Method and apparatus for a color sequential scannerless range imaging system

A method for capturing both color and range information from illumination reflected from a scene, said method comprising the steps of:

• illuminating the scene with modulated illumination of a predetermined modulation frequency, whereby some of the modulated illumination is reflected from objects in the scene;
• sequentially positioning an arrangement of color filters in an optical path of the reflected illumination including a first color filter that preferentially transmits the reflected modulated illumination and a plurality of other color filters that preferentially transmit reflected unmodulated illumination;
• using an image intensifier to modulate the reflected modulated illumination from the scene with the predetermined modulation frequency, thereby generating phase images from which range information is obtained;
• and
• capturing a plurality of images output by the image intensifier, including (a) a plurality of phase images corresponding to the reflected modulated illumination when the first color filter is provided in the optical path, whereby the modulation of the reflected modulated illumination incorporates a phase delay corresponding to the distance of objects in the scene from the range imaging system, and (b) a plurality of color images of reflected unmodulated illumination corresponding to color in the scene when the other color filters are provided in the optical path.

An attachment for a camera system for capturing both color and phase information from illumination reflected from a scene, said camera system including an illumination system for illuminating the scene with modulated illumination of a predetermined modulation frequency, whereby some of the modulated illumination is reflected from objects in the scene, and an image responsive element for capturing the reflected illumination;

• said attachment comprising:
• a sequentially selectable color filter arrangement positioned in an optical path of the reflected illumination and comprised of a first color filter that preferentially transmits the reflected modulated illumination and a plurality of other color filters that preferentially transmit reflected unmodulated illumination;
• a control system for driving the color filter arrangement to sequentially provide each of the color filters in the optical path;
• an image intensifier receiving the reflected illumination and including a modulating stage for modulating the reflected modulated illumination from the scene with the predetermined modulation frequency, thereby generating the phase information, whereby the image responsive element captures a plurality of images output by the image intensifier, including (a) a plurality of phase images corresponding to the reflected modulated illumination, whereby the modulation of the reflected modulated illumination incorporates a phase delay corresponding to the distance of objects in the scene from the range imaging system, and (b) a plurality of color images of reflected unmodulated illumination corresponding to color in the scene.