Method and device for high-resolution three-dimensional imaging which obtains camera pose using defocusing
First Claim
1. A method for determining a change in pose of a moving sensor of a high-resolution three-dimensional (3-D) imaging device, wherein the device comprises the sensor, a lens, and a mask having at least one set of off-axis apertures, the mask being positioned to obstruct the lens, the method using a defocusing technique comprising acts of:
- capturing, at an initial time, an initial plurality of defocused images of a substantially stationary object with a sensor, from an initial sensor pose, the initial plurality of images being formed from light having passed through the lens and the at least one set of off-axis apertures in the mask;
extracting three-dimensional (3-D) locations of three or more object features from the relative locations of the object features in the initial plurality of defocused images on the sensor;
capturing, at a subsequent time, a subsequent plurality of defocused images of the object from a subsequent sensor pose, the subsequent plurality of images being formed from light having passed through the lens and the at least one set of off-axis apertures in the mask;
extracting 3-D locations of three or more object features from the relative locations of the object features in the subsequent plurality of defocused images on the sensor;
matching the object features from the initial plurality of defocused images with corresponding object features from the subsequent plurality of defocused images using a technique selected from the group consisting of;
a feature matching algorithm; and
an error minimization method; and
calculating a change in pose of the sensor between the initial and subsequent times using the 3-D locations extracted from the initial and subsequent pluralities of defocused images,whereby the change in pose of the moving sensor is determined.
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Abstract
A method and device for high-resolution three-dimensional (3-D) imaging which obtains camera pose using defocusing is disclosed. The device comprises a lens obstructed by a mask having two sets of apertures. The first set of apertures produces a plurality of defocused images of the object, which are used to obtain camera pose. The second set of optical filters produces a plurality of defocused images of a projected pattern of markers on the object. The images produced by the second set of apertures are differentiable from the images used to determine pose, and are used to construct a detailed 3-D image of the object. Using the known change in camera pose between captured images, the 3-D images produced can be overlaid to produce a high-resolution 3-D image of the object.
92 Citations
16 Claims
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1. A method for determining a change in pose of a moving sensor of a high-resolution three-dimensional (3-D) imaging device, wherein the device comprises the sensor, a lens, and a mask having at least one set of off-axis apertures, the mask being positioned to obstruct the lens, the method using a defocusing technique comprising acts of:
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capturing, at an initial time, an initial plurality of defocused images of a substantially stationary object with a sensor, from an initial sensor pose, the initial plurality of images being formed from light having passed through the lens and the at least one set of off-axis apertures in the mask; extracting three-dimensional (3-D) locations of three or more object features from the relative locations of the object features in the initial plurality of defocused images on the sensor; capturing, at a subsequent time, a subsequent plurality of defocused images of the object from a subsequent sensor pose, the subsequent plurality of images being formed from light having passed through the lens and the at least one set of off-axis apertures in the mask; extracting 3-D locations of three or more object features from the relative locations of the object features in the subsequent plurality of defocused images on the sensor; matching the object features from the initial plurality of defocused images with corresponding object features from the subsequent plurality of defocused images using a technique selected from the group consisting of; a feature matching algorithm; and an error minimization method; and calculating a change in pose of the sensor between the initial and subsequent times using the 3-D locations extracted from the initial and subsequent pluralities of defocused images, whereby the change in pose of the moving sensor is determined. - View Dependent Claims (2, 3, 7)
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4. An imaging device for producing a high-resolution three-dimensional (3-D) image of an object, comprising:
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a lens obstructed by a mask having at least one set of off-axis apertures for producing a plurality of defocused images of a substantially stationary object; a sensor configured to capture the plurality of defocused images produced; and a data processing system having one or more processors configured to; capture, at an initial time, an initial plurality of defocused images of an object with a sensor, from an initial sensor pose; extract three-dimensional (3-D) locations of one or more object features from the relative locations of the object features in the initial plurality of defocused images on the sensor; capture, at a subsequent time, a subsequent plurality of defocused images of the object from a subsequent sensor pose; match the object features from the initial plurality of defocused images with corresponding object features from the subsequent plurality of defocused images using a technique selected from the group consisting of; a feature matching algorithm; and an error minimization method; and calculate a change in pose of the sensor between the initial and subsequent times using the 3-D locations extracted from the initial plurality of defocused images, whereby the change in pose of the moving sensor is determined.
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5. An imaging device for producing a high-resolution three-dimensional (3-D) image of an object, comprising;
a lens obstructed by a mask having a first set and a second set of off-axis apertures where; the first set of off-axis apertures comprises a plurality of apertures fitted with filter separators for capturing a plurality of defocused images of a substantially stationary object; and the second set of off-axis apertures comprises a plurality of apertures fitted with filter separators differentiable from those of the first set of off-axis apertures for capturing a plurality of defocused images, a projector for projecting a pattern of markers on the surface of the object, the projected pattern of markers being of a wavelength corresponding to the filter separators of the second set of off-axis apertures; and a sensor configured to capture the defocused images produced, whereby the images captured on the sensor through the first set of off-axis apertures can be used to determine camera pose, and the images captured on the sensor through the second set of off-axis apertures can be used to construct a high-resolution three-dimensional image of the object. - View Dependent Claims (6, 13, 14, 15, 16)
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8. An imaging device for producing a high-resolution three-dimensional (3-D) image of an object, comprising:
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a lens obstructed by a mask having at least one set of off-axis apertures for producing a plurality of defocused images of a substantially stationary object; a sensor configured to capture the plurality of defocused images produced; and a data processing system having one or more processors configured to; extract three-dimensional (3-D) locations of one or more object features from the relative locations of the object features in an initial plurality of defocused images captured at an initial time with the sensor; match the object features from the initial plurality of defocused images with corresponding object features from a subsequent plurality of defocused images, captured at a subsequent time with the sensor, using a technique selected from the group consisting of; a feature matching algorithm; and an error minimization method; and calculate a change in pose of the sensor between the initial and subsequent times using the 3-D locations extracted from the initial plurality of defocused images, whereby the change in pose of the moving sensor is determined. - View Dependent Claims (9, 10, 11, 12)
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Specification