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TWI433052B - 使用投影圖案之深度製圖 - Google Patents

使用投影圖案之深度製圖 Download PDF

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TWI433052B
TWI433052B TW097112039A TW97112039A TWI433052B TW I433052 B TWI433052 B TW I433052B TW 097112039 A TW097112039 A TW 097112039A TW 97112039 A TW97112039 A TW 97112039A TW I433052 B TWI433052 B TW I433052B
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pattern
image
transparent sheet
captured
spots
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TW097112039A
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TW200847061A (en
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Barak Freedman
Alexander Shpunt
Meir Machline
Yoel Arieli
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Primesense Ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
    • F21V5/00—Refractors for light sources
    • F21V5/04—Refractors for light sources of lens shape
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/12—Details of acquisition arrangements; Constructional details thereof
    • G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
    • G06V10/145—Illumination specially adapted for pattern recognition, e.g. using gratings
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/12—Acquisition of 3D measurements of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/30—Image reproducers

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • General Engineering & Computer Science (AREA)
  • Optics & Photonics (AREA)
  • Artificial Intelligence (AREA)
  • Signal Processing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Description

使用投影圖案之深度製圖
本發明大體而言係關於用於三維(3D)物件之製圖之方法及系統，且具體言之係關於光學3D製圖。
在此項技術中已知光學3D製圖(亦即，藉由處理物件之光學影像而產生物件之表面的3D輪廓)各種方法。
