Single-lens, single-sensor 3-D imaging device with a central aperture for obtaining camera position

• US 20080278570A1
• Filed: 04/23/2008
• Published: 11/13/2008
• Est. Priority Date: 04/23/2007
• Status: Active Grant

• Current Assignee: California Institute of Technology
• Original Assignee: California Institute of Technology
• Inventors: Gharib, Morteza, Pereira, Francisco, Graff, Emilio, Lu, Jian
• Granted Patent: US 8,619,126 B2
• Time in Patent Office: Days
• US Class Current: 348/46
• CPC Class Codes: G01B 11/2509 Color coding
• CPC Class Codes: G02B 2207/129 Coded aperture imaging
• CPC Class Codes: G02B 5/005 Diaphragms for cameras G03B9/02
• CPC Class Codes: G03B 15/12 using mirrors
• CPC Class Codes: G03B 35/02 by sequential recording
• CPC Class Codes: G06T 7/50 Depth or shape recovery
• CPC Class Codes: H04N 13/204 using stereoscopic image cameras stereoscopic photography G03B35/00
• 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 device and method for three-dimensional (3-D) imaging using a defocusing technique is disclosed. The device comprises a lens, a central aperture located along an optical axis for projecting an entire image of a target object, at least one defocusing aperture located off of the optical axis, a sensor operable for capturing electromagnetic radiation transmitted from an object through the lens and the central aperture and the at least one defocusing aperture, and a processor communicatively connected with the sensor for processing the sensor information and producing a 3-D image of the object. Different optical filters can be used for the central aperture and the defocusing apertures respectively, whereby a background image produced by the central aperture can be easily distinguished from defocused images produced by the defocusing apertures.

Claims

1. A device for three-dimensional (3-D) imaging comprising:

a lens;

a central aperture located along an optical axis for projecting an entire image of a target object;

at least one defocusing aperture located off of the optical axis;

a sensor operable for capturing electromagnetic radiation transmitted from an object through the lens and the central aperture and the at least one defocusing aperture; and

a processor communicatively connected with the sensor for processing the sensor information and producing a 3-D image of the object.

2. The device of claim 1, further comprising an electromagnetic radiation projection system which projects a predetermined pattern onto the object so that unmarked surfaces may be mapped in 3-D.

3. The device of claim 2, where different optical filters are used for the central aperture and the defocusing apertures respectively, whereby a background image produced by the central aperture can be easily distinguished from defocused images produced by the defocusing apertures.

4. The device of claim 3, where the electromagnetic radiation projection system includes a narrow-band electromagnetic radiation source, and the optical filter on the central aperture selectively blocks electromagnetic radiation from the narrow-band electromagnetic radiation source, whereby a background image produced by the central aperture will not include a projected pattern.

5. The device of claim 4, where the optical filters on the defocusing apertures allow only a wavelength of electromagnetic radiation from the narrow band electromagnetic radiation source, whereby only the projected pattern goes through the defocusing apertures, thereby preventing the visual image from the central aperture from getting blurred.

6. The device of claim 1, where the central aperture provides a physical location of an unshifted projected pattern for estimating a position and orientation of the device with respect to the object.

7. The device of claim 1, where an orientation of the device can be obtained by proper rotating, de-warping, and scaling of an actual image obtained by the central aperture.

8. The device of claim 1, further comprising an electromagnetic radiation projection system which projects a predetermined pattern onto the object so that unmarked surfaces may be mapped in 3-D.

9. The device of claim 1, where physical Cartesian locations of points imaged by the at least one defocusing apertures are assigned to a corresponding area of the visual image obtained through the central aperture.

10. The device of claim 1, where different optical filters are used for the central aperture and the defocusing apertures respectively, whereby a background image produced by the central aperture can be easily distinguished from defocused images produced by the defocusing apertures.

11. The device of claim 1, further comprising an electromagnetic radiation projection system including a narrow-band electromagnetic radiation source, and an optical filter on the central aperture which selectively blocks electromagnetic radiation from a narrow-band electromagnetic radiation source, whereby a background image produced by the central aperture will not include a projected pattern.

12. The device of claim 1, further comprising optical filters on the defocusing apertures allowing only a wavelength of electromagnetic radiation from a narrow band electromagnetic radiation source, whereby only a projected pattern goes through the defocusing apertures, thereby preventing the visual image from the central aperture from getting blurred.

13. A method for three-dimensional (3-D) imaging comprising acts of:

capturing electromagnetic radiation transmitted off of an object and through a lens and a central aperture located along an optical axis and at least one defocusing aperture located off of the optical axis with a sensor; and

processing information from the sensor to produce a 3-D image representative of the object.

14. The method of claim 13, further comprising an act of determining a position and orientation of the device with respect to the object from a physical location of an unshifted projection pattern produced by the central aperture.

15. The method of claim 13, further comprising an act of determining an orientation of the device with respect to the object by proper rotation, de-warping, and scaling of an actual image obtained by the central aperture.

16. The method of claim 13, further comprising an act of projecting a predetermined pattern of electromagnetic radiation onto the object so that unmarked surfaces may be mapped in 3-D.

17. The method of claim 13, further comprising an act of assigning physical Cartesian locations of points imaged by the defocusing apertures to corresponding areas of a visual image obtained through the central aperture.

18. The method of claim 13, further comprising an act of selecting different optical filters for the central aperture and the defocusing apertures respectively, whereby a background image produced by the central aperture can be easily distinguished from defocused images produced by the defocusing apertures.

19. The method of claim 13, further comprising acts of projecting a predetermined pattern onto the object using a narrow-band electromagnetic radiation source, and selecting an optical filter on the central aperture for selectively blocking electromagnetic radiation from the narrow-band electromagnetic radiation source, whereby a background image produced by the central aperture will not include a projected pattern.

20. The method of claim 13, further comprising acts of projecting a predetermined pattern onto the object using a narrow-band electromagnetic radiation source, and selecting optical filters on the defocusing apertures for selectively allowing only a wavelength of electromagnetic radiation from the narrow band electromagnetic radiation source, whereby only the projected pattern goes through the defocusing apertures, thereby preventing the visual image from the central aperture from getting blurred.