Adaptive camera control and calibration for dynamic focus

A camera vision system for creating a three-dimensional (3D) reconstruction of an object comprising:

• a camera having a camera controller;
• a distance sensor having a fixed spatial relationship with the camera;
• an intrinsic parameter database storing a plurality of camera focus states and corresponding camera intrinsic parameter values for each of the plurality of camera focus states, wherein the camera intrinsic parameter values are information used in converting captured image data of the object to the 3D reconstruction of the object;
• and
• a system controller operatively connected to the camera controller, the distance sensor and the intrinsic parameter database, the system controller being programmed to:
• receive distance sensor signals from the distance sensor, wherein the distance sensor signals indicate a sensor-to-object distance from the distance sensor to the object,
• determine a camera-to-object distance from the camera to the object and a corresponding camera focus state for the camera-to-object distance based on the sensor-to-object distance,
• transmit camera focus state control signals to the camera controller to cause the camera controller to adjust the camera to the camera focus state,
• retrieve camera intrinsic parameter values for the camera that correspond to the camera focus state from the intrinsic parameter database,
• transmit image capture control signals to the camera controller to cause the camera to capture an object image of the object,
• receive object image data from the camera controller corresponding to the object image captured by the camera,
• store the object image data and at least one of the corresponding focus state at which the image data was captured and the corresponding camera intrinsic parameter values for the corresponding focus state in an image database;
• and
• perform a 3D reconstruction of the object from stored object image data and the camera intrinsic parameter values for the corresponding focus states for the object image data stored in the image database.