Color edge based system and method for determination of 3d surface topology
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Abstract
A method and system for determining surface topology of a three-dimensional (3D) structure, based on a structured pattern that is projected onto the surface structure, and images of the pattern superposed on the structured surface are analysed to provide surface coordinates of the structure. The pattern comprises a plurality of unique color edges defined between pairs of differently-colored stripes, which substantially overcomes ambiguity problems. In one embodiment, a calibration method is provided enabling the surface coordinates to be obtained from a single image of the structure.
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Citations
75 Claims
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1-51. -51. (canceled)
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52. A structured light pattern for use in the determination of 3D surface topology of a 3D structure, wherein said pattern may be projected onto such a structure and 3D surface topology thereof is determined from at least one image obtained of the structure with said pattern reflected therefrom, the pattern comprising a plurality of pairs of colored stripes, wherein each said pair comprises:
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two juxtaposed discrete stripes, one said stripe being of a different color from the other stripe; and
a unique color edge defining a unique color transition boundary between the colors of said two adjacent stripes in a predetermined direction substantially orthogonal to a longitudinal direction of said stripes;
wherein each said color edge is sufficiently unique by itself within said pattern such as to enable identification of each color edge of said pattern when said pattern is reflected from said 3D structure. - View Dependent Claims (53, 54, 55, 56, 57, 58, 59, 60, 61, 62)
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63. Method for determining 3D surface topology of a 3D structure, comprising:
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(a) illuminating said structure with a structured pattern comprising a plurality of pairs of colored stripes, wherein each said pair comprises;
two juxtaposed discrete stripes, one said stripe being of a different color from the other stripe; and
a unique color edge defining a unique color transition boundary between the colors of said two adjacent stripes in a predetermined direction substantially orthogonal to a longitudinal direction of said stripes;
wherein each said color edge is sufficiently unique by itself within said pattern such as to enable identification of each color edge of said pattern when said pattern is reflected from said 3D structure;
(b) capturing at least two images of the structure on which the said structured pattern is being shone;
(c) identifying corresponding unique color edges between said images;
(d) applying a suitable mathematical technique for determining surface coordinates of said structure from the correspondence found in step (c). - View Dependent Claims (64)
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65. Method for determining surface topology of a 3D structure, comprising:
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a. providing a calibration image of a structured pattern, comprising a plurality of geometrical portions including a plurality of pairs of colored stripes, wherein each said pair comprises;
two juxtaposed discrete stripes, one said stripe being of a different color from the other stripe; and
a unique color edge defining a unique color transition boundary between the colors of said two adjacent stripes in a predetermined direction substantially orthogonal to a longitudinal direction of said stripes;
wherein each said color edge is sufficiently unique by itself within said pattern such as to enable identification of each color edge of said pattern when said pattern is reflected from said 3D structure;
said calibration image being reflected from a calibration object at each one of at least two calibration stops serially spaced along an optical axis at predetermined depths from a source projecting said structured pattern;
(ii) for each said calibration image, identifying unique portions of said structured pattern corresponding to predetermined portions of said structured pattern in another said image, and determining spatial coordinates associated with said unique portions;
(iii) aligning said structure along said optical axis, projecting said structured light pattern onto a surface of said structure wherein said pattern is modified by virtue of the topology of the structure surface such that to provide a modified pattern superposed over said structure surface comprising a plurality of modified geometrical portions corresponding to said geometrical portions;
(iv) providing at least one complex image of said structure surface with said modified pattern superposed thereon, and for each said complex image identifying unique modified geometrical portions corresponding to said geometrical portions; and
(v) for each said unique modified portion, determining spatial coordinates associated therewith from the spatial coordinates obtained in (ii) for the corresponding unique portion of each said calibration image, to provide surface coordinates of said structure. - View Dependent Claims (66, 67, 68, 69, 75)
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70. A system for the determination of 3D surface topology of a 3D structure, comprising:
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(A) illumination means adapted for projecting a beam of structured light onto at least said portion, said structured light having a pattern comprising a plurality of pairs of colored stripes, wherein each said pair comprises;
two juxtaposed discrete stripes, one said stripe being of a different color from the other stripe; and
a unique color edge defining a unique color transition boundary between the colors of said two adjacent stripes in a predetermined direction substantially orthogonal to a longitudinal direction of said stripes;
wherein each said color edge is sufficiently unique by itself within said pattern such as to enable identification of each color edge of said pattern when said pattern is reflected from said 3D structure;
(B) at least one image capture means for capturing at least one image of said portion with said structured pattern projected thereon;
(C) processing means adapted for determining surface topology of at least said portion based on said at least one image provided by said at least one image capture means. - View Dependent Claims (71, 72, 73, 74)
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Specification