Color edge based system and method for determination of 3D surface topology
First Claim
1. A structured light pattern for use in the determination of 3D surface topology of a 3D structure wherein said pattern may be projected onto such a structure and 3D surface topology thereof is determined from at least one image obtained of the structure with said pattern reflected therefrom, the pattern comprising a plurality of pairs of colored stripes, wherein each said pair comprises:
- two juxtaposed discrete stripes, one said stripe being of a different color from the other stripe; and
a unique color edge defining a unique color transition boundary between the colors of said two adjacent stripes in a predetermined direction substantially orthogonal to a longitudinal direction of said stripes;
wherein each said color edge is sufficiently unique by itself within said pattern such as to enable identification of each color edge of said pattern when said pattern is reflected from said 3D structurefurther comprising at least one spacer stripe between each adjacent said pair of stripes, said at least one spacer stripe being of a color having a predetermined color contrast with a said stripe of each one of said adjacent pairs of stripes that is adjacent to said at least one spacer stripewherein said spacer stripes comprise any one of;
a white stripe between adjacent pairs of stripes;
ora black stripe between adjacent pairs of stripes;
ora group of stripes, comprising a black stripe sandwiched between two white stripes, between adjacent pairs of stripesfurther comprising a trailer comprising at least one stripe adjacent to at least one or another of a first and a last said pairs taken along said direction wherein said trailer stripes comprise a group, comprising any one ofa sequence of two black stripes, a white stripe, a black stripe, a white stripe and a black stripe adjacent to said first pair of stripes;
ora sequence of a black stripe, a white stripe, a black stripe, a white stripe and a black stripe adjacent to said last pair of stripes.
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Accused Products
Abstract
A method and system for determining surface topology of a three-dimensional (3D) structure, based on a structured pattern that is projected onto the surface structure, and images of the pattern superposed on the structured surface are analysed to provide surface coordinates of the structure. The pattern comprises a plurality of unique color edges defined between pairs of differently-colored stripes, which substantially overcomes ambiguity problems. In one embodiment, a calibration method is provided enabling the surface coordinates to be obtained from a single image of the structure.
54 Citations
21 Claims
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1. A structured light pattern for use in the determination of 3D surface topology of a 3D structure wherein said pattern may be projected onto such a structure and 3D surface topology thereof is determined from at least one image obtained of the structure with said pattern reflected therefrom, the pattern comprising a plurality of pairs of colored stripes, wherein each said pair comprises:
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two juxtaposed discrete stripes, one said stripe being of a different color from the other stripe; and a unique color edge defining a unique color transition boundary between the colors of said two adjacent stripes in a predetermined direction substantially orthogonal to a longitudinal direction of said stripes; wherein each said color edge is sufficiently unique by itself within said pattern such as to enable identification of each color edge of said pattern when said pattern is reflected from said 3D structure further comprising at least one spacer stripe between each adjacent said pair of stripes, said at least one spacer stripe being of a color having a predetermined color contrast with a said stripe of each one of said adjacent pairs of stripes that is adjacent to said at least one spacer stripe wherein said spacer stripes comprise any one of; a white stripe between adjacent pairs of stripes;
ora black stripe between adjacent pairs of stripes;
ora group of stripes, comprising a black stripe sandwiched between two white stripes, between adjacent pairs of stripes further comprising a trailer comprising at least one stripe adjacent to at least one or another of a first and a last said pairs taken along said direction wherein said trailer stripes comprise a group, comprising any one of a sequence of two black stripes, a white stripe, a black stripe, a white stripe and a black stripe adjacent to said first pair of stripes;
ora sequence of a black stripe, a white stripe, a black stripe, a white stripe and a black stripe adjacent to said last pair of stripes. - View Dependent Claims (2, 3, 4, 5)
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6. A structured light pattern for use in the determination of 3D surface topology of a 3D structure, wherein said pattern may be projected onto such a structure and 3D surface topology thereof is determined from at least one image obtained of the structure with said pattern reflected therefrom, the pattern comprising a plurality of pairs of colored stripes, wherein each said pair comprises:
