Visual recognition based method and system for projecting patterned light, method and system applied to oral inspection, and machining system

A visual recognition based system for projecting patterned light, provided with a calibration mode and a projection mode, comprising:

• a projection module configured for projecting a calibration image onto a projection screen in the calibration mode;
• an image-capturing module configured for capturing the calibration image in the calibration mode, and capturing an object in the projection mode to obtain a to-be-recognized image of the object;
• and
• a processor coupled to the projection module and the image-capturing module and configured for, in the calibration mode, obtaining a calibration information between the projection module and the image-capturing module according to the captured calibration image, and, in the projection mode, detecting the object in the to-be-recognized image, acquiring a plurality of feature points associated with a plurality of feature areas of the object in the to-be-recognized image, retrieving a plurality of target feature points corresponding to a target object from the feature points, obtaining a projection coordinate of the target feature points according to the calibration information and providing the projection coordinate to the projection module, and commanding the projection module to project a projection pattern with shape corresponding to the target object onto the object according to the projection coordinate.

A method applied to oral inspection comprising:

• projecting a calibration image onto a projection screen by a projection module;
• capturing the calibration image by an image-capturing module to obtain a calibration information between the projection module and the image-capturing module;
• capturing a human's face by the image-capturing module to obtain a to-be-recognized image of the human's face;
• detecting the human's face in the to-be-recognized image, and acquiring a plurality of feature points associated with a plurality of facial features of the human's face in the to-be-recognized image;
• retrieving a plurality of mouth feature points corresponding to a human's mouth from the feature points;
• obtaining a projection coordinate of the mouth feature points according to the calibration information, and providing the projection coordinate to the projection module;
• and
• projecting a projection pattern with shape corresponding to the human's mouth onto the human's face by the projection module according to the projection coordinate.

A system applied to oral inspection, provided with a calibration mode and a projection mode, comprising:

• a projection module configured for projecting a calibration image onto a projection screen in the calibration mode;
• an image-capturing module configured for capturing the calibration image in the calibration mode, and capturing a human's face in the projection mode to obtain a to-be-recognized image of the human's face;
• and
• a processor coupled to the projection module and the image-capturing module and configured for, in the calibration mode, obtaining a calibration information between the projection module and the image-capturing module according to the captured calibration image, and, in the projection mode, detecting the human's face in the to-be-recognized image, acquiring a plurality of feature points associated with a plurality of facial features of the human's face in the to-be-recognized image, retrieving a plurality of mouth feature points corresponding to a human's mouth from the feature points, obtaining a projection coordinate of the mouth feature points according to the calibration information and providing the projection coordinate to the projection module, and commanding the projection module to project a projection pattern with shape corresponding to the human's mouth onto the human's face according to the projection coordinate.

A machining system, provided with a calibration mode and a projection mode, comprising:

• a robotic arm configured for machining a workpiece along a machining path;
• a projection module configured for projecting a calibration image onto a projection screen in the calibration mode;
• an image-capturing module configured for capturing the calibration image in the calibration mode, and capturing the workpiece in the projection mode to obtain a to-be-recognized image of the workpiece;
• and
• a processor coupled to the projection module and the image-capturing module and configured for, in the calibration mode, obtaining a calibration information between the projection module and the image-capturing module according to the captured calibration image, and, in the projection mode, detecting the workpiece in the to-be-recognized image, acquiring a plurality of feature points associated with a plurality of feature areas of the workpiece in the to-be-recognized image, retrieving a plurality of target feature points corresponding to the machining path according to the feature points, obtaining a projection coordinate of the target feature points according to the calibration information and providing the projection coordinate to the projection module, and commanding the projection module to project a machining path pattern onto the workpiece according to the projection coordinate.