Three-dimensional object information acquisition using patterned light projection with optimized image-thresholding
AssigneeBrother Kogyo Kabushiki Kaisha
InventorHiroyuki Sasaki
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Abstract
Techniques are disclosed of obtaining three-dimensional information pertaining to an object of interest, based on a light-pattern image acquired by digitally photographing the object with patterned light being projected onto the object, By an exemplary technique, a local adaptive spatial-filter is configured for the light-pattern image, based on a spatial frequency characteristic of the light-pattern image having a plurality of sub-areas, on a sub-area-by-sub-area basis, and local thresholds are set for the light-pattern image, based on image information acquired by locally applying the spatial filter to the light-pattern image, on a sub-area-by-sub-area basis.
Claims20
A method of obtaining three-dimensional information pertaining to an object of interest, based on a light-pattern image acquired by digitally photographing the object with patterned light being projected onto the object, the method comprising:
- a spatial-filter configuration step of configuring a local adaptive spatial-filter for the light-pattern image, based on a spatial frequency characteristic of the light-pattern image having a plurality of sub-areas, on a sub-area-by-sub-area basis;
- and
- a threshold setting step of setting local thresholds for the light-pattern image, based on image information acquired by locally applying the spatial filter to the light-pattern image, on a sub-area-by-sub-area basis, wherein the local thresholds are applicable to the respective sub-areas of the light-pattern image for obtaining the three-dimensional information pertaining to the object.
A computer-readable medium having stored therein a program which, when executed by a computer, obtains three-dimensional information pertaining to an object of interest, based on a light-pattern image acquired by digitally photographing the object with spatially patterned light being projected onto the object,
- the program comprising:
- instructions for configuring a local adaptive spatial-filter for the light-pattern image, based on a spatial frequency characteristic of the light-pattern image having a plurality of sub-areas, on a sub-area-by-sub-area basis;
- and
- instructions for setting local thresholds for the light-pattern image, based on image information acquired by locally applying the spatial falter to the light-pattern image, on a sub-area-by-sub-area basis, wherein the local thresholds are applicable to the respective sub-areas of the light-pattern image for obtaining the three-dimensional information pertaining to the object.
An apparatus of obtaining three-dimensional information pertaining to an object of interest, based on a light-pattern image acquired by digitally photographing the object with spatially patterned light being projected onto the object, the apparatus comprising;
- a spatial-filter configuration circuit adapted to configure a local adaptive spatial-filter for the light-pattern image, based on a spatial frequency characteristic of the light-pattern image having a plurality of sub-areas, on a sub-area-by-sub-area basis;
- and
- a threshold setting circuit adapted to set local thresholds for the light-pattern Image, based on image information acquired by locally applying the spatial filter to the light-pattern image, on a sub-area-by-sub-area basis, wherein the local thresholds are applicable to the respective sub-areas of the light-pattern image for obtaining the three-dimensional information pertaining to the object.
Dependencies are inferred from the claim text.