3D IMAGE GENERATION
First Claim
1. A system for generating a 3D depth profile of an object, the system comprising:
- a moveable video camera configured to continually capture 2D image data of said object as said camera is moved, said image data being captured as a plurality of 2D image frames where each frame comprises a plurality of pixels;
a processor configured;
to receive said 2D image data;
to determine the position of the camera for each frame captured;
to calculate the depth of the part of an object shown in a pixel in a first frame, said depth being determined with respect to a reference, said depth being determined by identifying said part of the object in at least one further frame and calculating the depth using the camera positions of said first image and said at least one further image; and
to determine a depth profile of said object, the depth profile being determined for a plurality of parts of the object shown in said pixels,the system further comprises a display configured to display said depth profile and an indication in real time as data is still being gathered, the parts of the object for which the depth profile has been calculated.
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Accused Products
Abstract
A system generating a 3D depth profile of an object, including: a moveable video camera to continually capture 2D image data of the object as the camera moves, to capture plural 2D image frames each including plural pixels; a processor configured to: receive the 2D image data; determine position of the camera when each frame is captured; calculate depth of part of an object shown in a pixel in a first frame with respect to a reference, by identifying the part in at least one further frame and calculating the depth using camera positions of the first image and at least one further image; and determine depth profile of the object, for plural parts of the object shown in the pixels. A display displays the depth profile and indicates in real time, as data is gathered, the parts of the object for which the depth profile has been calculated.
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Citations
20 Claims
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1. A system for generating a 3D depth profile of an object, the system comprising:
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a moveable video camera configured to continually capture 2D image data of said object as said camera is moved, said image data being captured as a plurality of 2D image frames where each frame comprises a plurality of pixels; a processor configured; to receive said 2D image data; to determine the position of the camera for each frame captured; to calculate the depth of the part of an object shown in a pixel in a first frame, said depth being determined with respect to a reference, said depth being determined by identifying said part of the object in at least one further frame and calculating the depth using the camera positions of said first image and said at least one further image; and to determine a depth profile of said object, the depth profile being determined for a plurality of parts of the object shown in said pixels, the system further comprises a display configured to display said depth profile and an indication in real time as data is still being gathered, the parts of the object for which the depth profile has been calculated. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 15, 16, 17)
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13. A depth sensor for determining the depth of a part of an object from a reference, said system comprising:
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a moveable video camera configured to continually capture 2D image data of said object as said camera is moved, said image data being captured as a plurality of 2D image frames where each frame comprises a plurality of pixels; a processor configured; to receive said 2D image data; to determine the position of the camera for each frame captured; to identify the part of the object whose depth is to be measured in a first frame; to determine matching scores indicating the similarity of a pixel showing said part of the object in a first frame with each of a plurality of pixels in a further frame as a function of the depth of said part of the object, said depth being determined using the camera positions of said first frame and said further frame; obtaining the matching scores as a function of depth for a plurality of further frames and combining said matching scores as a function of depth with previously obtained matching scores; continually monitoring the distribution of the matching scores as a function of depth as data from further frames is combined; determining the depth of said part of said object when said distribution of the matching scores as a function of depth becomes substantially unimodal. - View Dependent Claims (14)
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18. A method for generating a 3D depth profile of an object, the method comprising:
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continually capturing 2D image data of said object using a moveable video camera said image data being captured as a plurality of 2D image frames where each frame comprises a plurality of pixels; determining the position of the camera for each frame captured; calculating the depth of the part of an object shown in a pixel in a first frame, said depth being determined with respect to a reference, said depth being determined by identifying said part of the object in at least one further frame and calculating the depth using the camera positions of said first frame and said at least one further image; determining a depth profile of said object, the depth profile being determined for a plurality of parts of the object shown in said pixels, and displaying said depth profile and an indication in real time as data is still being gathered, the parts of the object for which the depth profile has been calculated. - View Dependent Claims (20)
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19. A method of determining the depth of a part of an object from a reference, said method comprising:
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continually capturing 2D image data of said object using a moveable video, said image data being captured as a plurality of 2D image frames where each frame comprises a plurality of pixels; determining the position of the camera for each frame captured; identifying the part of the object whose depth is to be measured in a first frame; determining matching scores indicating the similarity of a pixel showing said part of the object in a first frame with each of a plurality of pixels in a further frame as a function of the depth of said part of the object, said depth being determined using the camera positions of said first frame and said further frame; obtaining the matching scores as a function of depth for a plurality of further frames and combining said matching scores as a function of depth with previously obtained matching scores; continually monitoring the distribution of the matching scores as a function of depth as data from further frames is combined; and determining the depth of said part of said object when said distribution of the matching scores as a function of depth becomes substantially unimodal.
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Specification