Method and apparatus for reconstructing three-dimensional surfaces from two-dimensional images

• US 4,873,651 A
• Filed: 04/21/1987
• Issued: 10/10/1989
• Est. Priority Date: 04/21/1987
• Status: Expired due to Fees

• Current Assignee: Case Western Reserve University
• Original Assignee: Case Western Reserve University
• Inventors: Raviv, Daniel
• Primary Examiner(s): RUGGIERO, JOSEPH F
• Application Number:
  US07/041,041
• Time in Patent Office: 903 Days
• Field of Search: 364/513, 364/413-415, 364/560-563, 364/559, 364/413.19, 356/375-377, 356/1, 356/2, 356/388, 356/392-394, 250/224, 250/560, 250/578, 250/234, 250/235, 250/236, 250/491.1
• US Class Current: 700/259
• CPC Class Codes: G06T 1/0014 Image feed-back for automatic industrial control, e.g. robot with camera robots B25J19/023

Abstract

A method and apparatus for reconstructing the surface, i.e the third dimension, of a three-dimensional object from two-dimemsional information includes projecting radiant energy, such as light, from a substantially parallel ray source at said object at a number of different angles relative to a reference surface with respect to which the object is placed. The lengths and locations of shadows cast by the object are measured as a function of the angle of the light rays. The location of the surface of the object relative to the reference surface is determined from the shadow lengths and locations from the angles at which the respective shadow lengths are created. Preferably, the shadow lengths and locations are measured by an electronic camera that generates electrical signals indicative of the shadow image. These signals are preferably received by a computer that determines the location of the surface of the object relative to the reference surface. Preferably, the computer also controls the position of the energy source. The method is relatively insensitive to variations in measurement and signal processing conditions. The position information produced in applying the method may be used in many applications, for example, for positioning a robot gripper to retrieve a part from a bin.

Claims

1. A method of reconstructing the third dimension of an object comprising:

disposing said object in a fixed position relative to a reference surface;

projecting substantially parallel rays of radiant energy at said object at a plurality of different angles relative to said reference surface;

recording the relative locations and lengths of each of the shadows cast by the object at each of said angles, said shadows including portions thereof formed on the reference surface; and

determining from the length and relative location of each of said shadows cast and from the angle, relative to the reference surface, of the radiant energy at which said shadow is cast, the position of at least one point on a surface of said object relative to another point on said object.

2. The method of claim 1 wherein said radiant energy is light.

3. The method of claim 1 including determining the position of a plurality of points on said surface of said object.

4. The method of claim 3 including projecting said energy from each of a plurality of positions relative to said reference surface, all of said positions lying substantially in an azimuthal plane that intersects said object.

5. The method of claim 4 including recording said shadow lengths and locations in said azimuthal plane and wherein said determined points on a surface of said object lie within said azimuthal plane.

6. The method of claim 3 including projecting said energy from each of a plurality of positions relative to said reference surface, all of said positions lying substantially in an equatorial plane.

7. The method of claim 6 including determining said points by superposing at least two of said shadows.

8. The method of claim 1 including projecting said energy from a single source and moving said source relative to said reference surface.

9. The method of claim 1 including sequentially projecting said energy from each of a plurality of energy sources disposed at different orientations relative to said reference surface.

10. The method of claim 1 including projecting said energy from a single source and reflecting energy from said source of each of a plurality of mirrors.

11. The method of claim 1 including positioning a robot gripper in response to the determination of the position of at least one surface of said object.

12. The method of claim 1 including recording the location and length of each of said shadows by forming an image of each of said shadows.

13. The method of claim 12 including forming said images with an electronic camera to generate a plurality of electrical signals indicative of each of the shadow images.

14. The method of claim 13 including applying a threshold test to said plurality of signals and storing as a shadow each signal that falls below said threshold.

15. The method of claim 1 including disposing a wall higher than said object adjacent said object before projecting radiant energy and projecting energy over said wall.

16. The method of claim 1 including simultaneously projecting rays of radiant energy of at least two different wavelengths at said object and simultaneously and separately recording the relative locations and lengths of the shadows cast at each of said wavelengths.

17. The method of claim 1 wherein said shadow lengths and locations are recorded on a film in a camera and wherein said camera in open whenever energy is projected.

26. The method of claim 1 including determining the heights of different points on said surface of said object by computing the product of a function of the angle of the radiant energy and the difference between the locations of shadow edges at the angle of radiant energy.

18. An apparatus for reconstructing the third dimension of an object comprising:

a reference surface with respect to which an object may be disposed;

radiant energy source means for projecting substantially parallel rays of radiant energy from a plurality of different angles relative to said reference surface at a said object disposed relative to said reference surface;

means for recording the relative locations and lengths of each of the shadows cast by said object at each of said plurality of different angles, said shadows including portions thereby formed on said reference surface; and

means for determining the location of at least one point on a surface of said object relative to another point on said surface from the respective lengths and locations of said shadows cast and from the respective angles.

19. The apparatus of claim 18 wherein said energy source means comprises a source of substantially parallel rays of energy and means for positioning said source at a plurality of locations lying substantially in a plane.

20. The apparatus of claim 18 wherein said energy source means comprised a plurality of sources of substantially parallel rays disposed substantially within a plane.

21. The apparatus of claim 18 wherein said energy source means comprised a pivotally mounted source of substantially parallel rays of energy and a plurality of mirrors for reflecting energy received from said source.

22. The apparatus of claim 18 wherein said means for recording the location and length of each of said shadows comprises an electronic camera for generating a plurality of electrical signals indicative of a shadow image.

23. The apparatus of claim 19 wherein said means for determining comprises a computer for receiving from said means for recording length and location the recorded shadow lengths and locations and for determining the relative positions of at least one point on said surface.

24. A method of reconstructing the third dimension of an object comprising:

disposing said object in a fixed position relative to a reference surface;

projecting substantially parallel rays of radiant energy at said object from a plurality of different equatorial positions relative to said reference surface;

recording the shadows cast by the object from each of said positions; and

determining from the recorded shadows the position of a plurality of points on a surface of said object.

25. The method of claim 24 including determining said points by superposing at least two of said shadows.