一些方法係基於將雷射斑點圖案投影至物件上且接著分析物件上之圖案之影像。舉例而言，揭示內容以引用方式併入本文中的PCT國際公開案WO 2007/043036描述一種用於物件重建之系統及方法，其中相干光源及隨機斑點圖案之產生器將相干隨機斑點圖案投影至物件上。成像單元偵測受照區域之光回應且產生影像資料。將物件之影像中之圖案相對於該圖案之基準影像之移位用於物件之3D圖之即時重建中。
光學3D製圖之其他方法將不同種類之圖案投影至待製圖之物件上。舉例而言，PCT國際公開案WO 93/03579描述一種三維視覺系統，其中一個或兩個投影儀建立包含具有不同週期性及角度之兩組平行條紋之結構光。作為另一實例，美國專利第6,751,344號描述一種用於光學掃描受試者之方法，其中該受試者係用離散二維影像物件之矩陣(諸如，點柵格)來照明。其他方法包括投影一光柵圖案，如(例如)美國專利4,802,759中所描述。上文提及之專利及公開案之揭示內容以引用方式併入本文中。
在本發明之實施例中，將光點之圖案投影至物件上，且處理該物件上之該圖案之影像以便重建該物件之3D圖。該物件上之該圖案係藉由將光輻射投影穿過含有該圖案之透明片而建立。本文中所揭示之實施例就此而言不同於使用雷射斑點之3D重建方法，在該方法中，該圖案係使用漫射體藉由光干涉而建立。同時，用於此等實施例中之新穎圖案使得有可能使用用以投影圖案之單一固定透明片及用以捕捉物件之影像之單一固定影像捕捉總成來快速且準確地執行3D重建。
因此，根據本發明之實施例，提供用於對物件製圖之設備，其包括：一照明總成，其包括：一單一透明片，其含有光點之固定圖案；及一光源，其經組態以用光輻射透照該單一透明片以便將該圖案投影至該物件上；一影像捕捉總成，其經組態以捕捉使用該單一透明片而投影至該物件上的該圖案之影像；及一處理器，其經耦接以處理由該影像捕捉總成捕捉之影像以便重建該物件之三維(3D)圖。
在所揭示之實施例中，該圖案在由該設備進行製圖的深度範圍內係不相關的。
在一些實施例中，該影像捕捉總成經配置以自相對於該照明總成之單一固定位置及角度捕捉該物件上之該圖案之 影像。通常，該透明片及該光源係固定在該照明總成中之各別位置，且該處理器經組態以在該透明片及該光源僅位於該等各別位置的情況下使用僅自該單一固定位置及角度捕捉之影像來重建該3D圖。
在一個實施例中，該光源包括該光輻射之點源。或者，該光源可包括發光二極體(LED)。
在所揭示之實施例中，該處理器經配置以處理在該物件移動時捕捉的一連續影像以便對該物件之3D移動製圖，其中該物件為人體之部分，且該3D移動包括由人體之部分作出的姿勢，且其中該處理器經耦接以回應於該姿勢而將一輸入提供至電腦應用程式。
因此，根據本發明之實施例，亦提供用於對物件製圖之設備，其包括：一照明總成，其包括：一透明片，其含有光點之不相關圖案；及一光源，其經組態以用光輻射透照該透明片以便將該不相關圖案投影至該物件上；一影像捕捉總成，其經組態以捕捉投影至該物件上的該不相關圖案之影像；及一處理器，其經耦接以處理該由該影像捕捉總成捕捉之影像以便重建該物件之三維(3D)圖。
在一實施例中，該不相關圖案包括一虛擬隨機圖案。在另一實施例中，該不相關圖案包括一準週期性圖案，其中該準週期性圖案具有n重對稱性，其中n＝5或n≧7。
通常，該不相關圖案具有小於1/e之工作循環。其他或另外，該等光點具有橫跨該圖案而改變之局部工作循環。
在替代實施例中，該透明片含有在第一方向上週期性地重複之複數個平行帶，每一帶含有在垂直於該第一方向之第二方向上橫跨該透明片之至少一部分而延伸的該不相關圖案之複本。
在一些實施例中，該處理器經組態以藉由找出在投影至該物件上的該圖案之該影像中捕捉的該物件之多個區域上之該等光點之該圖案與該圖案之基準影像之間的各別偏移來導出該3D圖，其中該等各別偏移指示該等區域與該影像捕捉總成之間的各別距離。在一實施例中，該等光點具有沿著軸線橫跨該圖案而單調地改變之局部工作循環，且該處理器經組態以回應於該局部工作循環而判定該影像中之該多個區域之局部灰階，且基於該等局部灰階而估計該等各別偏移。
在替代實施例中，該透明片中之該等光點包含以該固定圖案或該不相關圖案配置之微透鏡。
