Pre-Calculation of Sine Waves for Pixel Values

• US 20140118496A1
• Filed: 10/31/2012
• Published: 05/01/2014
• Est. Priority Date: 10/31/2012
• Status: Active Grant

• Current Assignee: Ricoh Company Limited
• Original Assignee: Ricoh Company Limited
• Inventors: Barrus, John, Calakli, Fatih
• Granted Patent: US 9,661,304 B2
• Time in Patent Office: Days
• US Class Current: 348/46
• CPC Class Codes: H04N 13/254 in combination with electromagnetic radiation sources for illuminating objects

Abstract

A system and method for determining positions in three-dimensional space are described. The system includes a controller, a phase image module, a presentation module and a phase determination module. The controller receives projector geometry parameters. A phase image module determines a plurality of sinusoidal images where a constant phase represents a flat plane in a three-dimensional space based on the projector geometry parameters. A presentation module projects the plurality of sinusoidal images to be captured by a camera. The phase determination module determines a phase value at a camera pixel. The phase determination module determines an intersection between the flat plane of the phase value and the camera pixel to identify a ray-plane intersection.

Claims

1. A method comprising:

receiving projector geometry parameters;

determining a plurality of sinusoidal images where a constant phase represents a flat plane in a three-dimensional space based on the projector geometry parameters;

instructing a projector to project the plurality of sinusoidal images to be captured by a camera;

determining a phase value at a camera pixel; and

determining an intersection between the flat plane of the phase value and the camera pixel to identify a ray-plane intersection.

2. The method of claim 1, further comprising outputting a three-dimensional position based on the intersection.

3. The method of claim 1, further comprising:

receive N number of images;

identifying a correct phase value for each image pixel in the N number of images;

correlating the image pixel with a phase plane based on the correct phase value;

calculate a ray-ray intersection; and

determining a position of an object in the three-dimensional space based on the ray-plane intersection.

4. The method of claim 3, further comprising:

receiving images of a user;

identifying a position of the user'"'"'s hand;

determining a direction of motion of the hand; and

providing a new image based on the direction of motion.

5. The method of claim 1, wherein the phase value is based on a brightness of the camera pixel.

6. The method of claim 1, further comprising determining a position of the camera pixel in the three-dimensional space based on the intersection.

7. The method of claim 1, further comprising storing a ray equation for each pixel and the phase plane equation in a lookup table.

8. A system comprising:

a controller configured to receive projector geometry parameters;

a phase image module communicatively coupled to the controller, the phase image module configured to determine a plurality of sinusoidal images where a constant phase represents a flat plane in a three-dimensional space based on the projector geometry parameters;

a presentation module communicatively coupled to the controller and the phase image module, the presentation module configured to instruct a projector to project the plurality of sinusoidal images to be captured by a camera; and

a phase determination module communicatively coupled to the controller, the phase determination module configured to determine a phase value at a camera pixel and determine an intersection between the flat plane of the phase value and the camera pixel to identify a ray-plane intersection.

9. The system of claim 8, wherein the phase determination module is further configured to output a position in three-dimensional space.

10. The system of claim 8, wherein the controller is further configured to receive N number of images and the system further comprising:

a real-time determining engine communicatively coupled to the controller, the real-time determining engine configured to identify a correct phase value for each image pixel in the N number of images, correlate the image pixel with a phase plane based on the correct phase value, calculate a ray-ray intersection and determine a position of an object in the three-dimensional space based on the ray-plane intersection.

11. The system of claim 10, wherein the controller is further configured to receive images of a user and the system further comprising:

an image tracking engine communicatively coupled to the controller, the image tracking engine configured to identify a position of a hand of the user, determine a direction of motion of the hand and provide a new image based on the direction of motion.

12. The system of claim 8, wherein the phase value is based on a brightness of the camera pixel.

13. The system of claim 8, wherein the phase determination module is further configured to determine a position of the camera pixel in the three-dimensional space based on the intersection.

14. The system of claim 8, further comprising a storage device communicatively coupled to the phase determination module, the storage device configured to store a ray equation for each pixel and the phase plane equation in a lookup table.

15. A computer program product comprising a computer usable medium including a computer readable program, wherein the computer readable program when executed on a computer causes the computer to:

receive projector geometry parameters;

determine a plurality of sinusoidal images where a constant phase represents a flat plane in a three-dimensional space based on the projector geometry parameters;

instructing a projector to project the plurality of sinusoidal images to be captured by a camera;

determine a phase value at a camera pixel; and

determine an intersection between the flat plane of the phase value and the camera pixel to identify a ray-plane intersection.

16. The computer program product of claim 15, further comprising outputting a position in three-dimensional space.

17. The computer program product of claim 15, further causing the computer to:

receive N number of images;

identify a correct phase value for each image pixel in the N number of images;

correlate the image pixel with a phase plane based on the correct phase value;

calculate a ray-ray intersection; and

determine a position of an object in the three-dimensional space based on the ray-plane intersection.

18. The computer program product of claim 17, further causing the computer to:

receive images of a user;

identify a position of the user'"'"'s hand;

determine a direction of motion of the hand; and

provide a new image based on the direction of motion.

19. The computer program product of claim 15, wherein the phase value is based on a brightness of the camera pixel.

20. The computer program product of claim 15, further causing the computer to determine a position of the camera pixel in the three-dimensional space based on the intersection.