US 10,257,498 B2 · Coordination of multiple structured light-based 3D image detectors

Abstract

Technologies are generally described for coordination of structured light-based image detectors. In some examples, one or more structured light sources may be configured to project sets of points onto the scene. The sets of points may be arranged into disjoint sets of geometrical shapes such as lines, where each geometrical shape includes a subset of the points projected by an illumination source. A relative position and or a color of the points in each geometrical shape may encode an identification code with which each illumination source may be identified. Thus, even when the point clouds projected by each of the illumination sources overlap, the geometrical shapes may still be detected, and thereby a corresponding illumination source may be identified. A depth map may then be estimated based on stereo vision principles or depth-from-focus principles by one or more image detectors.

Claims22

Dependent claims

A method to coordinate multiple structured light-based 3D image detectors, the method comprising:

receiving an image of a target object;
detecting a plurality of pattern elements projected onto the target object in the received image, wherein the plurality of pattern elements includes one or more of a plurality of line segments and a plurality of dots;
detecting one or more patterns from the detected plurality of pattern elements;
extracting, from the detected one or more patterns, one or more identifiers encoded into the detected one or more patterns through the plurality of pattern elements;
analyzing a spacing between the plurality of pattern elements to decode the one or more identifiers;
and
associating the detected one or more patterns with one or more image detectors or one or more pattern projectors based on the decoded one or more identifiers.

4 more elements

A system to coordinate multiple structured light-based 3D image detectors, the system comprising:

a pattern projector configured to:
encode two or more image detector identifiers onto sets of plurality of patterns;
and
project the sets of plurality of patterns onto a target object;
two or more spatially separated image detectors configured to:
capture an image of the target object with the sets of plurality of patterns projected onto the target object;
and
a detection control module configured to:
receive the image of the target object with the sets of plurality of patterns projected onto the target object;
detect the sets of plurality of patterns projected onto the target object in the received image;
detect a plurality of pattern elements from the detected sets of plurality of patterns, wherein the plurality of pattern elements includes one or more of a plurality of line segments and a plurality of dots;
extract the two or more image detector identifiers from the detected sets of plurality of patterns and the plurality of pattern elements;
analyze a spacing between the plurality of pattern elements to decode the two or more image detector identifiers;
and
associate each of the detected sets of plurality of patterns, with each of the two or more spatially separated image detectors based on the decoded two or more image detector identifiers.

12 more elements

A system to coordinate multiple structured light-based 3D image detectors, the system comprising:

two or more spatially separated pattern projectors configured to:
encode a plurality of identifiers onto sets of plurality of patterns, wherein each set of the plurality of patterns is encoded with one identifier of the plurality of identifiers;
and
project the sets of plurality of patterns onto a target object;
an image detector configured to:
capture an image of the target object with the sets of plurality of patterns projected onto the target object;
and
a detection control module configured to:
receive the image of the target object with the sets of plurality of patterns projected onto the target object;
detect the sets of plurality of patterns projected onto the target object in the received image;
detect a plurality of pattern elements from the detected sets of plurality of patterns;
extract the plurality of identifiers from the detected sets of plurality of patterns and the plurality of pattern elements;
and
associate each of the detected sets of plurality of patterns, with each of the two or more spatially separated pattern projectors based on the extracted plurality of identifiers.

11 more elements

Dependencies are inferred from the claim text.

Coordination of multiple structured light-based 3D image detectors

Life of this patent

Coordination of multiple structured light-based 3D image detectors

Life of this patent

Abstract

Claims22