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Characterization of a scene with structured light

  • US 9,766,057 B1
  • Filed: 09/29/2014
  • Issued: 09/19/2017
  • Est. Priority Date: 12/23/2010
  • Status: Active Grant
First Claim
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1. A system comprising:

  • one or more processors; and

    one or more non-transitory computer-readable media storing instructions executable by the one or more processors, wherein the instructions program the one or more processors to implement a service to;

    project a pre-determined structured light pattern onto a scene;

    acquire a distortion pattern produced by the pre-determined structured light pattern interacting with one or more objects within the scene;

    compare the distortion pattern with the pre-determined structured light pattern to determine structured light data;

    determine a topology of the scene based on the structured light data, the topology being a surface representation of the scene including depth of field data;

    determine one or more object parameters of an object of the one or more objects;

    identify the object based on the topology of the scene by comparing the one or more object parameters to dimensional data about one or more known objects;

    determine one or more preliminary dimensions of the object based at least in part upon identifying the object;

    determine a plurality of tentative dimensions of an unidentified object of the one or more objects based at least in part upon the one or more preliminary dimensions and one or more relative positions of the object and the unidentified object, the plurality of tentative dimensions including a first tentative dimension of the unidentified object and a second tentative dimension of the unidentified object that is different from the first tentative dimension;

    perform a test of the plurality of tentative dimensions against a pre-determined set of assumptions about at least one known object of the one or more known objects;

    discard the first tentative dimension based on a result of the test contradicting the pre-determined set of assumptions; and

    determine the second tentative dimension and a particular preliminary dimension of the one or more preliminary dimensions as final dimensions based at least in part on a determination that an error associated with the particular preliminary dimension and the particular tentative dimension is below a pre-determined error threshold value.

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