Detection of a sheet of light based on second derivative

• US 9,754,374 B1
• Filed: 02/12/2016
• Issued: 09/05/2017
• Est. Priority Date: 02/12/2016
• Status: Active Grant

• Current Assignee: Matrox Electronic Systems Ltd.
• Original Assignee: Matrox Electronic Systems Ltd.
• Inventors: Lina, Arnaud
• Primary Examiner(s): Saini, Amandeep
• Application Number:
  US15/042,860
• Time in Patent Office: 571 Days
• Field of Search: 382103
• CPC Class Codes: G06T 2207/20024 Filtering details
• CPC Class Codes: G06T 7/521 from laser ranging, e.g. using interferometry; from the projection of structured light
• CPC Class Codes: G06T 7/74 involving reference images or patches
• CPC Class Codes: G06V 10/145 Illumination specially adapted for pattern recognition, e.g. using gratings
• CPC Class Codes: G06V 2201/121 using special illumination

Abstract

A method for detecting a position of a sheet of light is described. A second derivative filter is applied to an intensity profile of a line of pixels. An ingress pixel position associated with an ingress zero-crossing second derivative value is determined. The ingress pixel position is between a first pixel position with a first minimum intensity value of the intensity profile and a second pixel position with a first maximum intensity value of the intensity profile. An egress pixel position associated with an egress zero-crossing second derivative value is determined. The egress pixel position is between a third pixel position with a second maximum intensity value of the intensity profile and a fourth pixel position with a second minimum intensity value of the intensity profile. A midpoint pixel position between the ingress pixel position and the egress pixel position is output as the position of the sheet of light.

Claims

1. A method for detecting a position of a sheet of light in an image, the method comprising:

applying a second derivative filter to an intensity profile of a line of pixels included in an image of the sheet of light as projected onto an object to obtain a plurality of second derivative values associated with corresponding pixel positions;

determining an ingress pixel position associated with an ingress zero-crossing second derivative value, wherein the ingress pixel position is between a first pixel position with a first minimum intensity value of the intensity profile and a second pixel position with a first maximum intensity value of the intensity profile;

determining an egress pixel position associated with an egress zero-crossing second derivative value, wherein the egress pixel position is between a third pixel position with a second maximum intensity value of the intensity profile and a fourth pixel position with a second minimum intensity value of the intensity profile;

determining a midpoint pixel position between the ingress pixel position and the egress pixel position; and

outputting the midpoint pixel position as the position of the sheet of light.

2. The method of claim 1, wherein the method further comprises determining the first minimum intensity value and the first maximum intensity value respectively based on determining a first maximum second derivative value associated with the first pixel position and determining a first minimum second derivative value associated with the second pixel position.

3. The method of claim 1, wherein determining the ingress pixel position includes determining that a difference between the first maximum intensity value and the first minimum intensity value is greater than a threshold value.

4. The method of claim 1, wherein the method further comprises determining the second minimum intensity value and the second maximum intensity value respectively based on determining a first maximum second derivative value associated with the first pixel position and determining a first minimum second derivative value associated with the second pixel position.

5. The method of claim 1, wherein determining the egress pixel position includes determining that a difference between the second maximum intensity value and the second minimum intensity value is greater than a threshold value.

6. The method of claim 1, wherein the determining the ingress pixel position corresponding to the ingress zero-crossing second derivative value includes:

determining that a sign of a previous second derivative value corresponding to a previous pixel position is positive; and

determining that a current second derivative value corresponding to a current pixel position is less than or equal to zero.

7. The method of claim 6, wherein the determining the ingress pixel position further includes:

estimating an ingress sub-pixel position using interpolation of the previous pixel position and the current pixel position.

8. The method of claim 1, wherein the determining the egress pixel position corresponding to the egress zero-crossing second derivative value includes:

determining that the ingress zero-crossing second derivative value has been determined;

determining that a sign of a previous second derivative value corresponding to a previous pixel position is negative; and

determining that a current second derivative value corresponding to a current pixel position is greater than or equal to zero.

9. The method of claim 8, wherein the determining the egress pixel position further includes:

estimating an egress sub-pixel position using interpolation of the previous pixel position and the current pixel position.

10. A field-programmable gate array (FPGA) to detect a position of a sheet of light in an image, the FPGA comprising:

a set of one or more processing units; and

a non-transitory machine-readable storage medium containing code, which when executed by the set of one or more processing units, causes the FPGA to;

apply a second derivative filter to an intensity profile of a line of pixels included in an image of the sheet of light as projected onto an object to obtain a plurality of second derivative values associated with corresponding pixel positions,

determine an ingress pixel position associated with an ingress zero-crossing second derivative value, wherein the ingress pixel position is between a first pixel position with a first minimum intensity value of the intensity profile and a second pixel position with a first maximum intensity value of the intensity profile,

determine an egress pixel position associated with an egress zero-crossing second derivative value, wherein the egress pixel position is between a third pixel position with a second maximum intensity value of the intensity profile and a fourth pixel position with a second minimum intensity value of the intensity profile,

determine a midpoint pixel position between the ingress pixel position and the egress pixel position, and

output the midpoint pixel position as the position of the sheet of light.

