Optical methods for remotely measuring objects
First Claim
Patent Images
1. A method to remotely measure the geometrical attributes of an object of known shape using reflected intensity from said object, the method comprising the following steps:
- (a) illuminating said object with a light source of known wavelength with an optical pattern of known pattern shape;
(b) optically capturing in a single snapshot and without wavelength discrimination at said known wavelength an image using solely intensity data reflected by said object to observe a reflected pattern on said object from said light source, using a camera whose location and orientation are known with respect to said light source;
(c) executing a first computer-implemented process to locate a plurality of key points in said image obtained by said camera; and
(d) executing a second computer-implemented process to obtain a plurality of geometrical attributes of said object using said plurality of key points.
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Abstract
A class of measurement devices can be made available using a family of projection patterns and image processing and computer vision algorithms. The proposed system involves a camera system, one or more structured light source, or a special pattern that is already drawn on the object under measurement. The camera system uses computer vision and image processing techniques to measure the real length of the projected pattern. The method can be extended to measure the volumes of boxes, or angles on planar surfaces.
364 Citations
27 Claims
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1. A method to remotely measure the geometrical attributes of an object of known shape using reflected intensity from said object, the method comprising the following steps:
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(a) illuminating said object with a light source of known wavelength with an optical pattern of known pattern shape; (b) optically capturing in a single snapshot and without wavelength discrimination at said known wavelength an image using solely intensity data reflected by said object to observe a reflected pattern on said object from said light source, using a camera whose location and orientation are known with respect to said light source; (c) executing a first computer-implemented process to locate a plurality of key points in said image obtained by said camera; and (d) executing a second computer-implemented process to obtain a plurality of geometrical attributes of said object using said plurality of key points. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A system to remotely measure the geometrical attributes of an object of known shape, the system comprising:
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a processor; a memory storing at least one software module; a first optical system projecting an optical pattern of a known pattern shape and known wavelength on said object; a second optical system in a known position relative to said first optical system and having a field of view encompassing at least a reflected pattern from said object and responsive solely to intensity of reflections from said object to capture in a single snapshot and without wavelength discrimination at said known wavelength an image reflected by said object; wherein said at least one software module is executable by said processor to locate a plurality of key points in an image captured by said second optical system, and to calculate three dimensional world-coordinates of said points. - View Dependent Claims (21, 22, 23, 24, 25, 26)
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27. A method to remotely measure geometrical attributes of an object of known shape, the method comprising the following steps:
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a) drawing on said object, using a light source of known wavelength, a pattern of known pattern shape, and an additional pattern of known shape and size; b) using a camera to optically capture in a single snapshot without wavelength discrimination at said known wavelength an image using solely intensity of reflection to observe patterns on said object; c) applying image processing to locate a plurality of key points in said image obtained by the said camera; and d) applying geometrical processing to obtain a plurality of geometrical attributes of said object.
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Specification