3-D image detector

• US 5,877,803 A
• Filed: 04/07/1997
• Issued: 03/02/1999
• Est. Priority Date: 04/07/1997
• Status: Expired due to Fees

• Current Assignee: Cirrus Logic Incorporated
• Original Assignee: Tritech Microelectronics International Pte LTD
• Inventors: Liang, Jie, Wee, Siang Tze Reginald
• Primary Examiner(s): Tung, Bryan
• Assistant Examiner(s): VO, TUNG T
• Application Number:
  US08/826,719
• Time in Patent Office: 694 Days
• Field of Search: 348/46, 348/47, 348/48, 348/135, 348/136, 348/153, 348/159, 395/125, 358/87, 356/237, 356/394, 209/583
• US Class Current: 348/135
• CPC Class Codes: G06T 2200/28 involving image processing hardware
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 2207/10068 Endoscopic image
• CPC Class Codes: G06T 7/593 from stereo images
• CPC Class Codes: H04N 13/10 Processing, recording or transmission of stereoscopic or multi-view image signals
• CPC Class Codes: H04N 13/167 Synchronising or controlling image signals
• CPC Class Codes: H04N 13/189 Recording image signals; Reproducing recorded image signals
• CPC Class Codes: H04N 13/194 Transmission of image signals
• CPC Class Codes: H04N 13/211 using temporal multiplexing
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 13/296 Synchronisation thereof; Control thereof
• CPC Class Codes: H04N 13/30 Image reproducers optical systems for producing stereoscopic or other three-dimensional effects G02B30/00
• CPC Class Codes: H04N 2013/0081 Depth or disparity estimation from stereoscopic image signals
• CPC Class Codes: H04N 7/181 for receiving images from a plurality of remote sources

Abstract

A three dimensional image detector is disclosed. The three dimensional image detector has a lensing system to focus incident light reflected from an object field upon a first and second image detector. The first and second image detectors are matrices of charge coupled devices. The first and second image detectors convert the incident light to electrical signals. The electrical signals from the first and second image detectors are converted in an analog to digital converter to a plurality of digital words that represent the magnitude of the light that impinges upon the first and second image detectors. The plurality of digital words are retained in a random access memory for processing within a digital signal processor. The digital signal processor will locate an object within the object field and determine the depth and contour information of the object and present this information with the plurality of digital words to external circuitry for further processing or display. The first and second image detectors, the analog-to-digital converter, the random access memory, and the digital signal processor are to be disposed upon an integrated circuit substrate.

Claims

1. A system for the detection and presentation of depth and contour information of a three dimensional object within an object field having at least one object, wherein said three dimensional object has a first dimension, a second dimension, and a third dimension, comprising:

a) a first detection means to convert light impinged upon said first array to a first electrical signal representing the magnitude of said light, wherein said first detection means is disposed upon an integrated circuit substrate;

b) a second detection means to convert light impinged upon said second array to a second electrical signal representing the magnitude of said light, wherein said second detection means is disposed upon an integrated circuit substrate;

c) a light focusing means to receive an incident light that is reflected from the object field;

d) a signal conversion means coupled to the first and'"'"'second detection means and disposed upon the integrated circuit substrate, to convert the first and second electrical signals to a first and second plurality of digital words, wherein each digital word represents the magnitude of light impinged upon each charge coupled device of the first and second array of charged coupled devices;

e) a retaining means coupled to the signal conversion means and disposed upon the integrated circuit substrate to retain the first and second plurality of digital words; and

f) a digital signal processing means coupled to the retaining means and to external circuitry and disposed upon the integrated circuit substrate to process said first and second plurality of digital words to detect said three dimensional object within the object field and to calculate depth and contour information of said three dimensional object, and to present said depth and contour information of said three dimensional object and said first and second plurality of digital words for further processing and display.

2. The system of claim 1 wherein the first and second detection means matrices of charge coupled devices.

3. The system of claim 1 wherein said focusing means includes:

a) a first lens, having a first retinal pane and a first optical axis, to focus said incident light upon the first detection means;

b) a second lens, having a second retinal pane and a second optical axis, to focus said incident light upon the second detection means; and

c) a lens focus adjustment mechanism to superimpose the first retinal plane upon the first detection means, and the second retinal plane upon the second detection means and to align the first optical axis with a first middle point of the first detection means and the second optical axis with a second middle point of the second detection means.