11. The FPGA of claim 10, wherein the non-transitory machine-readable storage medium further contains code, which when executed by the set of one or more processing units, causes the FPGA to determine the first minimum intensity value and the first maximum intensity value respectively based on determining a first maximum second derivative value associated with the first pixel position and determining a first minimum second derivative value associated with the second pixel position.

12. The FPGA of claim 10, wherein to determine the ingress pixel position includes to determine that a difference between the first maximum intensity value and the first minimum intensity value is greater than a threshold value.

13. The FPGA of claim 10, wherein the non-transitory machine-readable storage medium further contains code, which when executed by the set of one or more processing units, causes the FPGA to determine the second minimum intensity value and the second maximum intensity value respectively based on determining a first maximum second derivative value associated with the first pixel position and determining a first minimum second derivative value associated with the second pixel position.

14. The FPGA of claim 10, wherein to determine the egress pixel position includes to determine that a difference between the second maximum intensity value and the second minimum intensity value is greater than a threshold value.

15. The FPGA of claim 10, wherein to determine the ingress pixel position corresponding to the ingress zero-crossing second derivative value includes:

to determine that a sign of a previous second derivative value corresponding to a previous pixel position is positive; and

to determine that a current second derivative value corresponding to a current pixel position is less than or equal to zero.

16. The FPGA of claim 15, wherein to determine the ingress pixel position further includes:

to estimate an ingress sub-pixel position using interpolation of the previous pixel position and the current pixel position.

17. The FPGA claim 10, wherein to determine the egress pixel position corresponding to the egress zero-crossing second derivative value includes:

to determine that the ingress zero-crossing second derivative value has been determined;

to determine that a sign of a previous second derivative value corresponding to a previous pixel position is negative; and

to determine that a current second derivative value corresponding to a current pixel position is greater than or equal to zero.

18. The FPGA of claim 17, wherein to determine the egress pixel position further includes:

to estimate an egress sub-pixel position using interpolation of the previous pixel position and the current pixel position.

19. A non-transitory computer readable storage medium that provide instructions, which when executed by a processor of a proxy server, cause said processor to perform operations comprising:

applying a second derivative filter to an intensity profile of a line of pixels included in an image of a sheet of light as projected onto an object to obtain a plurality of second derivative values associated with corresponding pixel positions;

determining an ingress pixel position associated with an ingress zero-crossing second derivative value, wherein the ingress pixel position is between a first pixel position with a first minimum intensity value of the intensity profile and a second pixel position with a first maximum intensity value of the intensity profile;

determining an egress pixel position associated with an egress zero-crossing second derivative value, wherein the egress pixel position is between a third pixel position with a second maximum intensity value of the intensity profile and a fourth pixel position with a second minimum intensity value of the intensity profile;

determining a midpoint pixel position between the ingress pixel position and the egress pixel position; and

outputting the midpoint pixel position as a position of the sheet of light.

20. The non-transitory computer readable storage medium of claim 19, wherein the operations further comprise determining the first minimum intensity value and the first maximum intensity value respectively based on determining a first maximum second derivative value associated with the first pixel position and determining a first minimum second derivative value associated with the second pixel position.

21. The non-transitory computer readable storage medium of claim 19, wherein the determining the ingress pixel position includes determining that a difference between the first maximum intensity value and the first minimum intensity value is greater than a threshold value.

22. The non-transitory computer readable storage medium of claim 19, wherein the operations further comprise determining the second minimum intensity value and the second maximum intensity value respectively based on determining a first maximum second derivative value associated with the first pixel position and determining a first minimum second derivative value associated with the second pixel position.

23. The non-transitory computer readable storage medium of claim 19, wherein the determining the egress pixel position includes determining that a difference between the second maximum intensity value and the second minimum intensity value is greater than a threshold value.

24. The non-transitory computer readable storage medium of claim 19, wherein the determining the ingress pixel position corresponding to the ingress zero-crossing second derivative value includes:

determining that a sign of a previous second derivative value corresponding to a previous pixel position is positive; and

determining that a current second derivative value corresponding to a current pixel position is less than or equal to zero.

25. The non-transitory computer readable storage medium of claim 24, wherein the determining the ingress pixel position further includes:

estimating an ingress sub-pixel position using interpolation of the previous pixel position and the current pixel position.

26. The non-transitory computer readable storage medium of claim 19, wherein the determining the egress pixel position corresponding to the egress zero-crossing second derivative value includes:

determining that the ingress zero-crossing second derivative value has been determined;

determining that a sign of a previous second derivative value corresponding to a previous pixel position is negative; and

determining that a current second derivative value corresponding to a current pixel position is greater than or equal to zero.

27. The non-transitory computer readable storage medium of claim 26, wherein the determining the egress pixel position further includes:

estimating an egress sub-pixel position using interpolation of the previous pixel position and the current pixel position.