此外，根據本發明之實施例，提供用於對物件製圖之設備，其包括：一照明總成，其包括：一透明片，其含有以非均勻圖案配置之複數個微透鏡；及一光源，其經組態以用光輻射透照該透明片以便將該圖案投影至該物件上； 一影像捕捉總成，其經組態以捕捉使用該透明片而投影至該物件上的該圖案之影像；及一處理器，其經耦接以處理由該影像捕捉總成捕捉之影像以便重建該物件之三維(3D)圖。
通常，該等微透鏡經組態以聚焦該光輻射以按照該非均勻圖案在焦平面處形成各別焦點，且該光源包括用於將該等焦點之該非均勻圖案自該焦平面投影至該物件上的光學器件。或者，該等微透鏡中之至少一些具有不同焦距，且該光源包括用於投影該等焦點之該非均勻圖案以使得投影在該物件上之該圖案隨著與該照明總成相距之距離而改變之光學器件。
另外，根據本發明之實施例，提供一種用於對物件製圖之方法，其包括：透照含有光點之固定圖案之單一透明片以便將該圖案投影至該物件上；捕捉使用該單一透明片而投影至該物件上的該圖案之影像；及處理該所捕捉之影像以便重建該物件之三維(3D)圖。
此外，根據本發明之實施例，提供一種用於對物件製圖之方法，其包括：一照明總成，其包括：透照含有光點之不相關圖案之透明片以便將該不相關圖案投影至該物件上；捕捉投影至該物件上的該不相關圖案之影像；及 處理該所捕捉之影像以便重建該物件之三維(3D)圖。
此外，根據本發明之實施例，提供一種用於對物件製圖之方法，其包括：透照含有以非均勻圖案配置之複數個微透鏡之透明片以便將該非均勻圖案投影至該物件上；捕捉投影至該物件上的該非均勻圖案之影像；及處理該所捕捉之影像以便重建該物件之三維(3D)圖。
結合隨附諸圖將自本發明之以下【實施方式】較全面地理解本發明。
圖1為根據本發明之實施例之用於3D光學製圖之系統20的示意性圖像說明。系統20包含一成像裝置22，其產生一圖案並將該圖案投影至一物件28上且捕捉呈現在該物件上之該圖案之影像。裝置22之設計及操作之細節將展示於以下諸圖中且將在下文中參看該等圖來描述。
在一些實施例中，裝置22將光點之不相關圖案投影至物件28上。在本專利申請案之情形下及在申請專利範圍中，術語"不相關圖案"指代光點(可為明亮或黑暗的)之經投影之圖案，該等光點之位置在橫穿投影束軸線之平面中係不相關的。該等位置在如下意義上係不相關的：隨橫向移位而變之圖案之自相關對於大於光點大小且不大於可在由該系統製圖之深度範圍內出現之最大移位的任何移位係無關緊要的。諸如雷射斑點圖案之隨機圖案在此意義上係不相關的。由人或電腦設計建立之合成圖案(諸如，虛擬隨機 圖案及準週期性圖案)在上述定義所規定之範圍內亦可為不相關的。
影像處理器24處理由裝置22產生之影像資料以重建物件28之3D圖。術語"3D圖"指代表示該物件之表面的一組3D座標。基於影像資料之此圖之導出在本文中被稱為"3D製圖"或被等效地稱為"3D重建"。基於投影至物件28上的圖案之影像中之光點相對於與裝置22相距已知距離之參考圖案的橫向移位，影像處理器24藉由三角測量來計算物件28之表面上之點的3D座標。用於此類使用投影雷射斑點圖案之基於三角測量之3D製圖的之方法描述於上文提及之PCT公開案WO 2007/043036中及2007年3月8日申請且公開為WO 2007/105205的PCT專利申請案PCT/IL2007/000306中，該PCT專利申請案被讓渡給本專利申請案之受讓人，且其揭示內容以引用方式併入本文中。此等方法可加以必要的變更而使用合成的不相關圖案在系統20中加以實施。
影像處理器24可包含一通用電腦處理器，其係在軟體中程式化以執行下文中所描述之功能。舉例而言，該軟體可經由網路以電子錶單下載至處理器24，或該軟體可替代地提供於諸如光學、磁性或電子記憶體媒體之有形媒體上。其他或另外，該影像處理器之功能中之一些或全部可實施於諸如定製或半定製積體電路或可程式化之數位信號處理器(DSP)之專用硬體中。雖然處理器24在圖1中係以實例方式展示為來自成像裝置22之獨立單元，但處理器24之處理功能中之一些或全部可由該成像裝置之外殼內的適合之專 用電路或與該成像裝置相關聯之其他電路來執行。
