US 10,379,393 B2 · 3D shape reconstruction using projection onto electronic light diffusing layers

Abstract

3D shape reconstruction of objects including specular objects in which structured light patterns are projected onto multiple layers of EGlass arranged in spaced-apart relation with each other while each layer is in turn controlled to be in the diffuse mode with all others being in the transparent mode, so as to illuminate the object by the patterns projected onto the layers. Images are captured of the structured light pattern as reflected by the mirror-like surface of the specular object. By projecting multiple different patterns, such as multiple different Gray code patterns, and by sequencing through each EGlass layer for each pattern, the 3D shape of the entirety of the visible surface of the object can be reconstructed by analysis of captured images of the distorted reflections of the patterns by the surface of the object. Embodiments are also described which can be used without reconfiguration for surface reconstruction of the shape of diffuse objects.

Claims25

Dependent claims

An apparatus for depth estimation of a surface of an object positioned at an inspection station, the apparatus comprising:

first and second transparency-controllable layers, the first and second layers being positioned in spaced-apart relation relative to each other, wherein both of the first and second layers are controllably switchable between a transparent mode in which the layer is transparent, and a diffuse mode in which the layer diffuses light;
a projector positioned and configured to project patterned light toward the first and second layers so as to illuminate the inspection station with patterned light;
an image capture device positioned and configured to capture images of the object at the inspection station;
and
a controller configured to control transparency of the first and second layers and to control projection of patterned light by the projector, and configured to estimate depth of the surface of the object positioned at the inspection station by calculations using images of the object captured by the image capture device.

2 more elements

Dependencies are inferred from the claim text.

3D shape reconstruction using projection onto electronic light diffusing layers

Life of this patent

3D shape reconstruction using projection onto electronic light diffusing layers

Life of this patent

Abstract

Claims25