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two juxtaposed discrete stripes, one said stripe being of a different color from the other stripe; and a unique color edge defining a unique color transition boundary between the colors of said two adjacent stripes in a predetermined direction substantially orthogonal to a longitudinal direction of said stripes; wherein each said color edge is sufficiently unique by itself within said pattern such as to enable identification of each color edge of said pattern when said pattern is reflected from said 3D structure further comprising at least one spacer stripe between each adjacent said pair of stripes, said at least one spacer stripe being of a color having a predetermined color contrast with a said stripe of each one of said adjacent pairs of stripes that is adjacent to said at least one spacer stripe wherein said spacer stripes comprise any one of; a white stripe between adjacent pairs of stripes;
ora black stripe between adjacent pairs of stripes;
ora group of stripes, comprising a black stripe sandwiched between two white stripes, between adjacent pairs of stripes further comprising a trailer comprising at least one stripe adjacent to at least one or another of a first and a last said pairs taken along said direction, wherein said pattern comprises the following color stripe sequence; bbwbwb wbwRGwbwBG wbwRBwbwGB wbwBRwbwGRwbw bwbwb wherein; b=black stripe w=white stripe R=red stripe B=blue stripe G=green stripe. - View Dependent Claims (7, 8, 9, 10)
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11. A structured light pattern for use in the determination of 3D surface topology of a 3D structure, wherein said pattern may be projected onto such a structure and 3D surface topology thereof is determined from at least one image obtained of the structure with said pattern reflected therefrom, the pattern comprising a plurality of pairs of colored stripes, wherein each said pair comprises:
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two juxtaposed discrete stripes, one said stripe being of a different color from the other stripe; and a unique color edge defining a unique color transition boundary between the colors of said two adjacent stripes in a predetermined direction substantially orthogonal to a longitudinal direction of said stripes; wherein each said color edge is sufficiently unique by itself within said pattern such as to enable identification of each color edge of said pattern when said pattern is reflected from said 3D structure further comprising at least one spacer stripe between each adjacent said pair of stripes, said at least one spacer stripe being of a color having a predetermined color contrast with a said stripe of each one of said adjacent pairs of stripes that is adjacent to said at least one spacer stripe wherein said spacer stripes comprise any one of; a white stripe between adjacent pairs of stripes;
ora black stripe between adjacent pairs of stripes;
ora group of stripes, comprising a black stripe sandwiched between two white stripes, between adjacent pairs of stripes further comprising a trailer comprising at least one stripe adjacent to at least one or another of a first and a last said pairs taken along said direction wherein said pattern comprises the following color stripe sequence; wbwRGwbwRBwbwRMwbwRCwbwRY wbwGRwbwGBwbwGMwbwGCwbwGY wbwBRwbwBGwbwBMwbwBCwbwBY wbwMRwbwMGwbwMBwbwMCwbwMY wbwCRwbwCGwbwCBwbwCMwbwCY wbwYRwbwYGwbwYBwbwYMwbwYCwbw wherein; b=black stripe w=white stripe R=red stripe B=blue stripe G=green stripe M=Magenta C=Cyan Y=Yellow. - View Dependent Claims (12, 13, 14, 15)
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16. Method for determining surface topology of a 3D structure, comprising:
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a. providing a calibration image of a structured pattern, comprising a plurality of geometrical portions including a plurality of pairs of colored stripes, wherein each said pair comprises; two juxtaposed discrete stripes, one said stripe being of a different color from the other stripe; and a unique color edge defining a unique color transition boundary between the colors of said two adjacent stripes in a predetermined direction substantially orthogonal to a longitudinal direction of said stripes; wherein each said color edge is sufficiently unique by itself within said pattern such as to enable identification of each color edge of said pattern when said pattern is reflected from said 3D structure; said calibration image being reflected from a calibration object at each one of at least two calibration stops serially spaced along an optical axis at predetermined depths from a source projecting said structured pattern; (ii) for each said calibration image, identifying unique portions of said structured pattern corresponding to predetermined portions of said structured pattern in another said image, and determining spatial coordinates associated with said unique portions; (iii) aligning said structure along said optical axis, projecting said structured light pattern onto a surface of said structure wherein said pattern is modified by virtue of the topology of the structure surface such that to provide a modified pattern superposed over said structure surface comprising a plurality of modified geometrical portions corresponding to said geometrical portions; (iv) providing at least one complex image of said structure surface with said modified pattern superposed thereon, and for each said complex image identifying unique modified geometrical portions corresponding to said geometrical portions; and (v) for each said unique modified portion, determining spatial coordinates associated therewith from the spatial coordinates obtained in (ii) for the corresponding unique portion of each said calibration image, to provide surface coordinates of said structure. - View Dependent Claims (17, 18, 19, 20, 21)
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Specification