由處理器24產生之3D圖可用於廣泛的不同目的。舉例而言，該圖可被發送至諸如顯示器26之輸出裝置，其展示該物件之偽3D影像。在圖1中所示之實例中，物件28包含受試者之主體之全部或部分(諸如，手)。在此狀況下，系統20可用以提供基於姿勢之使用者介面，其中，替代諸如滑鼠、操縱桿或其他附件之觸覺介面元件，藉由裝置22而偵測之使用者移動控制諸如遊戲的互動式電腦應用程式。或者，系統20可用以建立其他類型之物件之3D圖，以用於需要3D座標分布之大體上任何應用程式。
圖2為根據本發明之實施例之裝置22的示意性俯視圖。裝置22中之照明總成30包含一光源34(如下文所解釋，其可為不具額外光學器件之點源，諸如，雷射)及一透明片36，該兩者組合地使用以將光點之圖案投影至物件28上。在本專利申請案之情形下且在申請專利範圍中，術語"透明片"以其普通意義使用以意謂透明支撐體上之正影像。幻燈片及箔片為該等透明片之實例。在本發明之一些實施例中，透明片36上之正影像為待投影至物件28上之圖案之影像。為達成此等實施例之目的，固定在總成30之外殼中、具有光點之固定不相關圖案之單一固定透明片係足夠的。或者，該照明總成可經組態以藉由在不同固定透明片之間交替或使用可變透明片(諸如，可程式化之空間光調變器)來提供可變圖案。
透明片36可含有各種種類的光點之固定不相關圖案。舉 例而言，該透明片可含有根據虛擬隨機分布函數之值而分布在該透明片之區域上的二元(白色/黑色)光點之圖案。將參看圖4及圖5在下文中描述不相關光點圖案之其他實例。為了製圖過程中之良好效能，該光點圖案具有低的工作循環(亦即，圖案之具有平均亮度以上亮度的區域之分數不大於l/e 且希望其小於1/4或甚至小於1/10)係有利的。低的工作循環在增加3D製圖之光點移位偵測之信雜比方面係有益的。
光源34用光輻射透照透明片36以便將該透明片所含的該光點圖案之影像投影至物件28上。(術語"光"及"光輻射"在本專利申請案之情形下指代任何頻帶之光輻射，包括紅外線及紫外線以及可見光。然而，在一些應用中，由於適合之低成本光源及偵測器之可用性及該光點圖案因此而為人類觀察者不可見的事實，近紅外光係較佳的。)在圖2中所示之組態中，光源34為點源，此意謂由該光源發射之輻射線自足夠小的位點發出，使得透明片36上之光點圖案被清晰地複製在物件28上。出於此目的，光源34可包含(例如)具有大的角散度之相干源，諸如，雷射二極體。當點源係以此方式與該透明片一起使用時，不需要其他投影光學器件。或者，舉例而言，該照明總成可包含適合之投影光學器件，如圖3中所示。在任一狀況下，該光源通常係在相對於透明片36固定之位置安裝在總成30之外殼中。
影像捕捉總成32捕捉由照明總成30投影至物件28上的該圖案之影像。總成32包含物鏡光學器件40，其將該影像聚 焦至影像感應器42上。通常，感應器42包含偵測器元件44之直線陣列，諸如，基於CCD或CMOS之影像感應器陣列。總成32亦可包含帶通濾光片(圖中未展示)，其經選擇並定位以使得感應器42僅接收在光源34之發射帶中之光，同時濾出可能另外減小由感應器捕捉之所投影之圖案的影像之對比度的環境光。
在圖2中所展示之實施例中，照明總成30與影像捕捉總成32保持為固定空間關係。影像處理器24所使用的此組態及處理技術使得有可能在無照明總成與影像捕捉總成之間的相對移動且無移動部分的情況下，使用單一影像捕捉總成來執行3D製圖。或者，將在下文中描述的照明及製圖技術可與其他種類之影像捕捉總成結合而在各種不同組態(諸如上文之[先前技術]中所描述之組態)中使用。舉例而言，影像捕捉總成可為可相對於照明總成而移動的。另外或其他，兩個或兩個以上之影像捕捉總成可用以自不同角度捕捉物件28之影像。
為了簡化3D圖及歸因於圖2之組態中之物件28之運動的圖之改變的計算，可安裝總成30及32以使得通過影像捕捉總成32之入射光瞳之中心及由光源34形成於透明片36上之光點的軸線平行於感應器40之軸線中之一者(為方便起見，將其看作為X軸，而Z軸對應於與裝置22相距之距離)。在上文提及之PCT專利申請案PCT/IL2007/000306中進一步解釋此配置之優點。
