US 7,385,708 B2Granted

Methods and systems for laser based real-time structured light depth extraction

AssigneeThe University of North Carolina at Chapel Hill

InventorsJeremy D. Ackerman, Kurtis P. Keller

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Abstract

Laser-based methods and systems for real-time structured light depth extraction are disclosed. A laser light source (100) produces a collimated beam of laser light. A pattern generator (102) generates structured light patterns including a plurality of pixels. The beam of laser light emanating from the laser light source (100) interacts with the patterns to project the patterns onto the object of interest (118). The patterns are reflected from the object of interest (118) and detected using a high-speed, low-resolution detector (106). A broadband light source (111) illuminates the object with broadband/light, and a separate high-resolution, low-speed detector (108) detects broadband light reflected from the object (118). A real-time structured light depth extraction engine/controller (110) based on the transmitted and reflected patterns and the reflected broadband light.

Claims64

Dependent claims

A laser-based real-time structured light depth extraction system comprising:

(a) a laser light source for producing a collimated beam of laser light;
(b) a pattern generator being optically coupled to the laser light source for generating a plurality of different structured light patterns, each structured light pattern including a plurality of pixels, wherein each pattern interacts with the collimated beam of laser light to simultaneously project the plurality of pixels onto an object of interest;
(c) a detector being optically coupled to the object and synchronized with the pattern generator for receiving patterns reflected from the object and for generating signals based on the reflected patterns;
and
(d) a real-time structured light depth extraction engine/controller coupled to the detector and the pattern generator for controlling the projection and detection of the patterns, for calculating, in real-time, depth values for regions of the object based on the signals received from the detector, and for generating and displaying the image of the object based on the calculated depth values, wherein the projection, the calculating, and the generation are repeated continually to update display of the image in real time,
wherein the three dimensional image of the object comprises a synthetic image and wherein the real time structured light depth extraction engine/controller combines the synthetic image with a real image of a scene and displays the combined image.

3 more elements

A system for real-time structured light depth extraction in an endoscopic surgical environment:

(a) a laser light source for producing a collimated beam of laser light;
(b) a pattern generator optically coupled to the laser light source for presenting a plurality of different structured light patterns, each structured light pattern including a plurality of pixels, when each pattern interacts with the collimated beam of laser light to simultaneously project the plurality of pixels onto an object of interest;
(c) beam expansion optics being optically coupled to the laser light source and the pattern generator for expanding the collimated beam of laser light to illuminate an area of the pattern generator corresponding to the patterns;
(d) an endoscope optically coupled to the pattern generator for communicating the patterns into a patient's body to illuminate an object and for receiving patterns reflected from the object;
(e) beam compression optics being optically coupled to the pattern generator and the detector for reducing a beam width of the projected patterns to a size that fits within an aperture of the endoscope;
(f) a structured light depth extraction camera optically coupled to the object via the endoscope and synchronized with the pattern generator for detecting the reflected patterns and generating signals based on the reflected patterns;
(g) a broadband light source optically coupled to the object via the endoscope for broadband illumination of the object;
(h) a color camera optically coupled to the object via the endoscope for receiving broadband light reflected from the object and for generating signals based on the reflected broadband light;
and
(i) a real-time structured light depth extraction engine/controller coupled to the cameras and the pattern generator for controlling the projection and detection of patterns for calculating, in real-time, depth and color values for regions of the object based on the signals received from the cameras, and for generating and displaying the image of the object based on the calculated depth values, wherein the projecting of the plurality of pixels onto the object, the calculating of the depth and color values, and the generation of the image of the object are repeated continually to update display of the image in real time,
wherein the three dimensional image of the object comprises a synthetic image and wherein the real time structured light depth extraction engine/controller combines the synthetic image with a real image of a scene and displays the combined image.

8 more elements

Dependencies are inferred from the claim text.

Facts

Application: 10/515,305Filed 9 Jun 2003 · us provisional application
Priority: 7 Jun 2002
Published: US 2005/0219552 A16 Oct 2005
Granted: 10 Jun 2008
Term ends: Not estimatedThe source records don’t support an estimate.

Classification12 codes

G02B 23/2484
Non-optical details, e.g. housings, mountings, supports: arrangements in relation to a camera or imaging device
A61B 1/042
Combined with photographic or television appliances: characterised by a proximal camera, e.g. a CCD camera
A61B 1/0605
With illuminating arrangements: for spatially modulated illumination
A61B 5/1076
Measuring physical dimensions, e.g. size of the entire body or parts thereof: for measuring dimensions inside body cavities, e.g. using catheters