초록 ▼

A range finding apparatus includes a pair of spaced apart cameras which provide signals that are digitalized, stored in frame buffers, and provided to a computer that provides a range map of a target object viewed by the cameras. The computer optimizes a disparity function by minimizing a cost funct

A range finding apparatus includes a pair of spaced apart cameras which provide signals that are digitalized, stored in frame buffers, and provided to a computer that provides a range map of a target object viewed by the cameras. The computer optimizes a disparity function by minimizing a cost functional, thereby finding the range at different points on the surface of the target object based on variations in illumination, reflectivity, and texture.

대표청구항 ▼

A method for finding the range of a target object, comprising the steps of: (a) viewing the target object from a first perspective, using a camera having a sensor with light-sensitive regions that are disposed in a row having ends, to provide a signal VA(IA) corresponding to the first perspective, w

A method for finding the range of a target object, comprising the steps of: (a) viewing the target object from a first perspective, using a camera having a sensor with light-sensitive regions that are disposed in a row having ends, to provide a signal VA(IA) corresponding to the first perspective, where VA is a voltage proportional to light intensity at a light-sensitive region of the row and IA is an integer corresponding to the distance between the respective light-sensitive region and a predetermined end of the row; (b) viewing the target object from a second perspective, using a camera having a sensor with light-sensitive regions that are disposed in a row having ends, to provide a signal VB(IB) corresponding to the second perspective, where VB is a voltage proportional to light intensity at a light-sensitive region of the row and IB is an integer corresponding to the distance between the respective light-sensitive region and a predetermined end of the row; (c) finding a disparity function D(IA) which maps VA(IA) onto VB(IB) for every IA in an interval, the interval including a plurality of consecutive integers; (d) using the disparity function D(IA) to determine the range of the target object at a plurality of points on the target object; and (e) providing electrical signals corresponding to the range to an output device.