4. The system of claim 1 wherein said retaining means comprises:

a) a first frame memory to receive a first set of the first and second plurality of digital words from said signal conversion means;

b) a second frame memory coupled to said first frame memory and to said digital processing means to receive and to retain said first set of the first and second plurality of digital words, and to transfer said first set of first and second plurality of digital words to the digital signal processing means to be processed; and

c) a timing generation means to create a plurality of timing signals wherein said plurality of timing signals comprises;

a first timing signal to instruct the first frame memory to transfer the first set of first and second digital words to the second frame memory,

a second timing signal to instruct the first frame memory to transfer the second set of first and second digital word to the first frame memory from the signal conversion means, and

a third timing signal to instruct the second frame memory to transfer the first set of first and second digital words to the digital signal processing means to be processed.

5. The system of claim 1 wherein the digital signal processing means comprises:

a) a program storage means to retain a set of instructions and an ordering of said set of instructions necessary to process said first and second plurality of digital words;

b) a processing unit, coupled to said program storage means, to said retaining means, and to said external circuitry, to execute said instructions upon said first and second digital words, wherein said set of instructions will implement a triangulation algorithm by comparing each digital word of the first plurality of digital words to each corresponding digital word of the second plurality of digital words to detect and to calculate said depth and contour information of said three dimensional object;

c) a constant storage means couple to said processing unit to retain a set of constant values necessary to implement said triangulation algorithm; and

d) a temporary storage means coupled to the processing unit to retain intermediate values during execution of said set of instructions.

6. A measurement apparatus to detect an object within an object field and to calculate depth and contour information of said object, comprising

a) a first detection means constituted of a first matrix of charge coupled devices to convert light impinged upon said first array to a first electrical signal representing the magnitude of said light, wherein said first detection means is disposed upon an integrated circuit substrate;

b) a second detection means constituted of a second matrix of charge coupled devices to convert light impinged upon said second array to a second electrical signal representing the magnitude of said light, wherein said second detection means is disposed upon an integrated circuit substrate;

c) a light focusing means to receive an incident light that is reflected from the object field;

d) a signal conversion means coupled to the first and second detection means and disposed upon the integrated circuit substrate, to convert the first and second electrical signals to a first and second plurality of digital words, wherein each digital word represents the magnitude of light impinged upon each charge coupled device of the first and second array of charged coupled devices;

e) a retaining means coupled to the signal conversion means and disposed upon the integrated circuit substrate to retain the first and second plurality of digital words; and

f) a digital signal processing means coupled to the retaining means and to eternal circuitry and disposed upon the integrated circuit substrate to process said first and second plurality of digital words to detect said three dimensional object within the object field and to calculate depth and contour information of said three dimensional object, and to present said depth and contour information of said three dimensional object and said first and second plurality of digital words for further processing and display.

7. The apparatus of claim 6 wherein said focusing means includes:

a) a first lens, having a first retinal pane and a first optical axis, to focus said incident light upon the first detection means;

b) a second lens, having a second retinal pane and a second optical axis, to focus said incident light upon the second detection means; and

c) a lens focus adjustment mechanism to superimpose the first retinal plane upon the first detection means, and the second retinal plane upon the second detection means and to align the first optical axis with a first middle point of the first detection means and the second optical axis with a second middle point of the second detection means.

8. The apparatus of claim 6 wherein said retaining means comprises:

a) a first frame memory to receive a first set of the first and second plurality of digital words from said signal conversion means;

b) a second frame memory coupled to said first frame memory and to said digital processing means to receive and to retain said first set of the first and second plurality of digital words, and to transfer said first set of first and second plurality of digital words to the digital signal processing means to be processed; and

c) a timing generation means to create a plurality of timing signals wherein said plurality of timing signals comprises;

a first timing signal to instruct the first frame memory to transfer the first set of first and second digital words to the second frame memory, and

a second timing signal to instruct the first frame memory to transfer the second set of first and second digital word to the first frame memory from the signal conversion means a third timing signal to instruct the second frame memory to transfer the first set of first and second digital words to the digital signal processing means to be processed.

