Projection block extraction
First Claim
Patent Images
1. A system comprising:
- one or more processors;
a projector coupled to the one or more processors and configured to project a projection block comprising a structured light pattern onto a surface of an object within an environment;
a camera coupled to the one or more processors and configured to capture an image of the object, the captured image containing a captured block that comprises the projection block as projected onto the surface of the object; and
one or more computer-readable storage media storing computer-executable instructions that, when executed on the one or more processors, cause the one or more processors to perform acts comprising;
applying distortion correction to at least a portion of the captured image to generate a corrected image, wherein applying the distortion correction compensates for a distortion factor associated with characteristics of the projector;
applying a bilateral filter to at least a portion of the corrected image to form a filtered image; and
determining a boundary of the captured block in the filtered image.
2 Assignments
0 Petitions
Accused Products
Abstract
Sensing systems using projection blocks of structured light provide useful information about the surfaces they are projected onto. A camera captures an image which contains a captured block, that is, an image of the projection block interacting with the surface. Corrections may be applied to the captured image to compensate for distortions produced by projector and/or camera systems and produce a corrected image. Noise may be removed from the corrected image using a bilateral filter, producing a filtered image. The filtered image may be processed to determine a boundary of the captured block.
34 Citations
18 Claims
-
1. A system comprising:
-
one or more processors; a projector coupled to the one or more processors and configured to project a projection block comprising a structured light pattern onto a surface of an object within an environment; a camera coupled to the one or more processors and configured to capture an image of the object, the captured image containing a captured block that comprises the projection block as projected onto the surface of the object; and one or more computer-readable storage media storing computer-executable instructions that, when executed on the one or more processors, cause the one or more processors to perform acts comprising; applying distortion correction to at least a portion of the captured image to generate a corrected image, wherein applying the distortion correction compensates for a distortion factor associated with characteristics of the projector; applying a bilateral filter to at least a portion of the corrected image to form a filtered image; and determining a boundary of the captured block in the filtered image. - View Dependent Claims (2, 3, 4, 5, 6, 7)
-
-
8. One or more non-transitory computer-readable storage media storing instructions that, when executed by one or more processors, cause the one or more processors to perform acts comprising:
-
receiving a captured image that includes a captured block, the captured block comprising a projection block after interaction with a surface; applying one or more corrections to the captured image, wherein applying the one or more corrections compensates for distortion associated with characteristics of a projector that presents the projection block on the surface; applying a bilateral filter to at least a portion of the captured image to form a filtered image; and determining at least a portion of a boundary of the captured block within the filtered image. - View Dependent Claims (9, 10, 11, 12, 13, 14)
-
-
15. One or more non-transitory computer-readable storage media storing instructions that, when executed by one or more processors, cause the one or more processors to perform acts comprising:
-
accessing a captured image comprising a structured light pattern interacting with a surface; applying one or more corrections to the captured image, wherein applying the one or more corrections compensates for distortion associated with characteristics of a projector that presents the structured light pattern on the surface; applying a bilateral filter to at least a portion of the captured image to form a filtered image; and determining at least a portion of a boundary of the structured light pattern within the filtered image. - View Dependent Claims (16, 17, 18)
-
Specification