Creating 3D images of objects by illuminating with infrared patterns
First Claim
1. A method comprising:
- projecting an infra-red pattern onto a three-dimensional object;
producing a first image of the three-dimensional object while the pattern is projected on the three-dimensional object, the first image (i) including the three-dimensional object and the pattern, (ii) being a two-dimensional digital image including pixels, and (iii) being produced by capturing at a first camera light filtered through an infra-red filter;
producing a second image of the three-dimensional object while the pattern is projected on the three-dimensional object, the second image (i) including the three-dimensional object and the pattern, (ii) being a two-dimensional digital image including pixels, and (iii) being produced by capturing at a second camera light filtered through an infra-red filter, and the first and second cameras arranged as a first stereo pair having a known physical relationship;
establishing a first-pair correspondence between a portion of the pixels of the first image and a portion of the pixels of the second image;
producing a third image of the three-dimensional object while the pattern is projected on the three-dimensional object, the third image (i) including the three-dimensional object but not the pattern and (ii) being a two-dimensional digital image including pixels; and
constructing, based on the first-pair correspondence and the third image, a two-dimensional image that depicts a three-dimensional construction of the three-dimensional object.
2 Assignments
0 Petitions
Accused Products
Abstract
According to a general aspect, processing images includes projecting an infra-red pattern onto a three-dimensional object and producing a first image, a second image, and a third image of the three-dimensional object while the pattern is projected on the three-dimensional object. The first image and the second image include the three-dimensional object and the pattern. The first image and the second image are produced by capturing at a first camera and a second camera, respectively, light filtered through an infra-red filter. The third image includes the three-dimensional object but not the pattern. Processing the images also includes establishing a first-pair correspondence between a portion of pixels in the first image and a portion of pixels in the second image. Processing the images further includes constructing, based on the first-pair correspondence and the third image, a two-dimensional image that depicts a three-dimensional construction of the three-dimensional object.
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Citations
23 Claims
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1. A method comprising:
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projecting an infra-red pattern onto a three-dimensional object;
producing a first image of the three-dimensional object while the pattern is projected on the three-dimensional object, the first image (i) including the three-dimensional object and the pattern, (ii) being a two-dimensional digital image including pixels, and (iii) being produced by capturing at a first camera light filtered through an infra-red filter;
producing a second image of the three-dimensional object while the pattern is projected on the three-dimensional object, the second image (i) including the three-dimensional object and the pattern, (ii) being a two-dimensional digital image including pixels, and (iii) being produced by capturing at a second camera light filtered through an infra-red filter, and the first and second cameras arranged as a first stereo pair having a known physical relationship;
establishing a first-pair correspondence between a portion of the pixels of the first image and a portion of the pixels of the second image;
producing a third image of the three-dimensional object while the pattern is projected on the three-dimensional object, the third image (i) including the three-dimensional object but not the pattern and (ii) being a two-dimensional digital image including pixels; and
constructing, based on the first-pair correspondence and the third image, a two-dimensional image that depicts a three-dimensional construction of the three-dimensional object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A system comprising:
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a first stereo camera pair including a first camera coupled to a second camera;
a second stereo camera pair including a third camera coupled to a fourth camera;
a set of four infra-red filters, with a separate one of the four infra-red filters operatively coupled to each of four cameras;
a projector; and
a computer readable medium coupled to each of the four cameras and to the projector, and including instructions for performing at least the following;
projecting an infra-red pattern from the projector onto a three-dimensional object;
producing a first image of the three-dimensional object while the pattern is projected on the three-dimensional object, the first image (i) including the three-dimensional object and the pattern, (ii) being a two-dimensional digital image including pixels, and (iii) being produced by capturing at a first camera light filtered through an infra-red filter;
producing a second image of the three-dimensional object while the pattern is projected on the three-dimensional object, the second image (i) including the three-dimensional object and the pattern, (ii) being a two-dimensional digital image including pixels, and (iii) being produced by capturing at a second camera light filtered through an infra-red filter, and the first and second cameras arranged as a first stereo pair having a known physical relationship;
establishing a first-pair correspondence between a portion of the pixels of the first image and a portion of the pixels of the second image;
producing a third image of the three-dimensional object while the pattern is projected on the three-dimensional object, the second third image (i) including the three-dimensional object but not the pattern, (ii) being a two-dimensional digital image including pixels, and (iii) being produced by capturing light at a texture camera; and
constructing, based on the first-pair correspondence and the third image, a two-dimensional image that depicts a three-dimensional construction of the three-dimensional object. - View Dependent Claims (20, 21, 22)
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23. A computer readable medium including instructions for performing at least the following:
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accessing a first image captured of a three-dimensional object, the first image having been captured while a pattern is projected on the three-dimensional object, the first image (i). including the three-dimensional object and the pattern, (ii) being a two-dimensional digital image including pixels, and (iii) being produced by capturing at a first camera light filtered through an infra-red filter;
accessing a second image captured of the three-dimensional object, the second image having been captured while the pattern is projected on the three-dimensional object, the second image (i) including the three-dimensional object and the pattern, (ii) being a two-dimensional digital image including pixels, and (iii) being produced by capturing at a second camera light filtered through an infra-red filter;
establishing a first-pair correspondence between a portion of the pixels of the first image and a portion of the pixels of the second image, the first-pair correspondence being established based on the first and second cameras having been arranged as a first stereo pair having a known physical relationship while the first and second images were captured;
accessing a third image captured of the three-dimensional object, the third image having been captured while the pattern is projected on the three-dimensional object, the third image (i) including the three-dimensional object but not the pattern, (ii) being a two-dimensional digital image including pixels; and
constructing, based on the first-pair correspondence and the third image, a two-dimensional image that depicts a three-dimensional construction of the three-dimensional object.
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Specification