9. The apparatus of claim 6 wherein the digital signal processing means comprises:

a) a program storage means to retain a set of instructions and an ordering of said set of instructions necessary to process said first and second plurality of digital words;

b) a processing unit, coupled to said program storage means, to said retaining means, and to said external circuitry, to execute said instructions upon said first and second digital words, wherein said set of instructions will implement a triangulation algorithm by comparing each digital word of the first plurality of digital words to each corresponding digital word of the second plurality of digital words to detect and to calculate said depth and contour information of said three dimensional object;

c) a constant storage means couple to said processing unit to retain a set of constant values necessary to implement said triangulation algorithm; and

d) a temporary storage means coupled to the processing unit to retain intermediate values during execution of said set of instructions.

10. A circuit to detect a three dimensional object within an object field having at least one three dimensional object, to calculate depth and contour information describing said three dimensional object and to present said depth and contour information to external circuitry for processing and display, comprising:

a) a first detection means constituted of a first matrix of charge coupled devices to convert light impinged upon said first array to a first electrical signal representing the magnitude of said light, wherein said first detection means is disposed upon an integrated circuit substrate;

b) a second detection means constituted of a second matrix of charge coupled devices to convert light impinged upon said second array to a second electrical signal representing the magnitude of said light, wherein said second detection means is disposed upon an integrated circuit substrate;

c) a analog-to-digital converter coupled to the first and second detection means and disposed upon the integrated circuit substrate, to convert the first and second electrical signals to a first and second plurality of digital words, wherein each digital word represents the magnitude of light impinged upon each charge coupled device of the first and second array of charged coupled devices;

d) a random access memory coupled to the analog-to-digital converter and disposed upon the integrated circuit substrate to retain the first and second plurality of digital words; and

e) a digital signal processing means coupled to the retaining means and to external circuitry and disposed upon the integrated circuit substrate to process said first and second plurality of digital words to detect said three dimensional object within the object field and to calculate depth and contour information of said three dimensional object, and to present said depth and contour information of said three dimensional object and said first and second plurality of digital words for further processing and display.

11. The circuit of claim 10 wherein a light focusing means receives incident light that is reflected from the object field and focuses said incident light upon said first and second detection means, comprising:

a) a first lens, having a first retinal pane and a first optical axis, to focus said incident light upon the first detection means;

b) a second lens, having a second retinal pane and a second optical axis, to focus said incident light upon the second detection means; and

c) a lens focus adjustment mechanism to superimpose the first retinal plane upon the first detection means, and the second retinal plane upon the second detection means and to align the first optical axis with a first middle point of the first detection means and the second optical axis with a second middle point of the second detection means.

12. The circuit of claim 10 wherein said retaining means comprises:

a) a first frame memory to receive a first set of the first and second plurality of digital words from said signal conversion means;

b) a second frame memory coupled to said first frame memory and to said digital processing means to receive and to retain said first set of the first and second plurality of digital words, and to transfer said first set of first and second plurality of digital words to the digital signal processing means to be processed; and

c) a timing generation means to create a plurality of timing signals wherein said plurality of timing signal comprises;

a first timing signal to instruct the first frame memory to transfer the first set of first and second digital words to the second frame memory,

a second timing signal to instruct the first frame memory to transfer the second set of first and second digital word to the first frame memory from the signal conversion means, and

a third timing signal to instruct the second frame memory to transfer the first set of first and second digital words to the digital signal processing means to be processed.

13. The circuit of claim 10 wherein the digital signal processing means comprises:

a) a program storage means to retain a set of instructions and an ordering of said set of instructions necessary to process said first and second plurality of digital words;

b) a processing unit, coupled to said program storage means, to said retaining means, and to said external circuitry, to execute said instructions upon said first and second digital words, wherein said set of instructions will implement a triangulation algorithm by comparing each digital word of the first plurality of digital words to each corresponding digital word of the second plurality of digital words to detect and to calculate said depth and contour information of said three dimensional object;

c) a constant storage means couple to said processing unit to retain a set of constant values necessary to implement said triangulation algorithm; and

d) a temporary storage means coupled to the processing unit to retain intermediate values during execution of said set of instructions.