3D geometric modeling and motion capture using both single and dual imaging
First Claim
1. A method of obtaining distance data from a 2D (two-dimensional) image of a scene comprising one or more objects, said method comprising:
- projecting on the objects a coded light pattern comprising multiple appearances of a finite set of feature types, each feature type being distinguishable according to a unique bi-dimensional formation, such that a distance between adjacent epipolar lines associated with substantially identical appearances of any given feature type is minimized according to a limiting epipolar separation factor, giving rise to a plurality of distinguishable epipolar lines separated by approximately a minimum safe distance for epipolar line distinction;
capturing a 2D image of the objects having the projected coded light pattern projected thereupon; and
extracting reflected feature types according to the unique bi-dimensional formations and locations of the reflected feature types on respective epipolar lines in the 2D image.
1 Assignment
0 Petitions
Accused Products
Abstract
A method and apparatus for obtaining an image to determine a three dimensional shape of a stationary or moving object using a bi dimensional coded light pattern having a plurality of distinct identifiable feature types. The coded light pattern is projected on the object such that each of the identifiable feature types appears at most once on predefined sections of distinguishable epipolar lines. An image of the object is captured and the reflected feature types are extracted along with their location on known epipolar lines in the captured image. Displacements of the reflected feature types along their epipolar lines from reference coordinates thereupon determine corresponding three dimensional coordinates in space and thus a 3D mapping or model of the shape of the object at any point in time.
171 Citations
32 Claims
-
1. A method of obtaining distance data from a 2D (two-dimensional) image of a scene comprising one or more objects, said method comprising:
-
projecting on the objects a coded light pattern comprising multiple appearances of a finite set of feature types, each feature type being distinguishable according to a unique bi-dimensional formation, such that a distance between adjacent epipolar lines associated with substantially identical appearances of any given feature type is minimized according to a limiting epipolar separation factor, giving rise to a plurality of distinguishable epipolar lines separated by approximately a minimum safe distance for epipolar line distinction; capturing a 2D image of the objects having the projected coded light pattern projected thereupon; and extracting reflected feature types according to the unique bi-dimensional formations and locations of the reflected feature types on respective epipolar lines in the 2D image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
-
-
17. An apparatus configured to obtain distance data from a 2D (two-dimensional) image of a scene comprising one or more objects, said apparatus comprising:
-
a bi-dimensional coded light pattern comprising multiple appearances of a finite set of feature types, each feature type being distinguishable according to a unique bi-dimensional formation; and a projector configured to project the coded light pattern on the objects, such that a distance between adjacent epipolar lines associated with substantially identical appearances of any given feature type is minimized according to a limiting epipolar separation factor, giving rise to a plurality of distinguishable epipolar lines separated by approximately a minimum safe distance for epipolar line distinction; wherein the projector enables an imaging unit to capture a 2D image of the objects having the projected coded light pattern projected thereupon to enable an image processing unit to extract reflected feature types according to the unique bi-dimensional formations, and to determine locations of the reflected feature types on respective epipolar lines in the 2D image. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32)
-
Specification