Three dimensional camera

• US 6,100,517 A
• Filed: 12/19/1997
• Issued: 08/08/2000
• Est. Priority Date: 06/22/1995
• Status: Expired due to Term

• Current Assignee: Microsoft International Holdings BV (Microsoft Corporation)
• Original Assignee: 3DV Systems Ltd. (Microsoft Corporation)
• Inventors: Iddan, Gavriel, Yahav, Giora
• Primary Examiner(s): Le, Que T.
• Assistant Examiner(s): PYO, KEVIN K
• Application Number:
  US08/981,358
• Time in Patent Office: 963 Days
• Field of Search: 250/208.1, 250/559.38, 250/559.31, 356/5.01, 356/5.07, 356/5.08, 356/141.5, 356/375, 356/376, 348/46, 348/50, 348/135, 348/138, 348/140, 348/370
• US Class Current: 250/208.1
• CPC Class Codes: G01C 11/025 by scanning the object
• CPC Class Codes: G01S 17/10 using transmission of interrupted, pulse-modulated waves determination of distance by phase measurements G01S17/32
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G02B 7/32 using active means, e.g. light emitter including both an active and a passive focus detecting device G02B7/285; using ultrasound G02B7/40

Abstract

Apparatus for creating an image indicating distances to points in objects in a scene, comprising:

a modulated source of radiation, having a first modulation function, which directs radiation toward a scene such that a portion of the modulated radiation is reflected from the points and reaches the apparatus;

an array detector which detects radiation from the scene, modulated by a second modulation function, each element of the array detector being associated with a point in the scene, each element of the array detector generating a signal, responsive to a part of the reflected radiation reaching the apparatus, the magnitude of particular element'"'"'s signal being dependent on the distance of a point in the scene, associated with that element'"'"'s signal; and

a processor which forms an image, having an intensity value distribution indicative of the distance of each of the points in the scene from the apparatus, based on the magnitude of the signal associated with the point;

wherein the first and second modulation functions comprise repetitive pulsed modulation functions which are different from each other.

Claims

1. Apparatus for creating an image indicating distances to points in objects in a scene, comprising:

a modulated source of radiation, having a first modulation function, which directs radiation toward a scene such that a portion of the modulated radiation is reflected from the points and reaches the apparatus;

an array detector which detects radiation from the scene, modulated by a second modulation function, each element of the array detector being associated with a point in the scene, each element of the array detector generating a signal, responsive to a part of the portion of the reflected radiation reaching the apparatus, the magnitude of particular element'"'"'s signal being dependent on the distance of a point in the scene, associated with that element'"'"'s signal; and

a processor which forms an image, having an intensity value distribution indicative of the distance of each of the points in the scene from the apparatus, based on the magnitude of the signal associated with the point;

wherein the first and second modulation functions comprise repetitive pulsed modulation functions which are different from each other.

2. Apparatus according to claim 1 wherein the modulated source of radiation comprises:

a source of radiation; and

a source modulator which receives radiation from the source of radiation, modulates it, and directs the modulated radiation toward the scene.

3. Apparatus according to claim 2 wherein the source modulator comprises an electro optic modulator.

4. Apparatus according to claim 2 wherein the source modulator comprises a KDP modulator.

5. Apparatus according to claim 2 wherein the source modulator comprises an LCD shutter.

6. Apparatus according to claim 1 wherein the detector comprises means for periodically activating and deactivating the detector in accordance with the second modulation function.

7. Apparatus according to claim 1 wherein the detector comprises:

a detector module which receives radiation reflected from the scene and modulates it in accordance with the second modulation function.

8. Apparatus according to claim 7 wherein the detector modulator comprises a KDP modulator.

9. Apparatus according to claim 7 wherein the detector modulator comprises an LCD shutter.

10. Apparatus according to claim 7 wherein the detector modulator comprises an electro-optic modulator.

11. Apparatus according to any of claims 1-10 wherein the first and second modulation functions are time shifted with respect to each other.

12. Apparatus according to any of claims 1-10 wherein the first and second modulation functions have different forms.

13. Apparatus according to claim 1 or claim 6 wherein the first and second modulation functions provide relatively high transmission during a first period, and relatively low transmission during a second sequential period, and wherein the duration of the first and second periods is different for at least one of the first and second modulation functions.

14. Apparatus according to claim 13 wherein during the respective second sequential periods, substantially all the radiation is blocked.

15. Apparatus according to any of claims 1-10 wherein at least portions of said detector and said processor are comprised in a photographic film.

17. Apparatus according to any of claims 1-10 wherein the image is a non-holographic image.

18. Apparatus according to any of claims 1-10 wherein the detector comprises a CCD camera which receives reflected radiation and produces said signals a frame at a time, each said signal comprising the response of an element of the CCD array to a plurality of pulses of radiation.

16. Apparatus for creating an image indicating distances to objects in a scene, comprising:

a modulated source of radiation which directs radiation toward a scene such that a portion of the radiation from the source is from points in the scene and reaches the apparatus;

a detector comprising a photographic film; and

a modulator which receives said portion, modulates it, and transmits a part of the portion of the radiation to the detector, said part being dependent on the distance of respective in the scene from the apparatus;

forms an image having an intensity distribution indicative of the distance of objects from the apparatus on the photographic film.

19. A method of determining the distance to portions of a scene comprising:

illuminating the scene with a plurality of consecutive mutually identical pulses of energy such that energy from the portion is received at a detector, said pulses occurring during a plurality of spaced first time periods;

determining the part of the received energy which is within a plurality of mutually identical, spaced, consecutive second time periods; and

ascertaining the distance to the portion of the scene based on the value of the determined part,

wherein the plurality of mutually identical first time periods and the plurality of mutually identical second time periods are not identical to each other.

20. A method according to claim 19 wherein the plurality of first and second time periods are not identical in that they are time shifted with respect to each other.

21. A method according to claim 19 or claim 20 wherein the first time periods are separated by a plurality of third time periods and wherein the second time periods are separated by a plurality of fourth time periods and wherein the first and second time periods are different in length from the third and fourth time periods respectively.