Range finding method and apparatus
First Claim
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1. A method for finding the range of a target object, comprising the steps of:
- (a) viewing the target object from a first perspective, using a camera having a sensor with light-sensitive regions that are disposed in a row having ends, to provide a signal VA (IA) corresponding to the first perspective, where VA is a voltage proportional to light intensity at a light-sensitive region of the row and IA is an integer corresponding to the distance between the respective light-sensitive region and a predetermined end of the row;
(b) viewing the target object from a second perspective, using a camera having a sensor with light-sensitive regions that are disposed in a row having ends, to provide a signal VB (IB) corresponding to the second perspective, where VB is a voltage proportional to light intensity at a light-sensitive region of the row and IB is an integer corresponding to the distance between the respective light-sensitive region and a predetermined end of the row;
(c) finding a disparity function D(IA) which maps VA (IA) onto VB (IB) for every IA in an interval, the interval including a plurality of consecutive integers;
(d) using the disparity function D(IA) to determine the range of the target object at a plurality of points on the target object; and
(e) providing electrical signals corresponding to the range to an output device.
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Abstract
A range finding apparatus includes a pair of spaced apart cameras which provide signals that are digitalized, stored in frame buffers, and provided to a computer that provides a range map of a target object viewed by the cameras. The computer optimizes a disparity function by minimizing a cost functional, thereby finding the range at different points on the surface of the target object based on variations in illumination, reflectivity, and texture.
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Citations
20 Claims
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1. A method for finding the range of a target object, comprising the steps of:
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(a) viewing the target object from a first perspective, using a camera having a sensor with light-sensitive regions that are disposed in a row having ends, to provide a signal VA (IA) corresponding to the first perspective, where VA is a voltage proportional to light intensity at a light-sensitive region of the row and IA is an integer corresponding to the distance between the respective light-sensitive region and a predetermined end of the row; (b) viewing the target object from a second perspective, using a camera having a sensor with light-sensitive regions that are disposed in a row having ends, to provide a signal VB (IB) corresponding to the second perspective, where VB is a voltage proportional to light intensity at a light-sensitive region of the row and IB is an integer corresponding to the distance between the respective light-sensitive region and a predetermined end of the row; (c) finding a disparity function D(IA) which maps VA (IA) onto VB (IB) for every IA in an interval, the interval including a plurality of consecutive integers; (d) using the disparity function D(IA) to determine the range of the target object at a plurality of points on the target object; and (e) providing electrical signals corresponding to the range to an output device. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. An apparatus for finding the range of a target object, comprising:
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a first camera directed toward the target object to view the target object from a first perspective, the first camera having a first sensor with light-sensitive regions that are disposed in a first row having ends, the first camera providing a signal VA (IA), where VA is a voltage proportional to light intensity at a light-sensitive region of the first row and IA is an integer corresponding to the distance between the respective light-sensitive region and a predetermined end of the first row; a second camera directed toward the target object to view the target object from a second perspective, the second camera having a second sensor with light-sensitive regions that are disposed in a second row having ends, the second camera providing a signal VB (IB), where VB is a voltage proportional to light intensity at a light-sensitive region of the second row and IB is an integer corresponding to the distance between the respective light-sensitive region and a predetermined end of the second row; and means for finding a disparity function D(IA) which maps VA (IA) onto VB (IB) for every IA in an interval, the interval including a plurality of consecutive integers, and for using the disparity function D(IA) to determine the range of the target object at a plurality of points on the target object. - View Dependent Claims (20)
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Specification