Method and apparatus for capturing stereoscopic images using image sensors

• US 6,377,700 B1
• Filed: 06/30/1998
• Issued: 04/23/2002
• Est. Priority Date: 06/30/1998
• Status: Expired due to Term

• Current Assignee: Intel Corporation
• Original Assignee: Intel Corporation
• Inventors: Korta, Jean-Charles, Mack, Walter J.
• Primary Examiner(s): Mancuso, Joseph
• Application Number:
  US09/108,907
• Time in Patent Office: 1,393 Days
• Field of Search: 382/754, 356/12, 356/20, 356/21, 356/22, 348/175, 348/146, 395/419, 395/420, 395/425
• US Class Current: 382/154
• CPC Class Codes: G01B 11/25 by projecting a pattern, e.g. one or more lines, moiré fringes on the object G01B11/255 takes precedence ; image analysis for depth or shape recovery G06T7/50
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 7/521 from laser ranging, e.g. using interferometry; from the projection of structured light
• CPC Class Codes: G06T 7/593 from stereo images
• CPC Class Codes: H04N 13/207 using a single 2D image sensor
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 13/246 Calibration of cameras
• CPC Class Codes: H04N 13/254 in combination with electromagnetic radiation sources for illuminating objects
• CPC Class Codes: H04N 2013/0081 Depth or disparity estimation from stereoscopic image signals

Abstract

A method and apparatus to capture stereoscopic images is disclosed. A light source having a diffracting device to project a structured light unto a target object is provided. A plurality of imaging devices to capture images of the target object is provided.

Claims

1. An apparatus comprising:

a light source having a diffracting device to project a structured light onto a target object;

a filter coupled with the diffracting device to encode the structured light being projected onto the target object, wherein the encoding of the structured light allows a first component of the structured light to be distinguished from a second component of the structured light; and

a plurality of imaging devices to capture images of the target object, wherein said plurality of imaging devices collect;

a first image of at least a portion of the surface of the target object;

a second image of at least a portion of the surface of the target object; and

textural data associated with the target object;

said plurality of imaging devices comprising at least two monochrome imaging devices to collect the first image and the second image and at least one color imaging device to collect the textural data.

2. The apparatus of claim 1, wherein the apparatus furthers uses the first image and the second image to form a stereoscopic image of at least a portion of the target object.

3. The apparatus of claim 1, further comprising a computing device to process the first image, the second image, and the textural data and to generate a three-dimensional model of at least a portion of the target object.

4. The apparatus of claim 3, wherein the generation of a three-dimensional model of at least a portion of the target object comprises:

extracting a plurality of points corresponding to three-dimensional data from the first image and the second image; and

forming lines between the plurality of points according to a predetermined algorithm to form a surface structure of the portion of the target object.

5. The apparatus of claim 1, wherein the light source producing the structural light emits light in the non-visible spectrum.

6. The apparatus of claim 5, wherein the first and second images and the textural data are captured simultaneously.

7. The apparatus of claim 5, wherein the imaging devices that capture the first image and the second image are adapted to capture non-visible reflected light that has been emitted by the light source.

8. The apparatus of claim 1, wherein the light source producing the structural light produces light in the visible spectrum.

9. The apparatus of claim 8, wherein the structural light is discontinued before the textural data is captured.

10. The apparatus of claim 1, wherein the structured light comprises at least one of lines, grids, dots, or segmented lines.

11. The apparatus of claim 1, wherein the structured light is comprised of lines of light, and the encoding of said structured light further involves encoding said lines of light into segmented lines of light such that a segmented line of light and a successive segmented line of light have different segmentation structures.

12. The apparatus of claim 1, wherein each of the plurality of imaging devices is either a camcorder or a digital camera.

13. The apparatus of claim 1, further comprising a memory device to store data produced by the plurality of imaging devices.

14. An apparatus comprising:

a light source having a diffracting device to project a structured light onto a target object;

a filter coupled with the diffracting device to encode the structured light being projected onto the target object, wherein the encoding of the structured light allows a first component of the structured light to be distinguished from a second component of the structured light, the light source producing the structural light emitting light in the non-visible spectrum; and

a plurality of imaging devices to capture images of the target object, wherein said plurality of imaging devices collect;

a first image of at least a portion of the surface of the target object;

a second image of at least a portion of the surface of the target object; and

textural data associated with the target object, the first and second images an d the textural data being captured simultaneously.

