# US 9,752,869 B2 · Systems and methods for performing machine vision using diffuse structured light

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- Number: US 9,752,869 B2
- Document ID: US9752869B2
- Status: Granted
- Kind: B2
- Application number: 14/239,083
- Filed: 2012-08-15
- Published: 2015-06-11
- Granted: 2017-09-05
- Earliest claimed: 2011-08-15
- Assignees: The Trustees of Columbia University in the City of New York
- Applicants: Shree K. Nayar
- Inventors: Shree K. Nayar
- Web page: https://patentgrep.com/patent/US9752869B2

## CPC

- G01B 11/25: by projecting a pattern, e.g. {one or more lines,} moiré fringes on the object (G01B11/255 takes precedence {; image analysis for depth or shape recovery G06T7/50})
- G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS

## Abstract

Systems for performing machine vision using diffuse structured light comprising: a linear diffuser having an axis of diffusion; a light source that projects an illumination pattern through the linear diffuser and onto a scene, wherein the illumination pattern has transiationai symmetry in a. direction of translation that is aligned with the axis of diffusion; and an image sensor that detects tight reflecting from the scene and that outputs signals corresponding to the detected light. Methods for performing machine vision using diffuse structured light comprising: projecting an illumination pattern from a light source through a linear diffuser and onto a scene, wherein the linear diffuser has an axis of diffusion and the illumination pattern has transiationai symmetry in a direction of translation that is aligned with the axis of diffusion; and detecting light reflecting from, the scene using an image sensor that outputs signals corresponding to the detected light.

## Claims

### Claim 1

A system for performing machine vision using diffuse structured light, comprising:
a linear diffuser having a plane of diffusion;
a light source that projects a non-random, two-dimensional illumination pattern through the linear diffuser and onto a scene, wherein the illumination pattern has translational symmetry in a direction of translation that is parallel to the plane of diffusion; and
an image sensor that detects light reflecting from the scene and that outputs signals corresponding to the detected light.

### Claim 2 (depends on 1)

The system of claim 1, further comprising a hardware processor coupled to the image sensor that receives the output signals.

### Claim 3 (depends on 1)

The system of claim 1, wherein the linear diffuser includes refractive elements.

### Claim 4 (depends on 1)

The system of claim 1, wherein the linear diffuser includes reflective elements.

### Claim 5 (depends on 1)

The system of claim 1, wherein the linear diffuser includes a lenticular lens.

### Claim 6 (depends on 1)

The system of claim 1, wherein the linear diffuser is a planar diffuser.

### Claim 7 (depends on 1)

The system of claim 1, wherein the linear diffuser includes a polarizer.

### Claim 8 (depends on 1)

The system of claim 1, wherein the image sensor includes a polarizer.

### Claim 9 (depends on 1)

The system of claim 1, wherein the illumination pattern includes at least one of a binary light pattern, a De Bruijin light pattern, a N-ary light pattern, a continuous ramp brightness function pattern, a triangular brightness function pattern, a sinusoidal brightness function pattern, and a high frequency strip pattern.

### Claim 10

A method for performing machine vision using diffuse structured light, comprising:
projecting a non-random, two-dimensional illumination pattern from a light source through a linear diffuser and onto a scene, wherein the linear diffuser has a plane of diffusion and the illumination pattern has translational symmetry in a direction of translation that is parallel to the plane of diffusion; and
detecting light reflecting from the scene using an image sensor that outputs signals corresponding to the detected light.

### Claim 11 (depends on 10)

The method of claim 10, further comprising receiving the output signals at a hardware processor coupled to the image sensor.

### Claim 12 (depends on 10)

The method of claim 10, wherein the linear diffuser includes refractive elements elements.

### Claim 13 (depends on 10)

The method of claim 10, wherein the linear diffuser includes reflective elements.

### Claim 14 (depends on 10)

The method of claim 10, wherein the linear diffuser includes a lenticular lens.

### Claim 15 (depends on 10)

The method of claim 10, wherein the linear diffuser is a planar diffuser.

### Claim 16 (depends on 10)

The method of claim 10, wherein the linear diffuser includes a polarizer.

### Claim 17 (depends on 10)

The method of claim 10, wherein the image sensor includes a polarizer.

### Claim 18 (depends on 10)

The method of claim 10, wherein the illumination pattern includes at least one of a binary light pattern, a De Bruijin light pattern, a N-ary light pattern, a continuous ramp brightness function pattern, a triangular brightness function pattern, a sinusoidal brightness function pattern, and a high frequency strip pattern.