METHOD AND SYSTEM FOR HIGH RESOLUTION, ULTRA FAST 3-D IMAGING
First Claim
1. An imaging system for imaging a target in three dimensions, the system comprising:
- a light projection source for projecting a beam of light onto the target;
an image acquisition subsystem for acquiring at least two images from light reflected by the target, the image acquisition subsystem comprising a moveable aperture; and
a correlation processor for processing the acquired images according to a sparse array image correlation process.
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Abstract
A high-speed three-dimensional imaging system includes a single lens camera subsystem with an active imaging element and CCD element, and a correlation processing subsystem. The active imaging element can be a rotating aperture which allows adjustable non-equilateral spacing between defocused images to achieve greater depth of field and higher sub-pixel displacement accuracy. A speckle pattern is projected onto an object and images of the resulting pattern are acquired from multiple angles. The images are locally cross-correlated using a sparse array image correlation technique and the surface is resolved by using relative camera position information to calculate the three-dimensional coordinates of each locally correlated region. Increased resolution and accuracy are provided by recursively correlating the images down to the level of individual points of light and using the Gaussian nature of the projected speckle pattern to determine subpixel displacement between images. Processing is done at very high-speeds by compressing the images before they are correlated. Correlation errors are eliminated during processing by a technique based on the multiplication of correlation table elements from one or more adjacent regions.
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Citations
18 Claims
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1. An imaging system for imaging a target in three dimensions, the system comprising:
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a light projection source for projecting a beam of light onto the target; an image acquisition subsystem for acquiring at least two images from light reflected by the target, the image acquisition subsystem comprising a moveable aperture; and a correlation processor for processing the acquired images according to a sparse array image correlation process. - View Dependent Claims (2, 3, 4)
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5. An imaging method for imaging a target in three dimensions, the method comprising:
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projecting a beam of light onto the target; acquiring at least two images from light reflected by the target through a lens, an aperture element defining a moveable aperture and a camera disposed along an optical axis; and processing the acquired images according to a sparse array image correlation process. - View Dependent Claims (6, 7)
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8. In an imaging system having a lens, an aperture element and a camera disposed along an optical axis, an imaging method for imaging a target in three dimensions, the method comprising:
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projecting a beam of light onto the target, rotating the aperture element such that an opening of the aperture element offset from the optical axis is set to a first position; acquiring a first image at the camera from light reflected by the target through the lens and the aperture opening at the first position; rotating the aperture element such than an opening of the aperture element offset from the optical axis is set to a second position; acquiring a second image at the camera from light reflected by the target through the lens and the aperture opening at the second position; and processing the acquired images according to an image correlation process to resolve three dimensional components of the target. - View Dependent Claims (9, 10, 11, 12, 13)
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14. An imaging system for imaging a target in three dimensions, the system comprising:
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a light projection source for projecting a beam of light onto the target; an image acquisition subsystem for acquiring at least two images from light reflected by the target, the subsystem comprising a lens, an aperture element and a CCD element disposed along an optical axis wherein the aperture element defines an opening offset from the optical axis and the image acquisition subsystem further includes rotation means for rotating the aperture element about the optical axis such that the at least two images are acquired at the CCD element sequentially from different angles; and a correlation processor for processing the acquired images according to an image correlation process. - View Dependent Claims (15, 16, 17, 18)
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Specification