# US 7,612,869 B2 · Aperture coded camera for three dimensional imaging > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 7,612,869 B2 - Document ID: US7612869B2 - Status: Granted - Kind: B2 - Application number: 11/365,970 - Filed: 2006-02-28 - Published: 2006-09-21 - Granted: 2009-11-03 - Earliest claimed: 1998-02-25 - Assignees: California Institute of Technology - Inventors: Francisco Pereira; Darius Modarress; Mory Gharib; Dana Dabiri; David Jeon - Web page: https://patentgrep.com/patent/US7612869B2 ## CPC - G01B 11/24: for measuring contours or curvatures - H04N 13/211: using temporal multiplexing - H04N 13/243: using three or more two-dimensional [2D] image sensors - H04N 13/257: Colour aspects - H04N 13/296: Synchronisation thereof; Control thereof - G02B 2207/129: Coded aperture imaging - H04N 13/10: Processing, recording or transmission of stereoscopic or multi-view image signals - H04N 13/189: Recording image signals; Reproducing recorded image signals - H04N 13/221: using the relative movement between cameras and objects - H04N 13/239: using two two-dimensional [2D] image sensors having a relative position equal to or related to the interocular distance (H04N13/243 takes precedence) - H04N 13/32: using arrays of controllable light sources; using moving apertures or moving light sources - H04N 13/334: using spectral multiplexing - H04N 13/341: using temporal multiplexing - H04N 13/388: Volumetric displays, i.e. systems where the image is built up from picture elements distributed through a volume - H04N 19/597: specially adapted for multi-view video sequence encoding - H04N 2013/0081: {Depth or disparity estimation from stereoscopic image signals} - G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - G02B: OPTICAL ELEMENTS, SYSTEMS OR APPARATUS ## Abstract A system and method for determining instantaneously the three-dimensional coordinates of large sets of points in space is disclosed. This system uses two or more CCD cameras (or any other type of camera), each with its own lens and pinhole. The CCD's are all arranged so that the pixel arrays are within the same plane. The CCD's are also arranged in a predefined pattern. The combination of the multiple images acquired from the CCD's onto one single image forms a pattern, which is dictated by the predefined arrangement of the CCD's. The size and centroid on the combined image are a direct measure of the depth location Z and in-plane position (X,Y), respectively. The use of a predefined pattern enables high speed computation through simple algorithmic procedures. Moreover, the use of CCD cameras allows for the recording of such datasets at the corresponding image frame rate, thus opening the use of the invention to the mapping of dynamical systems. ## Claims ### Claim 1 A method, comprising: imaging a volume through a plurality of image apertures, arranged in a specified arrangement forming a geometric shape with 3 or more points such that object points in the volume are each imaged on at least one two dimensional image sensor as three or more corresponding image points, each image point corresponding to the object point and to one of the plurality of image apertures and the corresponding image points being arranged in a pattern geometrically similar to the geometric shape in which the image apertures are arranged; and determining information about a location of the object points in the volume using geometrical information based upon the location of each of the image points corresponding to each object point on the at least one two dimensional image sensor wherein said determining identifies the image points corresponding to an object point by finding the pattern geometrically similar to the geometric shape in which the image apertures are arranged. ### Claim 2 (depends on 1) A method as in claim 1, wherein said specified arrangement is an equilateral triangle, and said information about points comprises information about the equilateral triangle forming the image apertures, and information about an equilateral triangle formed from imaging each of said points. ### Claim 3 (depends on 2) A method as in claim 2, wherein said determining information comprises determining three-dimensional information about the points based on similarity of triangles. ### Claim 4 (depends on 1) A method as in claim 1, further comprising recognizing a pattern of said specified arrangement, to identify locations of source points. ### Claim 5 (depends on 4) A method as in claim 4, wherein said specified arrangement is an equilateral triangle, and said recognizing said specified arrangement comprises recognizing said equilateral triangle. ### Claim 6 (depends on 4) A method as in claim 4, further comprising allowing movement of said image apertures to allow visualizing a different size volume. ### Claim 7 (depends on 1) A method as in claim 1, wherein said image apertures include lenses. ### Claim 8 (depends on 7) A method as in claim 7, wherein said image apertures further include sensors associated with the lenses. ### Claim 9 (depends on 1) A method as in claim 1, wherein said plurality of image apertures includes two or more image apertures, and further comprising at least two image sensors each associated with one of said apertures. ### Claim 10 (depends on 1) A method as in claim 1, wherein said determining information comprises determining information using relations between similar triangles. ### Claim 11 A method, comprising: imaging a volume through at least three image apertures, which image apertures are arranged in a specified geometrical arrangement forming a geometric shape with 3 or more points such that object points in the volume are each imaged on at least one two dimensional image sensor as three or more corresponding image points, each corresponding image point corresponding to the object point and to one of the plurality of image apertures and the corresponding image points being arranged in a pattern geometrically similar to the geometric shape in which the image apertures are arranged; locating particles within the volume based upon the location of each of the image points corresponding to each object point associated with the particles on the at least one two dimensional image sensor by recognizing said geometrical arrangement based upon the location of each of the image points corresponding to each object point on the at least one two dimensional image sensor by finding the pattern geometrically similar to the geometric shape in which the image apertures are arranged; and using a geometric relationship between the pattern geometrically similar to the geometric shape in which the image apertures are arranged and the specified arrangement to determine information about the particles. ### Claim 12 (depends on 11) A method as in claim 11, wherein said using information comprises building similar triangles to determine information about the particles. ### Claim 13 (depends on 11) A method as in claim 11, wherein said information comprises a velocity of a particle. ### Claim 14 (depends on 11) A method as in claim 11, wherein said specified arrangement is an equilateral triangle. ### Claim 15 (depends on 11) A method as in claim 11, wherein said image apertures include pinholes. ### Claim 16 (depends on 11) A method as in claim 11, wherein said image apertures include lenses. ### Claim 17 A method, comprising: arranging a plurality of image apertures into a specified and recognizable geometric arrangement forming a geometric shape with 3 or more points; imaging a volume through the image apertures such that object points in the volume are each imaged on at least one two dimensional image sensor as three or more corresponding image points, each image point corresponding to the object point and to one of the plurality of image apertures and the corresponding image points being arranged in a pattern geometrically similar to the recognizable geometric arrangement in which the image apertures are arranged; and processing images received through each of said image apertures based upon the location of each of the image points corresponding to each object point on the at least one two dimensional image sensor to recognize said recognizable geometric arrangement, and to establish sets from said recognizable arrangement as points to be recognized. ### Claim 18 (depends on 15) A method as in claim 15, wherein said arrangement is a triangle arrangement, and further comprising using information about the triangle arrangement to establish information about points. ### Claim 19 (depends on 18) A method as in claim 18, wherein said information about the triangle arrangement comprises size and centroid of the triangles. ### Claim 20 An apparatus, comprising: a plurality of image apertures, arranged in a specified arrangement forming a geometric shape with 3 or more points; a plurality of image sensors, each associated with an image aperture, and each obtaining an image from the associated image aperture such that object points are each imaged as three or more corresponding image points, each image point corresponding to the object point and to one of the plurality of image apertures and the corresponding image points being arranged in a pattern geometrically similar to the geometric shape in which the image apertures are arranged; and a processor, operating to determine information about a location of the object points using geometrical information based upon the location of each of the image points corresponding to each object point on the plurality of image sensors wherein said determining identifies the image points corresponding to an object point by finding the pattern geometrically similar to the geometric shape in which the image apertures are arranged. ### Claim 21 (depends on 20) An apparatus as in claim 20, wherein said specified arrangement is an equilateral triangle, and said information about points comprises information about the equilateral triangle forming the image apertures, and information about an equilateral triangle formed from imaging each of said points. ### Claim 22 (depends on 21) An apparatus as in claim 21, wherein said processor determines three-dimensional information about the points based on similarity of triangles. ### Claim 23 (depends on 20) An apparatus as in claim 20, wherein said processor recognizes a pattern of said specified arrangement, to identify locations of the object points. ### Claim 24 (depends on 23) An apparatus as in claim 23, wherein said specified arrangement is an equilateral triangle, and said processor recognizes said equilateral triangle. ### Claim 25 (depends on 23) An apparatus as in claim 23, further comprising a movement part that moves said image apertures to allow visualizing a different size volume. ### Claim 26 (depends on 20) An apparatus as in claim 20, wherein said image apertures include lenses. ### Claim 27 An apparatus, comprising: at least three image apertures, which image apertures are arranged in a specified geometric arrangement forming a geometric shape with 3 or more points; at least one two dimensional image sensor, receiving images that have passed through said apertures such that object points in the volume are each imaged on the at least one two dimensional image sensor as three or more corresponding image points, each image point corresponding to the object point and to one of the plurality of image apertures and the corresponding image points being arranged in a pattern geometrically similar to the geometric shape in which the image apertures are arranged; and a processor, identifying particles within an imaged volume, by recognizing the pattern geometrically similar to the geometric shape in which the image apertures are arranged in a received image received on the at least one two dimensional image sensor, and using information about the specified arrangement and the relationship between the received image and the specified arrangement to determine information about the particles. ### Claim 28 (depends on 27) An apparatus as in claim 27, wherein said processor analyzes similarity of triangles in the specified geometric arrangement and the received image to determine information about the particles. ### Claim 29 (depends on 27) An apparatus as in claim 27, wherein said information comprises a location of a particle. ### Claim 30 (depends on 27) An apparatus as in claim 27, wherein said information comprises a velocity of a particle. ### Claim 31 (depends on 27) An apparatus as in claim 27, wherein said specified arrangement is an equilateral triangle. ### Claim 32 (depends on 27) An apparatus as in claim 27, wherein said image apertures include pinholes. ### Claim 33 (depends on 27) An apparatus as in claim 27, wherein said image apertures include lenses. ### Claim 34 An apparatus, comprising: a plurality of image apertures arranged into a specified and recognizable geometrical arrangement forming a geometric shape with 3 or more points; a two dimensional image sensor, receiving images of a common volume through each of said plurality of image apertures such that object points in the volume are each imaged on the two dimensional image sensor as three or more corresponding image points, each image point corresponding to the object point and to one of the plurality of image apertures and the corresponding image points being arranged in a pattern geometrically similar to the geometric shape in which the image apertures are arranged; and a processor, that processes said images received through each of said image apertures to recognize a geometric shape that is geometrically similar to said recognizable arrangement based upon the location of each of the image points corresponding to each object point on the two dimensional image sensors, and to establish sets from said recognizable arrangement as points to be recognized. ### Claim 35 (depends on 34) An apparatus as in claim 34, wherein said arrangement is a triangle arrangement, and wherein said processor uses information about the triangle arrangement and the relation between the triangle arrangement and the corresponding image points to establish information about said points. ### Claim 36 (depends on 35) An apparatus as in claim 35, wherein said information about the triangle arrangement comprises size and centroid of the triangles.