Acquisition of three-dimensional images by an active stereo technique using locally unique patterns
First Claim
Patent Images
1. A system for obtaining a disparity map of a scene, comprising:
- (a) at least one projection device configured to project a locally unique pattern onto at least a portion of the scene, where said locally unique pattern has the property that any pattern window differs from any other pattern window;
(b) sensors for acquiring a plurality of images of the scene, each one of the plurality of images being associated with a unique viewing position, each of the images being a surface-dependent reflection by the scene of ambient light combined with the projected locally unique pattern; and
(c) a computing device configured to generate said disparity map by matching corresponding pixels in match windows in at least two of said images by comparing the image values without recovering the projected pattern, where said match windows are chosen to be sufficiently large as to ensure that each match window includes a substantial portion of the image of a locally unique pattern window.
1 Assignment
0 Petitions
Accused Products
Abstract
A system and method for acquiring three-dimensional (3-D) images of a scene. The system includes a projection device for projecting a locally unique pattern (LUP) onto a scene, and sensors for imaging the scene containing the LUP at two or more viewpoints. A computing device matches corresponding pixels in the images by using the local uniqueness of the pattern to produce a disparity map. A range map can then be generated by triangulating points in the imaged scene.
148 Citations
48 Claims
-
1. A system for obtaining a disparity map of a scene, comprising:
-
(a) at least one projection device configured to project a locally unique pattern onto at least a portion of the scene, where said locally unique pattern has the property that any pattern window differs from any other pattern window; (b) sensors for acquiring a plurality of images of the scene, each one of the plurality of images being associated with a unique viewing position, each of the images being a surface-dependent reflection by the scene of ambient light combined with the projected locally unique pattern; and (c) a computing device configured to generate said disparity map by matching corresponding pixels in match windows in at least two of said images by comparing the image values without recovering the projected pattern, where said match windows are chosen to be sufficiently large as to ensure that each match window includes a substantial portion of the image of a locally unique pattern window. - 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. A method for obtaining a disparity map of a scene, comprising the steps of:
-
(a) causing a locally unique pattern to be projected onto at least a portion of the scene, where said locally unique pattern has the property that any pattern window differs from any other pattern window; (b) receiving a plurality of images acquired of the scene, each one of the plurality of images being associated with a unique viewing position, each of the images being a surface-dependent reflection by the scene of ambient light combined with the projected locally unique pattern; and (c) generating said disparity map by matching corresponding pixels in match windows in at least two of said images by comparing the image values without recovering said locally unique pattern, where said match windows are chosen to be sufficiently large as to ensure that each match window includes a substantial portion of the image of a locally unique pattern window. - View Dependent Claims (36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47)
-
-
48. A computer-readable medium storing information for performing the steps of;
-
(a) causing a projection device to project a locally unique pattern onto at least a portion of a scene, where said locally unique pattern has the property that any pattern window differs from any other pattern window; (b) receiving a plurality of images of the scene, each one of the plurality of images being associated with a unique viewing position, each of the images being a surface-dependent reflection by the scene of ambient light combined with the projected locally unique pattern; and (c) generating a disparity map by matching corresponding pixels in match windows in at least two of said images by comparing the image values without recovering said locally unique pattern, where said match windows are chosen to be sufficiently large as to ensure that each match window includes a substantial portion of the image of a locally unique pattern window.
-
Specification