Method and apparatus for a color scannerless range image system

• US 6,856,355 B1
• Filed: 11/30/1999
• Issued: 02/15/2005
• Est. Priority Date: 11/30/1999
• Status: Expired due to Term

• Current Assignee: Monument Peak Ventures, LLC (Dominion Harbor Enterprises, LLC)
• Original Assignee: Eastman Kodak Company
• Inventors: Gabello, Louis R., Repich, Kenneth J., Ray, Lawrence A.
• Primary Examiner(s): Garber, Wendy R.
• Assistant Examiner(s): Hannett, James M.
• Application Number:
  US09/451,823
• Time in Patent Office: 1,904 Days
• Field of Search: 396/106, 396/89, 396/109, 382/154, 356/5.04, 356/5.01, 348/370
• US Class Current: 348/370
• CPC Class Codes: G01S 17/89 for mapping or imaging

Abstract

A color scannerless range imaging system comprises four component systems, including an illumination system, an image capture device, an optical assembly and a controller for interconnecting and controlling the component systems. The illumination system separately illuminates a scene with modulated and unmodulated illumination, while the image capture device is positioned in an optical path of the reflected illumination from the scene for capturing a plurality of images thereof, including (a) at least one image of the reflected modulated illumination, whereby the modulation of the reflected modulated illumination incorporates a phase delay corresponding to the distance of objects in the scene from the range imaging system, and (b) at least one color image of the reflected unmodulated illumination. The optical assembly includes a first optical system for imaging a color image of unmodulated illumination from the scene and a second optical system including a modulating stage for modulating the reflected modulated illumination from the scene and generating an interference image representative of range information of the scene. The controller selectively places each of the optical systems in the optical path of the image capture device whereby both range information and color information of the scene are captured.

Claims

1. A color scannerless range imaging system for generating images of a scene, said system comprising:

a illumination system for controllably illuminating the scene with modulated illumination, whereby some of the modulated illumination is reflected from objects in the scene; and

an image capture device positioned in an optical path of the reflected illumination from the scene for capturing a plurality of images thereof, including (a) at least one image of the reflected modulated illumination, whereby the modulation of the reflected modulated illumination incorporates a phase delay corresponding to the distance of objects in the scene from the range imaging system, and (b) at least one color image of reflected unmodulated illumination;

wherein the image capture system captures a plurality of images of the reflected modulated illumination, wherein each image incorporates the effect of a predetermined modulation frequency together with a phase offset unique for each image, and wherein each unique phase offset θ

is given by θ

_i=2π

i/3;

i=0,1,2.

2. The system as claimed in claim 1 further comprising means for storing the plurality of images as a bundle of associated images.

3. The system as claimed in claim 2 wherein the bundle of images is stored on a photographic film.

4. The system as claimed in claim 2 wherein the bundle of images include digital images stored on digital storage media.

5. The system as claimed in claim 1 wherein the illumination system includes a laser illuminator for producing the modulated illumination.

6. A color scannerless range imaging system for capturing light images reflected from a scene as color and range images, said system comprising:

first and second optical systems disposable, in alternation, to receive the light images, said first and second optical systems each having an optical lens, said second optical system having a modulating stage, said first optical system transmitting the received light images without modulation to provide unmodulated light images, said second optical system modulating and transmitting the received light images to provide modulated images;

an illumination system illuminating the scene with modulated illumination when said second optical system receives said light images, wherein said modulated images are interference images representative of range information of the scene; and

an color image capture device disposed to capture said unmodulated and modulated light images.

7. The system as claimed in claim 6 wherein said image capture device includes an electronic imager having a color-filter-array.

8. The system as claimed in claim 6 wherein said image capture device includes color photographic film.

9. The system as claimed in claim 6 wherein said second optical system includes an image intensifier.

10. The system as claimed in claim 6 further comprising a turret holding said first and second optical systems.

11. The system as claimed in claim 10 further comprising a controller automatically swinging said turret to dispose said first and second optical systems, in alternation, to receive the light images.

12. The system as claimed in claim 6 wherein said first and second optical systems each have lenses, said lenses being of the same focal length, aperature, and field of view.

13. The system as claimed in claim 6 wherein said illumination system has a laser illuminator providing said modulated illumination and a flash lamp.

14. A method for capturing range and color images of a scene, said method comprising the steps of:

propagating a white light image of said scene through a first optical system to provide a first light image;

capturing said first light image with a color image capture device;

illuminating said scene with illumination modulated at a predetemined frequency to provide a reflected modulated light image;

modulating and intensifying said reflected modulated light image to provide an second light image representative of range information of the scene;

capturing said second light image with said color image capture device.

15. The method as claimed in claim 14 further comprising correlating said first and second light images.

16. The method as claimed in claim 15 further comprising iterating said illuminating;

modulating and intensifying; and

second capturing steps twice more, wherein said reflected modulated light images have different phase offsets.

17. The method as claimed in claim 14 wherein said capturing further comprises filtering said first and second images through a color filter array.

18. The method as claimed in claim 17 wherein said capturing further comprises filtering said first and second images through a color filter array.

19. A method for capturing range and color images of a scene, said method comprising the steps of:

switching a first optical system into an optical path and a second optical system out of said optical path;

following said switching, propagating a white light image of said scene, through said first optical system;

capturing said white light image with a color image capture device;

moving said second optical system into said optical path and said first optical system out of said optical path;

following said moving, illuminating said scene with illumination modulated at a predetemined frequency to provide a reflected modulated light image;

modulating said reflected modulated light image to provide an interference image representative of range information of the scene;

capturing said interference image with said color image capture device.

20. The method as claimed in claim 19 further comprising, during said modulating:

intensifying said interference image to provide an electron stream;

converting said electron stream into said interference image.

21. The method as claimed in claim 19 further comprising iterating said illuminating;

following; and

second capturing steps twice more, wherein said interference images have different phase offsets.

22. The method as claimed in claim 21 further comprising correlating said white light and interference images.

23. The method as claimed in claim 22 wherein said capturing further comprises filtering said images through a color filter array.