Creating 3D images of objects by illuminating with infrared patterns
First Claim
1. A computer-implemented method comprising:
- projecting an infra-red pattern onto a three-dimensional object;
producing a first image of the three-dimensional object while the pattern is projected on the three-dimensional object, the first image (i) including the three-dimensional object and the pattern, (ii) being a two-dimensional digital image including pixels, and (iii) being produced by capturing at a first camera light filtered through an infra-red filter;
producing a second image of the three-dimensional object while the pattern is projected on the three-dimensional object, the second image (i) including the three-dimensional object and the pattern, (ii) being a two-dimensional digital image including pixels, and (iii) being produced by capturing at a second camera light filtered through an infra-red filter, and the first and second cameras arranged as a first stereo pair having a known physical relationship;
identifying, based on a deformation of the pattern, a depth discontinuity occurring at a junction of surfaces of the three-dimensional object having different depths;
establishing a first-pair correspondence between a portion of the pixels of the first image and a portion of the pixels of the second image;
controlling, based on the identified depth discontinuity, a disparity propagation of the portion of the pixels of the first image and the portion of the pixels of the second image established in the first-pair correspondence;
producing a third image of the three-dimensional object while the pattern is projected on the three-dimensional object, the third image (i) including the three-dimensional object but not the pattern and (ii) being a two-dimensional digital image including pixels; and
constructing, based on the disparity propagation of the portion of the pixels of the first image and the portion of the pixels of the second image established in the first-pair correspondence and the third image, a two-dimensional image that depicts a three-dimensional construction of the three-dimensional object.
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Accused Products
Abstract
According to a general aspect, processing images includes projecting an infra-red pattern onto a three-dimensional object and producing a first image, a second image, and a third image of the three-dimensional object while the pattern is projected on the three-dimensional object. The first image and the second image include the three-dimensional object and the pattern. The first image and the second image are produced by capturing at a first camera and a second camera, respectively, light filtered through an infra-red filter. The third image includes the three-dimensional object but not the pattern. Processing the images also includes establishing a first-pair correspondence between a portion of pixels in the first image and a portion of pixels in the second image. Processing the images further includes constructing, based on the first-pair correspondence and the third image, a two-dimensional image that depicts a three-dimensional construction of the three-dimensional object.
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Citations
29 Claims
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1. A computer-implemented method comprising:
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projecting an infra-red pattern onto a three-dimensional object; producing a first image of the three-dimensional object while the pattern is projected on the three-dimensional object, the first image (i) including the three-dimensional object and the pattern, (ii) being a two-dimensional digital image including pixels, and (iii) being produced by capturing at a first camera light filtered through an infra-red filter; producing a second image of the three-dimensional object while the pattern is projected on the three-dimensional object, the second image (i) including the three-dimensional object and the pattern, (ii) being a two-dimensional digital image including pixels, and (iii) being produced by capturing at a second camera light filtered through an infra-red filter, and the first and second cameras arranged as a first stereo pair having a known physical relationship; identifying, based on a deformation of the pattern, a depth discontinuity occurring at a junction of surfaces of the three-dimensional object having different depths; establishing a first-pair correspondence between a portion of the pixels of the first image and a portion of the pixels of the second image; controlling, based on the identified depth discontinuity, a disparity propagation of the portion of the pixels of the first image and the portion of the pixels of the second image established in the first-pair correspondence; producing a third image of the three-dimensional object while the pattern is projected on the three-dimensional object, the third image (i) including the three-dimensional object but not the pattern and (ii) being a two-dimensional digital image including pixels; and constructing, based on the disparity propagation of the portion of the pixels of the first image and the portion of the pixels of the second image established in the first-pair correspondence and the third image, a two-dimensional image that depicts a three-dimensional construction of the three-dimensional object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 24, 25, 26)
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19. A system comprising:
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a first stereo camera pair including a first camera coupled to a second camera; a second stereo camera pair including a third camera coupled to a fourth camera; a set of four infra-red filters, with a separate one of the four infra-red filters operatively coupled to each of four cameras; a projector; and a computer readable medium coupled to each of the four cameras and to the projector, and including instructions for performing at least the following; projecting an infra-red pattern from the projector onto a three-dimensional object; producing a first image of the three-dimensional object while the pattern is projected on the three-dimensional object, the first image (i) including the three-dimensional object and the pattern, (ii) being a two-dimensional digital image including pixels, and (iii) being produced by capturing at a first camera light filtered through an infra-red filter; producing a second image of the three-dimensional object while the pattern is projected on the three-dimensional object, the second image (i) including the three-dimensional object and the pattern, (ii) being