Creation of a range image

• US 7,804,585 B2
• Filed: 11/03/2006
• Issued: 09/28/2010
• Est. Priority Date: 01/08/2006
• Status: Expired due to Fees

• Current Assignee: Visiontools Bildanalyse Systeme GmbH
• Original Assignee: Visiontools Bildanalyse Systeme GmbH
• Inventors: Tropf, Hermann
• Primary Examiner(s): ALSOMIRI, ISAM A
• Application Number:
  US12/087,437
• Publication Number:
  US 20090066929A1
• Time in Patent Office: 1,425 Days
• Field of Search: 356/3.1, 356/4.01, 356/4.03, 356/5.01, 382/106
• US Class Current: 356/3.1
• CPC Class Codes: G01B 11/2513 with several lines being projected in more than one direction, e.g. grids, patterns
• CPC Class Codes: G01B 11/2545 with one projection direction and several detection directions, e.g. stereo
• CPC Class Codes: G01C 11/06 by comparison of two or more pictures of the same area
• CPC Class Codes: G06T 7/521 from laser ranging, e.g. using interferometry; from the projection of structured light

Abstract

The most difficult problem in the creation of a range image with stereo cameras is the establishing of the correspondence of the points. For this, the scene is illuminated twice; thereof at least once with a random or pseudo random pattern. For both cameras, an image is taken for each of the illuminations and the quotient of brightnesses is calculated pixelwise. The correspondence is established on the basis of a comparison of the quotient of pixels on epipolar lines of different cameras. The illumination pattern is preferably highly modulated along the epipolar line; transversally or diagonally to it, it is not or only slightly modulated. For illumination, a projection unit is used which in a preferred arrangement comprises two superposed grating patterns which have a distance (d) to each other, with at least one varying in a pseudo random manner, and with two closely neighboring light sources which shine through the gratings and thereby generate different pseudo random patterns, especially moiré patterns. Applications are found, inter alia, in assembly control, robotics, metrology, archaeology, in the textile industry, in biometry, medicine, reverse engineering.

Claims

1. Method for the acquisition of a range image of a scene from the correspondence of pixels of the images of a first camera and at least one second camera which record the scene in stereo arrangement, the method comprising:

illuminating the scene in a first illumination with a random or pseudo random pattern which is designed, with regard to at least one modulation feature in at least one spatial dimension, as a random sequence or, respectively, pseudo random sequence;

in the first illumination, a first image is taken by at least two cameras;

illuminating the scene in a second illumination, wherein a second image with the second illumination is taken by the at least two cameras;

calculating a ratio for at least two cameras, pixel-wise from the first and the second image taken by the corresponding camera in which a modulation feature value of the pixel from the one image is placed in the numerator, and the modulation feature from the other image is placed in the denominator of the ratio value; and

determining the correspondence of pixels of the scene on the basis of a comparison of the modulation feature ratios of pixels from different cameras.

2. Method according to claim 1, wherein in that the modulation feature is the brightness or, respectively, the intensity of the illumination and the modulation feature ratio is a brightness or, respectively, intensity ratio.

3. Method according to claim 1, wherein the modulation feature is a color parameter of the illumination and the modulation feature ratio is a color value ratio.

4. Method according to claim 1 wherein in forming the modulation feature ratio—

an offset value is added to or subtracted from the modulation features set into a ratio.

5. Method according to claim 1 wherein the random or, respectively, pseudo random pattern is essentially locally modulated in a first spatial dimension and essentially not modulated or only slightly modulated in the second spatial dimension.

6. Method according to claim 5 wherein the random or, respectively, pseudo random pattern is essentially modulated along the epipolar lines.

7. Method according to claim 6, wherein a second spatial dimension of the random or, respectively, pseudo random pattern is oriented transversely to the epipolar lines.

8. Method according to claim 6, wherein a second spatial dimension of the random or, respectively, pseudo random pattern is oriented diagonally to the epipolar lines.

9. Method according to claim 1 wherein the first and the second illumination taking the first and the second image are performed at least approximately from the same solid angle.

10. Method according to claim 1 wherein correspondence is obtained by a comparison of the values of a piecewise, one-dimensional, standardized correlation of the modulation feature ratios along the epipolar lines.

11. Method according to claim 1 in that the first and the second illumination are provided with different colors, preferably simultaneously, and that color cameras are used.

12. Method according to claim 1 wherein the first and the second illumination are provided with a different polarization, and in that the channels, upon taking the image, are separated by beam splitters and downstream polarization filters.

13. Device for the acquisition of a range image of a scene comprising at least two cameras in stereo arrangement, at least one image analysis unit for analyzing the camera pictures and at least one projection unit for illuminating the scene, wherein:

by means of the projection unit, at least two different illuminations can be projected onto the scene, of which at least one illumination is a random or pseudo random pattern which is designed, with regard to at least one modulation feature in at least one spatial dimension, as a random sequence or, respectively, pseudo random sequence;

in the first illumination, a first image can be taken by at least two cameras;

in a second illumination, the scene can be illuminated wherein a second image with the second illumination can be taken by the at least two cameras;

for at least two cameras, a ratio can be calculated pixel-wise with the image analysis unit from the first and the second image taken by the corresponding camera, in which a modulation feature value of the pixel from the one image is placed in the numerator, and the modulation feature from the other image is placed in the denominator of the ratio value; and

the correspondence of pixels of the scene can be determined on the basis of a comparison of the modulation feature ratios of pixels from different cameras.

14. Device according to claim 13 wherein at least two illuminations can be performed with a random or pseudo random pattern.

15. Device according to claim 13 wherein at least one random or pseudo random pattern is a brightness pattern.

16. Device according to claim 13 wherein a projection unit is provided with two superposed gratings which have a distance (d) to each other, wherein at least one grating has a random or pseudo random structure, and by an illumination with at least two light sources which shine through the gratings or can illuminate them and thereby provide different patterns.

17. Device according to claim 13 wherein a projection unit is provided with two superposed gratings which have a distance to each other, wherein at least for one, the phase and/or the frequency of the grating varies in a pseudo random manner, and by an illumination with at least two light sources which shine through the gratings or can illuminate them and thereby provide different moiré

patterns.

18. Device according to claim 13 wherein a projection unit is provided with a transparent or partly transparent layer in the optical path of the projection unit, comprising a random or pseudo random structure, and by an illumination with at least two light sources which shine through the structure or can illuminate it and thereby provide different patterns.

19. Device according to claim 13 wherein the transparent or partly transparent layer is a pane of glass with a slight surface waviness or surface roughness.

20. Device according to claim 13 wherein the transparent layer is in the form of a pseudo random pattern which can be changed through electrical control.

21. Device according to claim 13 wherein the projection unit comprises a random or pseudo random pattern which can be moved rotatorily or translatorily.

22. Device according to claim 13, characterized in that a random or, respectively, pseudo random pattern is projectable on the scene, which is essentially locally modulated in a first spatial dimension and essentially not or only slightly modulated in the second spatial dimension.

23. Device according to claim 22, wherein the random or, respectively, pseudo random pattern is essentially modulated along the epipolar lines.

24. Device according to claim 22, wherein the second spatial dimension of the random or, respectively, pseudo random pattern is transversely aligned to the epipolar lines.

25. Device according to claim 22, wherein the second spatial dimension of the random or, respectively, pseudo random pattern is diagonally aligned to the epipolar lines.