具體言之，藉由此配置中之三角測量，物件上之點的Z 方向移位δZ將在於該影像中觀測到之光點圖案中造成伴隨的橫向移位δX。因此可藉由量測由總成32捕捉的影像中之光點之X座標相對於在已知距離Z處取得之基準影像的移位來判定物件上之點之Z座標以及隨時間的Z座標之移位。可忽視Y方向移位。雖然該方法之態樣亦可能適合於與其他類型之圖案一起使用，但此種類之三角測量方法在使用光點之不相關圖案的3D製圖中尤其適當。
因此，為了產生物件28之3D圖，影像處理器24(圖1)比較所捕捉之影像之每一區域中之光點之群組與該基準影像以便找出基準影像中之光點之最緊密匹配之群組。影像中之光點之匹配群組之間的相對移位產生所捕捉之影像之區域相對於該基準影像的Z方向移位。可使用此項技術中已知的影像相關或其他影像匹配計算方法來量測該光點圖案中之移位。在上文提及之PCT專利申請案及PCT國際公開案WO 2007/043036中描述一些例示性方法。
圖3為根據本發明之替代實施例之照明總成50的示意性俯視圖，該照明總成50可替代總成30而用於裝置22中。在此實施例中，透明片36係使用非點光源(諸如，發光二極體(LED)52)以適合之光學器件54及56來透照。圖3中之光學器件54及56之組態及位置係任意的，且任何適合種類之投影光學器件可用以使用來自LED 52之光將來自透明片36之圖案之影像投影至物件28上。如同在總成30(圖2)中一樣，照明總成50之元件可固定在該總成之外殼內。LED 52在總成50中之使用在減小該總成之大小、成本及散熱方面 以及改良該總成之平均故障間隔時間(MTBF)及總可靠性方面係有利的。此外，因為LED發射在相對窄之波長帶中之光，所以由物鏡光學器件40(圖2)收集之光可被影像捕捉總成32中之適合的帶通濾光片有效地過濾，如上文所解釋。
圖4為根據本發明之實施例之圖案60的示意性表示，該圖案60可含於透明片36中。圖案60係準週期性的，其具有基礎的五重對稱性。準週期性圖案之特徵在於頻域(互反空間)中之相異尖峰，但不含有在空間域(實空間)中的圖案之區域上重複的單位格子。舉例而言，圖案60屬於具有由以下方程式描述之局部強度I (r)之n重對稱性之圖案家族： 其中對於n＝5或n≧7(n＝5,7,8,…)，此等圖案在上文所定義之意義上係不相關的。或者，透明片36可含有其他類型之不相關準週期性圖案。
準週期性圖案在系統20中之使用在以下方面係有利的：圖案具有具相異尖峰之已知空間頻譜(與頻譜平坦之隨機圖案及虛擬隨機圖案相反)。處理器24可在過濾由影像捕捉總成32捕捉的該圖案之數位影像時使用此頻譜資訊，且因此可減少雜訊及環境光在影像相關計算中的效應。另一方面，因為該圖案在由該系統製圖的深度範圍內係不相關的，所以錯誤的製圖結果之可能性減小，因為僅物件之影像之區域與基準影像之對應區域之間的正確匹配將產生高 相關值。
圖5為根據本發明之另一實施例之圖案70的示意性表示，該圖案70可含於透明片36中。圖案70包含散布有白色像素74之黑色像素72之虛擬隨機分布，其中白色像素之局部工作循環沿著水平(X)軸線單調地減小。換言之，在任何局部區域中，黑色像素及白色像素之分布係隨機的。然而，就較大區域(例如，一10×10個像素之區塊)而言，白色像素之數目相對於黑色像素之數目橫跨該圖案而自左向右減小。將此區塊上之像素值之和視為其灰階，灰階類似地橫跨該圖案而單調減小。
當幻燈片36含有圖案70時，投影至物件28上之圖案之灰階在以低解析度觀察時將同樣地橫跨該物件之該影像而改變。因此，在初始處理階段中，處理器24可以低解析度處理該影像以判定該物件之該影像中之每一區域的灰階。該處理器可接著比較此灰階與橫跨該基準影像之灰階之分布以便進行該物件之每一區域之深度(Z座標)的粗略估計。對一些應用而言，此粗略估計可為足夠的。
或者，該處理器可針對該物件之該影像之每一區域在選擇該基準影像之適當區域(在其中搜尋該光點圖案之匹配部分)時使用此初始估計。藉由使光點圖案匹配，該處理器計算較準確之深度值。此兩步驟處理方法在避免錯誤製圖結果上且可能在減少總的計算時間上可為有利的。雖然圖5展示虛擬隨機圖案，但橫跨該透明片的光點密度之變化可類似地應用於其他種類之圖案。