a two-dimensional digital image including pixels, and (iii) being produced by capturing at a second camera light filtered through an infra-red filter, and the first and second cameras arranged as a first stereo pair having a known physical relationship; identifying, based on a deformation of the pattern, a depth discontinuity occurring at a junction of surfaces of the three-dimensional object having different depths; establishing a first-pair correspondence between a portion of the pixels of the first image and a portion of the pixels of the second image; controlling, based on the identified depth discontinuity, a disparity propagation of the portion of the pixels of the first image and the portion of the pixels of the second image established in the first-pair correspondence; producing a third image of the three-dimensional object while the pattern is projected on the three-dimensional object, the third image (i) including the three-dimensional object but not the pattern, (ii) being a two-dimensional digital image including pixels, and (iii) being produced by capturing light at a texture camera; and constructing, based on the disparity propagation of the portion of the pixels of the first image and the portion of the pixels of the second image established in the first-pair correspondence and the third image, a two-dimensional image that depicts a three-dimensional construction of the three-dimensional object. - View Dependent Claims (20, 21, 22)
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23. A computer readable medium including instructions for performing at least the following:
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accessing a first image captured of a three-dimensional object, the first image having been captured while a pattern is projected on the three-dimensional object, the first image (i) including the three-dimensional object and the pattern, (ii) being a two-dimensional digital image including pixels, and (iii) being produced by capturing at a first camera light filtered through an infra-red filter; accessing a second image captured of the three-dimensional object, the second image having been captured while the pattern is projected on the three-dimensional object, the second image (i) including the three-dimensional object and the pattern, (ii) being a two-dimensional digital image including pixels, and (iii) being produced by capturing at a second camera light filtered through an infra-red filter; identifying, based on a deformation of the pattern, a depth discontinuity occurring at a junction of surfaces of the three-dimensional object having different depths; establishing a first-pair correspondence between a portion of the pixels of the first image and a portion of the pixels of the second image, the first-pair correspondence being established based on the first and second cameras having been arranged as a first stereo pair having a known physical relationship while the first and second images were captured; controlling, based on the identified depth discontinuity, a disparity propagation of the portion of the pixels of the first image and the portion of the pixels of the second image established in the first-pair correspondence; accessing a third image captured of the three-dimensional object, the third image having been captured while the pattern is projected on the three-dimensional object, the third image (i) including the three-dimensional object but not the pattern, (ii) being a two-dimensional digital image including pixels; and constructing, based on the disparity propagation of the portion of the pixels of the first image and the portion of the pixels of the second image established in the first-pair correspondence and the third image, a two-dimensional image that depicts a three-dimensional construction of the three-dimensional object.
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27. A computer program product, tangibly embodied in a machine-readable medium, the computer program product comprising instructions that, when read by a machine, operate to cause data processing apparatus to:
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generate first and second images of an object illuminated with a pattern; establish a first-pair correspondence between initial matched pixels of the first and second image based on detecting the illuminated pattern in the first and second images; identify a depth discontinuity associated with the object based on a deformation of the illuminated pattern; control a disparity propagation of the initial matched pixels in two directions based on the identified depth discontinuity; and generate a three-dimensional reconstruction of the object based on the controlled disparity propagation.
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28. A computer program product, tangibly embodied in a machine readable medium, the computer program product comprising instructions that, when read by a machine, operate to cause data processing apparatus to:
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receive first and second pairs of images in a sequence of paired images of an object illuminated with a pattern; and for each of the first and second pairs of images; establish a first-pair correspondence between initial matched pixels of the paired images based on detecting the illuminated pattern in the paired images, identify a depth discontinuity associated with the object based on a deformation of the illuminated pattern, control a disparity propagation of the initial matched pixels in two directions based on the identified depth discontinuity, and generate a three-dimensional reconstruction of the object based on the controlled disparity propagation.
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29. A computer program product, tangibly embodied in a machine readable medium, the computer program product comprising instructions that, when read by a machine, operate to cause data processing apparatus to:
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receive first and second images of an object illuminated with a pattern of uncoded stripes; establish a first-pair correspondence between initial matched pixels of the paired images based on detecting the illuminated pattern in the paired images; identify a depth discontinuity associated with the object based on a deformation of the illuminated pattern; control a disparity propagation of the initial matched pixels in two directions based on the identified depth discontinuity; and generate a three-dimensional reconstruction of the object based on the controlled disparity propagation.
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Specification