Three-dimensional sensing using speckle patterns
First Claim
Patent Images
1. Apparatus for 3D mapping of an object, comprising:
- an illumination assembly, comprising a coherent light source and a diffuser, which are arranged to project a primary speckle pattern on the object, wherein the coherent light source has a coherence length that is less than 1 cm;
a single image capture assembly, which is arranged to capture images of the primary speckle pattern on the object from a single, fixed location and angle relative to the illumination assembly; and
a processor, which is coupled to process the images of the primary speckle pattern captured at the single, fixed angle so as to derive a 3D map of the object.
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Abstract
Apparatus (20) for 3D mapping of an object (28) includes an illumination assembly (30), including a coherent light source (32) and a diffuser (33), which are arranged to project a primary speckle pattern on the object. A single image capture assembly (38) is arranged to capture images of the primary speckle pattern on the object from a single, fixed location and angle relative to the illumination assembly. A processor (24) is coupled to process the images of the primary speckle pattern captured at the single, fixed angle so as to derive a 3D map of the object.
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Citations
38 Claims
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1. Apparatus for 3D mapping of an object, comprising:
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an illumination assembly, comprising a coherent light source and a diffuser, which are arranged to project a primary speckle pattern on the object, wherein the coherent light source has a coherence length that is less than 1 cm; a single image capture assembly, which is arranged to capture images of the primary speckle pattern on the object from a single, fixed location and angle relative to the illumination assembly; and a processor, which is coupled to process the images of the primary speckle pattern captured at the single, fixed angle so as to derive a 3D map of the object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 37)
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17. Apparatus for 3D mapping of an object, comprising:
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an illumination assembly, comprising a coherent light source and a diffuser, which are arranged to project a primary speckle pattern on the object, wherein the illumination assembly comprises a beam former, which is arranged to reduce a variation of a contrast of the speckle pattern created by the diffuser over a sensing volume of the apparatus, wherein the beam former comprises a diffractive optical element (DOE), and wherein the beam former comprises a lens arranged to define a Fourier plane of the diffuser, and wherein the DOE is located in the Fourier plane; a single image capture assembly, which is arranged to capture images of the primary speckle pattern on the object from a single, fixed location and angle relative to the illumination assembly; and a processor, which is coupled to process the images of the primary speckle pattern captured at the single, fixed angle so as to derive a 3D map of the object.
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18. Apparatus for 3D mapping of an object, comprising:
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an illumination assembly, comprising a coherent light source and a diffuser, which are arranged to project a primary speckle pattern on the object; a single image capture assembly, which is arranged to capture images of the primary speckle pattern on the object from a single, fixed location and angle relative to the illumination assembly; and a processor, which is coupled to process the images of the primary speckle pattern captured at the single, fixed angle so as to derive a 3D map of the object, wherein the processor comprises an optical correlator. - View Dependent Claims (19)
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20. A method for 3D mapping of an object, comprising:
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illuminating an object with a beam of diffused coherent light from a light source so as to project a primary speckle pattern on the object; capturing images of the primary speckle pattern on the object from a single, fixed location and angle relative to the light source, wherein capturing the images comprises capturing the images using an image capture assembly, which is held in a fixed spatial relation to the light source while capturing the images; and processing the images of the primary speckle pattern captured at the single, fixed angle so as to derive a 3D map of the object. - View Dependent Claims (21, 22, 23, 24, 25, 26, 27, 28, 31, 32, 33, 34)
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29. A method for 3D mapping of an object, comprising:
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illuminating an object with a beam of diffused coherent light from a light source so as to project a primary speckle pattern on the object; capturing images of the primary speckle pattern on the object from a single, fixed location and angle relative to the light source; and processing the images of the primary speckle pattern captured at the single, fixed angle so as to derive a 3D map of the object, wherein processing the images comprises finding respective offsets between the primary speckle pattern on multiple areas of the object captured in one or more of the images and a reference image of the primary speckle pattern, wherein the respective offsets are indicative of respective distance between the areas and the image capture assembly, and wherein the respective offsets are proportional to the respective distances in a ratio that is determined by a spacing of the fixed location from the light source, and wherein the primary speckle pattern comprises speckles having a characteristic size, and wherein the size of the speckles in the images varies across the image by a tolerance that depends on the spacing, and wherein capturing the images comprises selecting the spacing so as to maintain the tolerance within a predefined bound.
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30. A method for 3D mapping of an object, comprising:
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illuminating an object with a beam of diffused coherent light from a light source so as to project a primary speckle pattern on the object; capturing images of the primary speckle pattern on the object from a single, fixed location and angle relative to the light source; and processing the images of the primary speckle pattern captured at the single, fixed angle so as to derive a 3D map of the object, wherein processing the images comprises processing a succession of the images captured while the object is moving so as to map a 3D movement of the object, and wherein the object is a part of a human body, and wherein the 3D movement comprises a gesture made by the part of the human body, and processing the images comprises providing an input to a computer application responsively to the gesture.
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35. A method for 3D mapping of an object, comprising:
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illuminating an object with a beam of diffused coherent light from a light source so as to project a primary speckle pattern on the object; wherein illuminating the object comprises forming the beam so as to reduce a variation of a contrast of the speckle pattern created by the light source over a given sensing volume, and wherein forming the beam comprises passing the beam through a diffractive optical element (DOE); capturing images of the primary speckle pattern on the object from a single, fixed location and angle relative to the light source; and processing the images of the primary speckle pattern captured at the single, fixed angle so as to derive a 3D map of the object, wherein the light source comprises a diffuser, and wherein passing the beam comprises arranging the DOE in a Fourier plane of the diffuser.
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36. A method for 3D mapping of an object, comprising:
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illuminating an object with a beam of diffused coherent light from a light source so as to project a primary speckle pattern on the object; capturing images of the primary speckle pattern on the object from a single, fixed location and angle relative to the light source; and processing the images of the primary speckle pattern captured at the single, fixed angle so as to derive a 3D map of the object, wherein processing the images comprises applying the images to an optical correlator.
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38. A method for 3D mapping of an object, comprising:
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illuminating an object with a beam of diffused coherent light from a coherent light source so as to project a primary speckle pattern on the object; capturing images of the primary speckle pattern on the object from a single, fixed location and angle relative to the light source; and processing the images of the primary speckle pattern captured at the single, fixed angle so as to derive a 3D map of the object, wherein the coherent light source has a coherence length that is less than 1 cm.
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Specification