圖6為根據本發明之又一實施例之圖案80的示意性表示，該圖案80可含於透明片36中。圖案80包含週期性地重複之多個平行帶82，每一帶包含光點之相同虛擬隨機分布之複本。根據圖2中之軸線的配置，假定該等帶在X方向上橫跨該透明片(或橫跨該透明片之至少一部分)而延伸，X方向在圖6中為水平的。如上文所述，當裝置22係以圖2中所示之方式組態(其中影像捕捉總成32之入射光瞳及由光源34在透明片36上形成之光點平行於X軸而對準)時，僅必須量測投影在物件上之圖案之X方向移位以便對物件之Z座標製圖。可忽視Y方向移位。因此，圖案在X方向上不相關係足夠的，而Y方向相關並不重要(針對大於相關窗之大小的距離)。
因為圖案80中之帶82在Y方向中週期性地重複，所以處理器24可在判定物件之影像中之區域的X方向移位時使用單一帶82之影像作為基準影像，而與該區域之Y座標無關。因此，儲存該基準影像所需之記憶體減少。計算之複雜性亦可降低，因為搜尋該基準影像中之匹配區域的範圍係有限的。帶82可替代地包含在X方向上不相關的其他類型之圖案，諸如，上文在圖4及圖5中所展示之類型之圖案“
現參看圖7A及圖7B，其示意性地說明根據本發明之實施例之透明片90，該透明片90可替代透明片36(圖3)而用於照明總成50中。圖7A為透明片之正視圖，而圖7B為側視圖。
在此實施例中，透明片90上之光點包含微透鏡92，該等微透鏡係以非均勻、不相關圖案(諸如，隨機或虛擬隨機圖案)分布在透明基板94上。該圖案之工作循環係由每一單位面積中之微透鏡之密度及該等微透鏡及其他投影光學器件(其界定焦點大小)之光學特性給出。如上文所解釋，該工作循環通常(雖然未必)小於1/e。微透鏡92可使用光微影製程而形成於基板94上，例如，如用以製造此項技術中已知的均勻微透鏡柵格陣列一樣。此等製程能夠製造直徑為約0.1 mm且焦距為5至6 mm的微透鏡。或者，取決於製程及應用要求，微透鏡92可具有更大或更小尺寸及焦距。
如圖7B中所示，微透鏡92將來自諸如LED 52之光源之光聚焦至焦平面96上。每一微透鏡因此在該焦平面處形成對應的明亮焦點。光學器件56將明亮光點之此圖案投影至物件28上。為說明清楚起見，微透鏡92在圖7A及圖7B中被展示為稀疏地分布在基板94之區域上，但實務上，該等微透鏡可較密集地封裝。藉由與上述其他實施例進行比較，此配置在以下方面係有利的：大體上來自該光源之所有光被投影至該物件上。透明片90有效地重分布該光，而非阻斷圖案之黑色區域中之光的一部分。
作為另一替代，該等微透鏡可具有非均勻焦距。舉例而言，不同微透鏡可具有不同焦距，使得投影在物件上之圖案隨著與照明總成相距之距離而改變。作為另一實例，該等微透鏡中之一些或全部可具有多個不同焦距。其他或另外，該等微透鏡或投影光學器件(諸如，圖3中之光學器件 56)可為散光的，此意謂著其在不同平面中具有不同焦距，使得光點之形狀將隨著距離而改變。(作為又一替代，可藉由使物鏡光學器件40(圖2)散光來獲得等效結果。)如(例如)PCT國際公開案WO 2007/996893及WO 2007/105215中所描述，此等種類之深度改變圖案可在範圍製圖中使用，該等公開案之揭示內容以引用方式併入本文中。
圖8為根據本發明之另一實施例之照明總成100的示意性俯視圖，該照明總成100可替代總成30(圖2)或總成50(圖3)而用於3D製圖中。在此狀況下，來自LED 52或來自另一源之光係由光學器件54引導穿過漫射體102、繼而穿過均勻微透鏡陣列104。在此組態中，該漫射體所引入的波前變化將引起由該等微透鏡形成之光點之位置的隨機化。光學器件56將光點之此圖案投影至待進行製圖的物件上。亦在此狀況下，散光光學器件或其他構件可用以使該圖案隨著與照明總成相距之距離而改變。
圖4至圖6及圖7A/圖7B中之圖案僅以實例方式展示的，且含有其他種類之不相關圖案之透明片可類似地用於系統20中且被認為在本發明之範疇內。此外，雖然上文所描述之實施例與上文所描述的系統20之特定組態及裝置22之設計相關，但本發明之特定原理可類似地應用於光學3D製圖的其他類型之系統及裝置中。舉例而言，上文所描述之實施例之態樣可應用於如下系統中：其使用多個影像捕捉總成，或其中，影像捕捉總成及照明總成可相對於彼此而移 動。
