Method and apparatus for quantitative 3-D imaging

• US 9,219,907 B2
• Filed: 10/03/2013
• Issued: 12/22/2015
• Est. Priority Date: 01/22/2007
• Status: Active Grant

• Current Assignee: California Institute of Technology
• Original Assignee: California Institute of Technology
• Inventors: Gharib, Morteza, Graff, Emilio, Pereira, Francisco
• Primary Examiner(s): RATCLIFFE, LUKE D
• Application Number:
  US14/045,266
• Publication Number:
  US 20140078261A1
• Time in Patent Office: 810 Days
• US Class Current: 1/1
• CPC Class Codes: G01B 11/24 for measuring contours or curvatures
• CPC Class Codes: G01B 11/2509 Color coding
• CPC Class Codes: H04N 13/204 using stereoscopic image cameras stereoscopic photography G03B35/00
• CPC Class Codes: H04N 25/00 Circuitry of solid-state image sensors [SSIS]; Control thereof

Abstract

Described is a method and apparatus for obtaining additional information from an object and a method for surface imaging and three-dimensional imaging. Single lens, single aperture, single sensor system and stereo optic systems may be modified in order to successfully generate surface maps of objects or three-dimensional representations of target objects. A variety of the aspects of the present invention provide examples of the use of an addressable pattern in order to overcome mismatching common to standard defocusing techniques.

Claims

1. An image sensor assembly, comprising:

a projector configured to project a distributed pattern of separated image points onto a surface of an object being imaged;

an optical system, including an imaging lens, a plurality of optical apertures in an optical train that includes said imaging lens and the object being imaged, wherein each aperture in said plurality of optical apertures is configured to constrain an outer shape of passed information;

an image sensor, also in said optical train, and receiving image information that has passed through said imaging lens and said plurality of optical apertures, and producing an electrical output indicative of said image information;

a processor configured to receive raw information directly from said image sensor, and programmed to analyze said raw information to recognize multiple distinguishable image features corresponding to a plurality of image points of the distributed pattern of separated image points in said raw information, and programmed to determine distance information indicative of a distance between said image sensor and at least multiple points represented by said multiple distinguishable image features, and programmed to produce an output indicative of said distance information representing a three-dimensional view of the surface of the object being imaged.

2. An assembly as in claim 1, wherein said plurality of optical apertures includes first and second openings separated by a first distance, with respective color filters thereon, such that a first opening produces a first output that is coded in a first color, and a second output aperture produces a second output that is coded in a second color distinguishable from the first color, and where said processor is programmed to analyze said raw information to recognize points of said first color and said second color to determine said distance information based on said points of said first color and said points of said second color.

3. An assembly as in claim 2, wherein said processor is further programmed to find said first output in said first color, and said second output in said second color, separated by a distance that is based on the first distance between said first and second openings.

4. An assembly as in claim 2, wherein said raw information includes information processed by the image sensor without an image actually being produced.

5. An assembly as in claim 1, wherein said plurality of optical apertures includes first and second openings separated by a first distance, with respective polarization filters thereon, such that a first opening produces a first output that is coded in a first polarization, and a second output aperture produces a second output that is coded in a second polarization distinguishable from the first polarization, and where said processor is programmed to analyze said raw information to recognize points of said first polarization and said second polarization to determine said distance information based on said points of said first polarization and said points of said second polarization.

6. An assembly as in claim 1, wherein said plurality of optical apertures includes at least one aperture of a recognizable shape.

7. An assembly as in claim 1, wherein said plurality of optical apertures includes an aperture that changes to have different characteristics at different times.

8. An assembly as in claim 1, wherein said plurality of optical apertures are electronically controlled.

9. An assembly as in claim 1, wherein said plurality of optical apertures are electronically controlled to have different characteristics at different times.

10. An assembly as in claim 1, further comprising a relay lens system in said optical train adapted to adjust a location of said plurality of optical aperatures to be positioned at the aperture plane.

11. An assembly as in claim 1, wherein the distributed pattern of separated image points is in a color sequence pattern.

12. An assembly as in claim 1, wherein the distributed pattern of separated image points is in a position sequence pattern.

13. An assembly as in claim 1, wherein the distributed pattern of separated image points is not symmetrical.

14. An assembly as in claim 1, wherein the distributed pattern of separated image points does not contain a regular sequence of image points.