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Real-time structured light range scanning of moving scenes

  • US 6,754,370 B1
  • Filed: 08/14/2000
  • Issued: 06/22/2004
  • Est. Priority Date: 08/14/2000
  • Status: Expired due to Fees
First Claim
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1. A method for real-time range scanning of a scene, the method comprising:

  • a) projecting a sequence of N radiation patterns onto said scene, each radiation pattern comprising a set of pattern features at fixed projection positions, wherein the pattern features are boundaries in the radiation patterns, and wherein a sequence of N matching pattern features in a corresponding set of N of said radiation patterns defines a code for one of the fixed projection positions, wherein N is a minimum number of radiation patterns required to provide unique codes;

    b) using an image detector, capturing a current image of said scene, wherein said current image comprises a set of current image features corresponding to said pattern features, and wherein the current image features are boundaries in the current image;

    c) identifying matching image features in a distinct image, wherein the matching image features are boundaries in the distinct image matching at least one of the current image features;

    d) determining current image feature positions for some of the current image features from said code, said current image and at least one differently-timed images; and

    e) computing ranges for positions of said some of the current image features by geometrical analysis of said current image feature positions and said fixed projection positions.

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