Systems and methods of object shape and position determination in three-dimensional (3D) space
First Claim
Patent Images
1. A system of identifying a position and a shape of a portion of an object in a three-dimensional (3D) space, the system comprising:
- one or more processors coupled to a memory, the memory loaded with computer instructions that, when executed on the one or more processors, implement a method including;
capturing, with a single camera having a particular vantage point, two or more images generated by casting an output from at least one source onto the portion of the object;
analyzing the two or more images captured by the camera from the particular vantage point to computationally represent the portion of the object, as captured, as one or more mathematically represented 3D surfaces, each 3D surface corresponding to a cross-section of the portion of the object, based at least in part on a plurality of edge points of the portion of the object in the image, tangent lines extending from the camera to at least two edge points of the plurality of edge points and a centerline corresponding to the tangent lines; and
reconstructing the position of and the shape fitting at least the portion of the object in the 3D space based at least in part on the plurality of edge points and the centerline.
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Abstract
Methods and systems for capturing motion and/or determining the shapes and positions of one or more objects in 3D space utilize cross-sections thereof. In various embodiments, images of the cross-sections are captured using a camera based on edge points thereof.
422 Citations
40 Claims
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1. A system of identifying a position and a shape of a portion of an object in a three-dimensional (3D) space, the system comprising:
one or more processors coupled to a memory, the memory loaded with computer instructions that, when executed on the one or more processors, implement a method including; capturing, with a single camera having a particular vantage point, two or more images generated by casting an output from at least one source onto the portion of the object; analyzing the two or more images captured by the camera from the particular vantage point to computationally represent the portion of the object, as captured, as one or more mathematically represented 3D surfaces, each 3D surface corresponding to a cross-section of the portion of the object, based at least in part on a plurality of edge points of the portion of the object in the image, tangent lines extending from the camera to at least two edge points of the plurality of edge points and a centerline corresponding to the tangent lines; and reconstructing the position of and the shape fitting at least the portion of the object in the 3D space based at least in part on the plurality of edge points and the centerline. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39)
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40. A non-transitory computer readable medium storing a plurality of instructions for programming one or more processors to identify a position and a shape of a portion of an object in a three-dimensional (3D) space, the instructions, when executed on the one or more processors, implementing a method including:
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capturing, with a single camera having a particular vantage point, two or more images generated by casting an output from at least one source onto the portion of the object; analyzing the two or more images captured by the camera from the particular vantage point to computationally represent the portion of the object, as captured, as one or more mathematically represented 3D surfaces, each 3D surface corresponding to a cross-section of the portion of the object, based at least in part on a plurality of edge points of the portion of the object in the image, tangent lines extending from the camera to at least two edge points of the plurality of edge points and a centerline corresponding to the tangent lines; and reconstructing the position of and the shape fitting at least the portion of the object in the 3D space based at least in part on the plurality of edge points and the centerline.
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Specification