초록 ▼

A three-dimensional range camera, which produces a range map of the distances from a reference to each of M×N points in a scene, is modified to generate registered luminance and range images. The same sensor detects range and luminance variations. A planar pattern projector generates sequential pres

A three-dimensional range camera, which produces a range map of the distances from a reference to each of M×N points in a scene, is modified to generate registered luminance and range images. The same sensor detects range and luminance variations. A planar pattern projector generates sequential presentations of time/space coded light rays which are projected onto the object. A linear array camera images the points of light on the object surface, and a processor analyzes one-dimensional scan signals to determine range. To detect luminance there is an additional presentation, either constant illumination or no artificial illumination, and the other scan signal yields luminance along the same strip of the scene.

대표청구항 ▼

An integrated range and luminance camera comprising: a planar pattern projector to generate a 1×N array of time and space coded light rays and to project P sequential presentations of modulated light patterns and an unmodulated pattern onto the surface of a three-dimensional object at the same place

An integrated range and luminance camera comprising: a planar pattern projector to generate a 1×N array of time and space coded light rays and to project P sequential presentations of modulated light patterns and an unmodulated pattern onto the surface of a three-dimensional object at the same place, where P=1+logbN, b is the number of brightness levels and N is the number of rays; a linear array sensor which detects, at an angle to projected rays, light incident on the object and generates P one-dimensional scan signals having peaks at locations corresponding to the intersections of said light rays with the object surface, and an additional scan signal corresponding to brightness; and a processor to analyze said P scan signals to uniquely identify all rays and determine range to the object surface at N points along a line, and to analyze said additional scan signal to determine luminance along that line, and to provide registered range and luminance images.