15. The apparatus of claim 14, wherein the apparatus furthers uses the first image and the second image to form a stereoscopic image of at least a portion of the target object.

16. The apparatus of claim 14, further comprising a computing device to process the first image, the second image, and the textural data and to generate a three-dimensional model of at least a portion of the target object.

17. The apparatus of claim 16, wherein the generation of a three-dimensional model of at least a portion of the target object comprises:

extracting a plurality of points corresponding to three-dimensional data from the first image and the second image; and

forming lines between the plurality of points according to a predetermined algorithm to form a surface structure of the portion of the target object.

18. The apparatus of claim 14, wherein the imaging devices that capture the first image and the second image are adapted to capture non-visible reflected light that has been emitted by the light source.

19. The apparatus of claim 14, wherein the structured light comprises at least one of lines, grids, dots, or segmented lines.

20. The apparatus of claim 14, wherein the structured light is comprised of lines of light, and the encoding of said structured light further involves encoding said lines of light into segmented lines of light such that a segmented line of light and a successive segmented line of light have different segmentation structures.

21. The apparatus of claim 14, wherein each of the plurality of imaging devices is either a camcorder or a digital camera.

22. The apparatus of claim 14, further comprising a memory device to store data produced by the plurality of imaging devices.

23. A method comprising:

projecting a coded structured light onto a target object, wherein the encoding of the structured light allows a first component of the structured light to be distinguished from a second component of the structured light;

generating a stereoscopic image of at least a portion of the target object by capturing a first image and a second image of the target object, the first image and the second image being captured by at least two monochrome imaging devices; and

capturing textural data associated with the target object, the textural data being captured by at least one color imaging device.

24. The method of claim 23, wherein the first image and the second image overlap.

25. The method of claim 23, further comprising using a computing device to process the stereoscopic image and the textural data and to generate a three-dimensional model of at least a portion of the target object.

26. The method of claim 25, wherein the generation of a three-dimensional model of the portion of the target object comprises:

extracting a plurality of points corresponding to three-dimensional data from the first image and the second image; and

forming lines between the plurality of points according to a predetermined algorithm to form a surface structure of the portion of the target object.

27. The method of claim 23, wherein the structural light is emitted in the non-visible spectrum.

28. The method of claim 27, wherein the first and second images and the textural data are captured simultaneously.

29. The method of claim 27, wherein a plurality of imaging devices captures the first image and the second image and wherein the plurality of imaging devices is adapted to capture non-visible reflected light that has been emitted by the light source.

30. The method of claim 23, wherein the structural light is emitted in the visible spectrum.

31. The method of claim 30, wherein the structural light is discontinued before the textural data is captured.

32. The method of claim 23, wherein the structured light comprises at least one of lines, grids, dots, or segmented lines.

33. The method of claim 23, wherein the structured light comprises lines of light, and the encoding of the structured light further includes encoding the lines of light into segmented lines of light such that a segmented line of light and a successive segmented line of light have different segmentation structures.

34. The method of claim 23, wherein the first and second images and the textural data are captured by a plurality of imaging devices and each of the imaging devices is either a camcorder or a digital camera.

35. A method comprising:

projecting a coded structured light onto a target object, wherein the encoding of the structured light allows a first component of the structured light to be distinguished from a second component of the structured light, the structural light being emitted in the non-visible spectrum;

generating a stereoscopic image of at least a portion of the target object by capturing a first image and a second image of the target object; and

capturing textural data associated with the target object, the first and second images and the textural data being captured simultaneously.

36. The method of claim 35, wherein the first image and the second image overlap.

37. The method of claim 35, further comprising using a computing device to process the stereoscopic image and the textural data and to generate a three-dimensional model of at least a portion of the target object.

38. The method of claim 37, wherein the generation of a three-dimensional model of the portion of the target object comprises:

extracting a plurality of points corresponding to three-dimensional data from the first image and the second image; and

forming lines between the plurality of points according to a predetermined algorithm to form a surface structure of the portion of the target object.

