Deriving topology information of a scene
AssigneeHewlett-Packard Development Company, L.P.
InventorSimon WINKELBACH
Life of this patent
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Abstract
An example apparatus has a processor to analyze images of projected shifted versions of a fringe pattern onto a scene to obtain phase information associated with the pixels in the image. Topology information is derived by correcting the phase information using a phase offset associated with a combination of two subsequent versions of the fringe pattern in the images or by estimating a surface normal for each pixel using a partial derivative of the phase information of the pixel in a first spatial direction and a partial derivative of the phase information of the pixel in a second spatial direction.
Claims15
An apparatus comprising:
- a projector to illuminate a scene by projecting shifted versions of a fringe pattern onto the scene;
- a camera to capture images of the illuminated scene, each image comprising a distinct array of pixels arranged in rows in a first spatial direction and columns in a second spatial direction, wherein each image includes a distinct combination of two subsequent versions of the fringe pattern;
- and
- a processor to derive topology information of the scene, wherein to derive the topology information of the scene, the processor is to:
- analyze the captured images to obtain phase information associated with one of the pixels;
- determine a phase offset associated with the combination of two subsequent versions of the fringe pattern in the images;
- and
- correct the phase information using the determined phase offset.
An apparatus comprising:
- a projector to illuminate a scene by projecting shifted versions of a fringe pattern onto the scene;
- a camera to capture images of the illuminated scene, each image comprising a distinct array of pixels arranged in rows in a first spatial direction and columns in a second spatial direction;
- a processor to derive topology information of the scene, wherein to derive the topology information of the scene, the processor is to:
- analyze the captured images to obtain phase information associated with one of the pixels;
- and
- estimate a surface normal for the pixel using a partial derivative of the phase information associated with the pixel in the first spatial direction and a partial derivative of the phase information associated with the pixel in the second spatial direction.
A non-transitory machine-readable storage medium comprising instructions executable by a processing resource of a computing device to cause the processing resource to:
- receive images of a scene illuminated by projecting shifted versions of a fringe pattern onto the scene, each image comprising a distinct array of pixels arranged in rows in a first spatial direction and columns in a second spatial direction and each image including a distinct combination of two subsequent versions of the fringe pattern;
- analyze the images to obtain phase information associated with one of the pixels;
- and
- derive topology information to a scene comprising
- a) determining a phase offset associated with the combination of two subsequent versions of the fringe pattern in the images, and correcting the phase information associated with the pixel using the determined phase offset, or
- b) estimating a surface normal for the pixel using a partial derivative of the phase information associated with the pixel in the first spatial direction and a partial derivative of the phase information associated with the pixel in the second spatial direction.
Dependencies are inferred from the claim text.