US 8,947,677 B2 · Dual-frequency phase multiplexing (DFPM) and period coded phase measuring (PCPM) pattern strategies in 3-D structured light systems, and lookup table (LUT) based data processing

Abstract

A computer-implemented process, system, and computer-readable storage medium having stored thereon, program code and instructions for 3-D triangulation-based image acquisition of a contoured surface/object-of-interest under observation by at least one camera, by projecting onto the surface-of-interest a multi-frequency pattern comprising a plurality of pixels representing at least a first and second superimposed sinusoid projected simultaneously, each of the sinusoids represented by the pixels having a unique temporal frequency and each of the pixels projected to satisfy I n p = A p + ∑ k = 1 K ⁢ B k p ⁢ cos ⁡ ( 2 ⁢ π ⁢ ⁢ f k ⁢ y p + 2 ⁢ π ⁢ ⁢ kn N ) Eq . ⁢ ( 1.1 ) where Inp is the intensity of a pixel in the projector for nth projected image in a particular instant in time; K is an integer representing the number of component sinusoids (e.g., K=2 for a dual-frequency sinusoid pattern, K=3 for a triple-frequency sinusoid, each component sinusoid having a distinct temporal frequency, where K is ≦(N+1)/2.

Claims12

Dependent claims

A system for 3-D triangulation-based image acquisition of a surface-of-interest under observation by at least one camera, by projecting onto the surface-of-interest a multi-frequency pattern comprising a plurality of pixels representing at least a first and second superimposed sinusoid projected simultaneously, each of the sinusoids represented by the pixels having a unique temporal frequency and each of the pixels projected to satisfy

I
n
p
=
A
p
+
∑
k
=
1
K
⁢
⁢
B
k
p
⁢
cos
(
2
⁢
π
⁢
⁢
f
k
⁢
y
p
+
2
⁢
π
⁢
⁢
kn
N
)
where Inp is an intensity of a pixel in a projector for an nth projected image in a particular moment in time;
K represents a number of component sinusoids comprising the first and second superimposed sinusoids, where K is less than or equal to (N+1)/2, the multi-frequency pattern comprising at least N projected patterns;
a parameter Bkp represents constants for determining at least one parameter of each of said component sinusoids;
Ap is a scalar;
fk is a spatial frequency of a kth sinusoid corresponding with temporal frequency k;
and yp represents a spatial coordinate in an image projected comprising the multi-frequency pattern.

42 more elements

A process for 3-D triangulation-based image acquisition of a surface-of-interest under observation by at least one camera, by projecting onto the surface-of-interest a multi-frequency pattern comprising a plurality of pixels representing at least a first and second superimposed sinusoid projected simultaneously, each of the sinusoids represented by the pixels having a unique temporal frequency and each of the pixels projected to satisfy

I
n
p
=
A
p
+
∑
k
=
1
K
⁢
⁢
B
k
p
⁢
cos
(
2
⁢
π
⁢
⁢
f
k
⁢
y
p
+
2
⁢
π
⁢
⁢
kn
N
)
where Inp is an intensity of a pixel in a projector for an nth projected image in a particular moment in time;
K represents a number of component sinusoids comprising the first and second superimposed sinusoids, where K is less than or equal to (N+1)/2, the multi-frequency pattern comprising at least N projected patterns;
a parameter Bkp represents constants for determining at least one parameter of each of said component sinusoids;
Ap is a scalar;
fk is a spatial frequency of a kth sinusoid corresponding with temporal frequency k;
and yp represents a spatial coordinate in an image projected comprising the multi-frequency pattern.

42 more elements

Dependencies are inferred from the claim text.

Dual-frequency phase multiplexing (DFPM) and period coded phase measuring (PCPM) pattern strategies in 3-D structured light systems, and lookup table (LUT) based data processing

Life of this patent

Dual-frequency phase multiplexing (DFPM) and period coded phase measuring (PCPM) pattern strategies in 3-D structured light systems, and lookup table (LUT) based data processing

Life of this patent

Abstract

Claims12