39. The method of claim 35, wherein a plurality of imaging devices captures the first image and the second image and wherein the plurality of imaging devices is adapted to capture non-visible reflected light that has been emitted by the light source.

40. The method of claim 35, wherein the structured light comprises at least one of lines, grids, dots, or segmented lines.

41. The method of claim 35, wherein the structured light comprises lines of light, and the encoding of the structured light further includes encoding the lines of light into segmented lines of light such that a segmented line of light and a successive segmented line of light have different segmentation structures.

42. The method of claim 35, wherein the first and second images and the textural data are captured by a plurality of imaging devices and each of the imaging devices is either a camcorder or a digital camera.

43. A machine-readable medium having stored thereon data representing sequences of instructions that, when executed by a processor, cause the processor to perform operations comprising:

projecting a coded structured light onto a target object, wherein the encoding of the structured light allows a first component of the structure d light to be distinguished from a second component of the structured light;

generating a stereoscopic image of at least a portion of the target object by capturing a first image and a second image of the target object, the first image and the second image being captured by at least two monochrome imaging devices; and

capturing textural data associated with the target object, the textural data being captured by at least one color imaging device.

44. The medium of claim 43, wherein the first image and the second image overlap.

45. The medium of claim 43, further comprising using a computing device to process the stereoscopic image and the textural data and to generate a three-dimensional model of at least a portion of the target object.

46. The medium of claim 45, wherein the generation of a three-dimensional model of the portion of the target object comprises:

extracting a plurality of points corresponding to three-dimensional data from the first image and the second image; and

forming lines between the plurality of points according to a predetermined algorithm to form a surface structure of the portion of the target object.

47. The medium of claim 43, wherein the structural light is emitted in the non-visible spectrum.

48. The medium of claim 47, wherein the first and second images and the textural data are captured simultaneously.

49. The medium of claim 47, wherein a plurality of imaging devices captures the first image and the second image and wherein the plurality of imaging devices is adapted to capture non-visible reflected light that has been emitted by the light source.

50. The medium of claim 43, wherein the structural light is emitted in the visible spectrum.

51. The medium of claim 50, wherein the structural light is discontinued before the textural data is captured.

52. The medium of claim 43, wherein the structured light comprises at least one of lines, grids, dots, or segmented lines.

53. The medium of claim 43, wherein the structured light comprises lines of light, and the encoding of the structured light further includes encoding the lines of light into segmented lines of light such that a segmented line of light and a successive segmented line of light have different segmentation structures.

54. The medium of claim 43, wherein the first and second images and the textural data are captured by a plurality of imaging devices and each of the imaging devices is either a camcorder or a digital camera.

59. The medium of claim 50, wherein a plurality of imaging devices captures the first image and the second image and wherein the plurality of imaging devices is adapted to capture non-visible reflected light that has been emitted by the light source.

55. A machine-readable medium having stored thereon data representing sequences of instructions that, when executed by a processor, cause the processor to perform operations comprising:

projecting a coded structured light onto a target object, wherein the encoding of the structured light allows a first component of the structured light to be distinguished from a second component of the structured light, the structural light being emitted in the non-visible spectrum;

generating a stereoscopic image of at least a portion of the target object by capturing a first image and a second image of the target object; and

capturing textural data associated with the target object, the first and second images and the textural data being captured simultaneously.

56. The medium of claim 55, wherein the first image and the second image overlap.

57. The medium of claim 55, further comprising using a computing device to process the stereoscopic image and the textural data and to generate a three-dimensional model of at least a portion of the target object.

58. The medium of claim 57, wherein the generation of a three-dimensional model of the portion of the target object comprises:

extracting a plurality of points corresponding to three-dimensional data from the first image and the second image; and

forming lines between the plurality of points according to a predetermined algorithm to form a surface structure of the portion of the target object.

60. The medium of claim 55, wherein the structured light comprises at least one of lines, grids, dots, or segmented lines.

61. The medium of claim 55, wherein the structured light comprises lines of light, and the encoding of the structured light further includes encoding the lines of light into segmented lines of light such that a segmented line of light and a successive segmented line of light have different segmentation structures.

62. The medium of claim 55, wherein the first and second images and the textural data are captured by a plurality of imaging devices and each of the imaging devices is either a camcorder or a digital camera.