing the surface of the object to determine variations in the surface of the object over time.

12. The method of claim 11, where the data set comprises a previously acquired three dimensional map of the object to determine variations in the surface of the object in the time interval between the previously acquired three dimensional map and the most recent three dimensional map.

13. The method of claim 1, wherein the step of selectively projecting includes the step of providing a plurality of projectors, each projecting a pattern of lines on a respective portion of the surface of the object.

14. The method of claim 1, wherein the step of digitally capturing the image includes providing a plurality of cameras, each capturing an image of a respective portion of the surface of the object.

15. The method of claim 1, wherein the steps of digitally capturing the image, calculating the distance, and rendering a three dimensional image are performed reiteratively and sufficiently rapidly to generate a movie comprised of the three dimensional images.

16. The method of claim 15, further including providing a plurality of linked digital processors to perform the steps of calculating the distance and rendering the image.

17. The method of claim 1, further including the step of providing a computer to control the steps of selectively projecting, digitally capturing, calculating the distance, and rendering a three dimensional image.

18. The method of claim 2, further including the step of providing a computer to control the steps of selectively projecting, digitally capturing, calculating the distance, and rendering a three dimensional image, and applying the fiducial distance data to focus the at least one pattern of lines on the at least one portion of the surface of the object.

19. The method of claim 1, further including the step of reiterating the steps of digitally capturing, calculating the distance, and rendering the three dimensional object to generate a plurality of 3D renderings in sequential order.

20. The method of claim 19, further including the step of comparing each three dimensional map with a previous three dimensional map in the sequential order to determine if portions of the surface of the object have undergone movement, and if the movement does not exceed a predetermined threshold, to thereafter perform the steps of calculating the distance and rendering the three dimensional image only for those portions that have undergone movement.

21. The method of claim 19, further including the step of applying stress to the object to determine changes in the object under the stress.

22. The method of claim 1, further including the step of providing an automated machining system, and providing the three dimensional map to the automated machining system to fabricate a three-dimensional copy of the object.

23. The method of claim 1, further including the step of using a human body as the object, and applying the resulting three dimensional map to medical studies.

24. The method of claim 1, further including the step of using a human body as the object to acquire a three dimensional map of the body, comparing the three dimensional map to a database describing a garment pattern, scaling the garment pattern to provide optimal fit to the body, and cutting and assembling the scaled garment.

25. The method of claim 1, further including the step of comparing the three dimensional map to a database describing the object, and determining any dimensional changes that may indicate possible structural failure of the object.

26. The method of claim 25, wherein the object is selected from a group consisting of aircraft, vehicles, ships, structures, mechanical devices, and tools.

27. The method of claim 1, further including the step of comparing the three dimensional map to a database describing the object, and determining any dimensional changes that may indicate possible security breaches.

28. The method of claim 1, wherein the surface of the object comprises the surface of an interior space.

29. The method of claim 28, wherein the object is selected from a group consisting of aircraft, motor vehicles, warehouses, ships, trains, and buildings.

30. A method for quality control of a manufactured object, including the step of:

selectively projecting at least one pattern of lines on the surface of the object;

digitally capturing the image of said at least one pattern on the object;

calculating the distance of each incremental portion of the image to the object, and storing the distance data to comprise the three dimensional map;

analyzing the three dimensional map to ascertain acceptable surface conformation of the object.

31. The method of claim 30, wherein the manufactured object comprises a sheet of wallboard, and said analyzing step includes analyzing the three dimensional map to detect surface defects.

32. The method of claim 30, wherein the manufactured object comprises a sheet of wallboard, and said analyzing step includes analyzing the three dimensional map to detect non-planarity of the surface.

33. A method for projecting a fiducial scale onto an object in a photo-recording system consisting of:

providing a laser system adapted to generate a pair of parallel, spaced apart beams, directing the beams on at least one object in the photo-recording to form a pair of beam images thereof, and determining the dimensions of the at least one object in the photo-recording by scaling said beam images to equal the spacing of said laser beams.