3D geometric modeling and motion capture using both single and dual imaging
First Claim
1. A method of obtaining distance data from 2D images of a scene comprising one or more objects, said method comprising:
- projecting on the objects a coded light pattern comprising multiple appearances of a finite set of feature types, each feature type being distinguishable according to a unique bi-dimensional formation, such that a distance between adjacent epipolar lines associated with substantially identical appearances of any given feature type is minimized according to a limiting epipolar separation factor, giving rise to a plurality of distinguishable epipolar lines separated by approximately a minimum safe distance for epipolar line distinction;
capturing a first image and a second image of the objects having the projected coded light pattern projected thereupon, such that along an epipolar line in each of the first and second images the projected pattern provides a non-repeating artificial texture;
finding a given pixel area in the first image along a matching epipolar line in the second image.
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Abstract
A method and apparatus for obtaining an image to determine a three dimensional shape of a stationary or moving object using a bi dimensional coded light pattern having a plurality of distinct identifiable feature types. The coded light pattern is projected on the object such that each of the identifiable feature types appears at most once on predefined sections of distinguishable epipolar lines. An image of the object is captured and the reflected feature types are extracted along with their location on known epipolar lines in the captured image. Displacements of the reflected feature types along their epipolar lines from reference coordinates thereupon determine corresponding three dimensional coordinates in space and thus a 3D mapping or model of the shape of the object at any point in time.
123 Citations
30 Claims
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1. A method of obtaining distance data from 2D images of a scene comprising one or more objects, said method comprising:
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projecting on the objects a coded light pattern comprising multiple appearances of a finite set of feature types, each feature type being distinguishable according to a unique bi-dimensional formation, such that a distance between adjacent epipolar lines associated with substantially identical appearances of any given feature type is minimized according to a limiting epipolar separation factor, giving rise to a plurality of distinguishable epipolar lines separated by approximately a minimum safe distance for epipolar line distinction; capturing a first image and a second image of the objects having the projected coded light pattern projected thereupon, such that along an epipolar line in each of the first and second images the projected pattern provides a non-repeating artificial texture; finding a given pixel area in the first image along a matching epipolar line in the second image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. An apparatus for enabling obtaining distance data from 2D images of a scene comprising one or more objects, said apparatus comprising:
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a bi-dimensional coded light pattern comprising multiple appearances of a finite set of feature types, each feature type being distinguishable according to a unique bi-dimensional formation; and a projector configured to project the coded light pattern on the objects, such that a distance between adjacent epipolar lines associated with substantially identical appearances of any given feature type is minimized according to a limiting epipolar separation factor, giving rise to a plurality of distinguishable epipolar lines separated by approximately a minimum safe distance for epipolar line distinction, wherein the projector enables a first imaging unit and a second imaging unit to capture a first image and a second image, respectively, such that along an epipolar line in each of the first and second images the projected pattern provides a non-repeating artificial texture, and wherein the projector enables an image processing unit to find a given pixel area in the first image along a matching epipolar line in the second image. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30)
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Specification