Single-lens, single-sensor 3-D imaging device with a central aperture for obtaining camera position

• US 9,736,463 B2
• Filed: 06/15/2015
• Issued: 08/15/2017
• Est. Priority Date: 04/23/2007
• Status: Active Grant

• Current Assignee: California Institute of Technology
• Original Assignee: California Institute of Technology
• Inventors: Lu, Jian, Pereira, Francisco, Graff, Emilio, Gharib, Morteza
• Primary Examiner(s): Shin, Kyung H
• Application Number:
  US14/739,565
• Publication Number:
  US 20150312555A1
• Time in Patent Office: 792 Days
• Field of Search: 382154, 348 46, 348349, 348273, 348 E5028, 348E13005, 345419
• CPC Class Codes: G01B 11/2509 Color coding
• CPC Class Codes: G02B 2207/129 Coded aperture imaging
• CPC Class Codes: G02B 5/005 Diaphragms for cameras G03B9/02
• CPC Class Codes: G03B 15/12 using mirrors
• CPC Class Codes: G03B 35/02 by sequential recording
• CPC Class Codes: G06T 7/50 Depth or shape recovery
• CPC Class Codes: H04N 13/204 using stereoscopic image cameras stereoscopic photography G03B35/00
• CPC Class Codes: H04N 13/207 using a single 2D image sensor
• CPC Class Codes: H04N 13/254 in combination with electromagnetic radiation sources for illuminating objects

Abstract

A device and method for three-dimensional (3-D) imaging using a defocusing technique is disclosed. The device comprises a lens, a central aperture located along an optical axis for projecting an entire image of a target object, at least one defocusing aperture located off of the optical axis, a sensor operable for capturing electromagnetic radiation transmitted from an object through the lens and the central aperture and the at least one defocusing aperture, and a processor communicatively connected with the sensor for processing the sensor information and producing a 3-D image of the object. Different optical filters can be used for the central aperture and the defocusing apertures respectively, whereby a background image produced by the central aperture can be easily distinguished from defocused images produced by the defocusing apertures.

Claims

1. A device for three-dimensional (3-D) imaging comprising:

a planar aperture mask having a central aperture on an optical axis and a defocusing aperture located off of the optical axis;

a first optical filter for the central aperture and a second optical filter for the defocusing aperture, wherein the first and second optical filters are colored such that a background image produced by the central aperture is distinguishable from a defocused image produced by the defocusing aperture;

a single sensor operable with the aperture mask to simultaneously capture the background image and the defocused image from an object; and

a processor communicatively coupled with the sensor for processing sensor information and producing a 3-D image of the object.

2. The device of claim 1, further comprising an electromagnetic radiation projection system which projects a predetermined pattern onto the object so that unmarked surfaces may be mapped in 3-D.

3. The device of claim 2, where the electromagnetic radiation projection system includes a narrow-band electromagnetic radiation source, and the first optical filter for the central aperture selectively blocks electromagnetic radiation from the narrowband electromagnetic radiation source, whereby a background image produced by the central aperture will not include a projected pattern.

4. The device of claim 2, where the second optical filter for the defocusing aperture allows only a wavelength of electromagnetic radiation from the narrow band electromagnetic radiation source, whereby only the projected pattern goes through the defocusing aperture, thereby preventing the background image from the central aperture from blurring.

5. The device of claim 2, wherein the central aperture is positioned to provide a physical location of an unshifted projected pattern for estimating a position and orientation of the device with respect to the object.

6. The device of claim 1, further comprising an electromagnetic radiation projection system which projects a predetermined pattern onto the object so that unmarked surfaces may be mapped in 3-D.

7. The device of claim 1, wherein the central aperture is larger than the defocusing aperture.

8. A method for three-dimensional (3-D) imaging comprising:

capturing, simultaneously with a single sensor of an imaging device, electromagnetic radiation, transmitted off of an object and through each of a central aperture and a defocusing aperture located off of an optical axis, each aperture being in a planar aperture mask, wherein the electromagnetic radiation passing through the central aperture also passes through a first optical filter and wherein electromagnetic radiation passing through the defocusing aperture also passes through a second optical filter, the filters being colored such that a captured background image produced by the central aperture is distinguishable from a captured defocused image produced by the defocusing aperture; and

processing information from the sensor to produce a 3-D image representative of the object.

9. The method of claim 8, further comprising determining a position and orientation of the imaging device with respect to the object from a physical location of an unshifted projection pattern produced by the central aperture.

10. The method of claim 9, further comprising determining an orientation of the imaging device with respect to the object by proper rotation, de-warping, and scaling of an actual image obtained by the central aperture.

11. The method of claim 10, further comprising projecting a predetermined pattern of electromagnetic radiation onto the object so that unmarked surfaces may be mapped in 3-D.

12. The method of claim 11, wherein the predetermined pattern is projected onto the object using a narrow-band electromagnetic radiation source.

13. The method of claim 12, wherein the first optical filter selectively blocks electromagnetic radiation from the narrow-band electromagnetic radiation source such that a background image produced by the central aperture will not include the projected pattern.

14. The method of claim 13, wherein the wherein the second optical filter for the defocusing aperture allows only a wavelength of electromagnetic radiation from the narrow band electromagnetic radiation source such defocused image produced by the defocusing aperture will only include the projected pattern.

15. The device of claim 8, wherein the central aperture is larger than the defocusing aperture.