Optical 3-d sensor for fast and dense shape capture
AssigneesFlorian Willomitzer, Gerd Haeusler
InventorFLORIAN WILLOMITZER
Life of this patent
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Abstract
An optical 3-D sensor for very fast, highly resolved and dense capture of the surface shape of objects in 3-D space. One image or a plurality of images recorded at the same time in a single shot method suffice for the recording. Using this, it is possible, as a matter of principle, to record 3-D data with the frame rate of the employed cameras, i.e. to build a 3-D video camera. The optical 3-D sensor has a projector projecting a line pattern onto the object, and K cameras, which each record an image of the object illuminated by the projector. The line pattern contains lines in a number of R directions and the K cameras are disposed to span up to K×R triangulation sensors. The triangulation sensors are coupled by a control and evaluation unit by way of the common line pattern.
Claims11
An optical single shot 3-D sensor for shape capture of an object, the sensor comprising:
- a projector for projecting a line pattern onto the object, said projector having an optical axis, the line pattern having lines in a plurality of R line directions, with R≧2;
- a plurality of K cameras, each having a respective optical axis, where K≧2, said cameras being disposed to record an image of the object illuminated by said projector;
- and
- said K cameras being arranged to span with the projector up to K×R triangulation sensors with up to K×R triangulation angles in respect of the R line directions;
- and
- a control and evaluation unit configure to process the image;
- said evaluation unit coupling said triangulation sensors by way of the common line pattern.
A single shot method for producing a 3-D model of an object, the method comprising:
- producing Q=K×R triangulation systems with K cameras and a line pattern projected onto the object with R different line directions, where K≧2;
- using a control and evaluation unit for producing a non-unique 3-D model for each of the Q triangulation systems from images that are obtained simultaneously from the K cameras, thereby selecting the triangulation systems such that the non-unique 3-D models are independent of one another;
- and
- coupling the non-unique 3-D models in the control and evaluation unit such that, if two or more non-unique 3-D models in a data record correspond, the corresponding data record is used as the 3-D model of the object.
Dependencies are inferred from the claim text.