High accuracy stereo vision camera system

• US 6,392,688 B1
• Filed: 10/04/1999
• Issued: 05/21/2002
• Est. Priority Date: 10/04/1999
• Status: Expired due to Term

• Current Assignee: FLIR Commercial Systems Incorporated (Teledyne Technologies Incorporated)
• Original Assignee: Point Grey Research Inc (Teledyne Technologies Incorporated)
• Inventors: Tucakov, Vladimir, Barman, Rod
• Primary Examiner(s): DIEP, NHON THANH
• Application Number:
  US09/411,230
• Time in Patent Office: 960 Days
• Field of Search: H04/N 1.300, H04/N 1.500, 348/42, 348/47, 348/48, 348/340, 348/373, 348/374, 348/375, 348/335
• US Class Current: 348/42
• 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

Abstract

A stereo camera system suitable for use in high performance computer vision systems has two or more electronic cameras. Each camera has an assembly comprising a light sensing array and a lens assembly which are each directly mounted to a rigid mounting member. The rigid mounting member may be, for example, a thick metal plate penetrated by a plurality of apertures which provide light paths between the lens assemblies and the light sensing arrays. Stereo camera systems according to the invention are more rugged than current stereo camera systems. Calibration is maintained for longer periods of time. Relative motion between the two or more cameras is virtually eliminated. Relative motion between the optical components of individual cameras is virtually eliminated.

Claims

1. A stereo camera system comprising:

(a) a rigid mounting member having a front face and a rear face, the mounting member penetrated by a plurality of apertures, the apertures extending between the front and rear faces;

(b) a plurality of lens assemblies rigidly affixed to the mounting member, the lens assemblies each comprising a lens; and

,

(c) a plurality of light sensing assemblies rigidly affixed to the mounting member;

wherein each of the lenses is located to focus light through one of the apertures onto one of the light sensing arrays.

2. The stereo camera system of claim 1 wherein the light sensing assemblies each comprise a light sensing array mounted on a circuit board.

3. The stereo camera system of claim 2 wherein the circuit board is rigidly affixed to the mounting member by a plurality of screws spaced apart around a periphery of each of the apertures.

4. The stereo camera system of claim 1 wherein the mounting member comprises an aluminum plate having a thickness in excess of 1.0 centimeters.

5. The stereo camera system of claim 1 wherein each of the apertures has a threaded portion on a forward side of the mounting member, each lens assembly comprises a lens rigidly affixed within a lens housing comprising a cylindrical threaded body and the lens housing is threadedly received in the threaded portion.

6. The stereo camera system of claim 5 wherein a rearward portion of each aperture comprises a cavity portion and a light sensing array is received within the cavity portion.

7. The stereo camera system of claim 5 wherein the threaded portion is dimensioned to receive substantially all of the lens housing and, when the lens is focussed on the light sensing array, the lens housing is substantially entirely received within the threaded portion.

8. The stereo camera system of claim 2 wherein each of the light sensing arrays is mounted to the same circuit board.

9. The stereo camera system of claim 7 wherein each of the apertures intersects a rear face of the mounting member within a face of a planar mounting pad.

10. The stereo camera system of claim 1 wherein each of the apertures intersects a rear face of the mounting member within a face of a planar mounting pad.

11. The stereo camera system of claim 1 wherein each of the lens assemblies comprises a cylindrical lens housing and one or more lenses located on an axis of the lens housing.

12. A stereo camera system comprising:

a) a rigid mounting member having a front face and a rear face;

b) a plurality of apertures penetrating the rigid mounting member, each of the apertures having a threaded portion adjacent the front face, the threaded portion dimensioned to receive a lens housing, and a cavity adjacent the rear face, the cavity dimensioned to receive a light sensing array;

c) a lens housing holding a focussing lens threadedly received in the threaded portion of each aperture; and

,

d) a light sensitive array supported in each cavity on a circuit board, the circuit board affixed to the rear face around a periphery of the cavity.