Methods and apparatus for surface classification
First Claim
1. A method comprising, in combination:
- (a) a first set of one or more light sources illuminating an external surface of an object with coherent light during a first time period;
(b) a second set of one or more light sources illuminating the external surface with incoherent light during a second time period, such that the first time period and the second time period do not overlap;
(c) one or more cameras capturing images of the external surface(i) during the first time period while the external surface is illuminated with the coherent light, and(ii) during the second time period while the external surface is illuminated with the incoherent light; and
(d) one or more computers(i) taking, as input, data indicative of or derived from the images,(ii) determining a classification of the external surface, and(iii) based on the classification, outputting signals to control an input/output (I/O) device, such that what content is displayed by the I/O depends, a least in part, on the classification;
wherein(1) features are embedded in a transparent layer, which layer is illuminated by the coherent light during the first time period and by the incoherent light during the second time period,(2) the features are invisible to an unaided human eye and have material properties that are different than the transparent layer, and(3) the content that is displayed by the I/O device depends on data encoded by the features.
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Abstract
In illustrative implementations of this invention, light sources illuminate a surface with multi-spectral, multi-directional illumination that varies in direction, wavelength, coherence and collimation. One or more cameras capture images of the surface while the surface is illuminated under different lighting conditions. One or more computers take, as input, data indicative of or derived from the images, and determine a classification of the surface. Based on the computed classification, the computers output signals to control an I/O device, such that content displayed by the I/O device depends, at least in part, on the computed classification. In illustrative implementations, this invention accurately classifies a wide range of surfaces, including transparent surfaces, specular surfaces, and surfaces with few features.
21 Citations
12 Claims
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1. A method comprising, in combination:
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(a) a first set of one or more light sources illuminating an external surface of an object with coherent light during a first time period; (b) a second set of one or more light sources illuminating the external surface with incoherent light during a second time period, such that the first time period and the second time period do not overlap; (c) one or more cameras capturing images of the external surface (i) during the first time period while the external surface is illuminated with the coherent light, and (ii) during the second time period while the external surface is illuminated with the incoherent light; and (d) one or more computers (i) taking, as input, data indicative of or derived from the images, (ii) determining a classification of the external surface, and (iii) based on the classification, outputting signals to control an input/output (I/O) device, such that what content is displayed by the I/O depends, a least in part, on the classification; wherein (1) features are embedded in a transparent layer, which layer is illuminated by the coherent light during the first time period and by the incoherent light during the second time period, (2) the features are invisible to an unaided human eye and have material properties that are different than the transparent layer, and (3) the content that is displayed by the I/O device depends on data encoded by the features. - View Dependent Claims (2, 3, 4, 5, 6)
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7. An apparatus comprising, in combination:
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(a) a first set of one or more coherent light sources for illuminating an external surface of an object with coherent light during a first time period; (b) a second set of one or more incoherent light sources for illuminating the external surface with incoherent light during a second time period, such that the first time period and the second time period do not overlap; (c) one or more cameras for capturing images of the external surface (i) during the first time period while the external surface is illuminated with the coherent light, and (ii) during the second time period while the external surface is illuminated with the incoherent light; and (d) one or more computers programmed (i) to take, as input, data indicative of or derived from the images, and (ii) to determine a classification of the external surface, and based on the classification, to output signals to control an input/output (I/O) device, such that what content is displayed by the I/O device depends, at least in part, on the classification; wherein (1) features are embedded in a transparent layer, which layer is illuminated by the coherent light during the first time period and by the incoherent light during the second time period, (2) the features are invisible to an unaided human eye and have material properties that are different than the transparent layer, and (3) the content that is displayed by the I/O device depends on data encoded by the features. - View Dependent Claims (8, 9, 10, 11, 12)
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Specification