因此，應瞭解，上文所描述之實施例係以實例方式引用的，且本發明並不限於在上文中特定展示並描述的內容。實情為，本發明之範疇包括上文中所描述之各種特徵之組合及子組合兩者以及其變化及修改，熟習此項技術者在閱讀前述描述之後將清楚該等變化及修改且該等變化及修改未在先前技術中予以揭示。
20‧‧‧系統
22‧‧‧成像裝置
24‧‧‧影像處理器
26‧‧‧顯示器
28‧‧‧物件
30‧‧‧照明總成
32‧‧‧影像捕捉總成
34‧‧‧光源
36‧‧‧透明片
40‧‧‧物鏡光學器件
42‧‧‧影像感應器
44‧‧‧偵測器元件之直線陣列
50‧‧‧照明總成
52‧‧‧發光二極體(LED)/光源
54‧‧‧光學器件
56‧‧‧光學器件
60‧‧‧圖案
70‧‧‧圖案
72‧‧‧黑色像素
74‧‧‧白色像素
80‧‧‧圖案
82‧‧‧平行帶
90‧‧‧透明片
92‧‧‧微透鏡
94‧‧‧透明基板
96‧‧‧焦平面
100‧‧‧照明總成
102‧‧‧漫射體
104‧‧‧均勻微透鏡陣列
圖1為根據本發明之實施例之用於3D製圖之系統的示意性圖像說明；圖2為根據本發明之實施例之用於3D製圖中的成像裝置之示意性俯視圖；圖3為根據本發明之實施例之用於3D製圖中的照明總成之示意性俯視圖；圖4至圖6為根據本發明之實施例之用於3D製圖中的圖案之示意性表示；圖7A為根據本發明之實施例之用於3D製圖中的透明片之示意性正視圖；圖7B為根據本發明之實施例之圖7A之透明片的示意性側視圖，其展示光線穿過透明片之通路；及圖8為根據本發明之另一實施例之用於3D製圖中的照明總成之示意性俯視圖。
20‧‧‧系統
22‧‧‧成像裝置
24‧‧‧影像處理器
26‧‧‧顯示器
28‧‧‧物件

Claims (46)

  1. 一種用於對一物件製圖之設備，其包含：一照明總成，其包含：一單一透明片，其含有光點之一固定圖案；及一光輻射之點源，其經組態以用光輻射透照該單一透明片以便將該圖案投影至該物件上；一影像捕捉總成，其經組態以捕捉使用該單一透明片而投影至該物件上的該圖案之一影像；及一處理器，其經耦接以處理由該影像捕捉總成捕捉之該影像以便重建該物件之一三維(3D)圖。
  2. 如請求項1之設備，其中該圖案在由該設備製圖的一深度範圍內係不相關的。
  3. 如請求項1之設備，其中該處理器經配置以藉由找出在投影至該物件上之該圖案之該影像中捕捉的該物件之多個區域上之該等光點之該圖案與該圖案之一基準影像之間的各別偏移來導出該3D圖，其中該等各別偏移指示該等區域與該影像捕捉總成之間的各別距離。
  4. 如請求項1之設備，其中該影像捕捉總成經配置以自一相對於該照明總成之單一固定位置及角度捕捉該物件上之該圖案之影像。
  5. 如請求項4之設備，其中該透明片及該點源係固定在該照明總成中之各別位置。
  6. 如請求項5之設備，其中該處理器經組態以在該透明片及該點源僅位於該等各別位置的情況下使用僅自該單一 固定位置及角度捕捉之該等影像來重建該3D圖。
  7. 如請求項6中任一項之設備，其中該處理器經配置以處理在該物件移動時捕捉之一連續影像以便對該物件之一3D移動製圖。
  8. 如請求項7之設備，其中該物件為一人體之一部分，且其中該3D移動包含一由該人體之該部分作出的姿勢，且其中該處理器經耦接以回應於該姿勢而將一輸入提供至一電腦應用程式。
  9. 如請求項1之設備，其中該透明片中之該等光點包含以該固定圖案配置之微透鏡。
  10. 一種用於對一物件製圖之設備，其包含：一照明總成，其包含：一透明片，其含有光點之一不相關圖案；及一光源，其經組態以用光輻射透照該透明片以便將該不相關圖案投影至該物件上，其中該不相關圖案具有一小於1/e之空間工作循環；一影像捕捉總成，其經組態以捕捉投影至該物件上之該不相關圖案之一影像；及一處理器，其經耦接以處理由該影像捕捉總成捕捉之該影像以便重建該物件之一三維(3D)圖。
  11. 如請求項10之設備，其中該不相關圖案包含一虛擬隨機圖案。
  12. 如請求項10之設備，其中該不相關圖案包含一準週期性圖案。
  13. 如請求項12之設備，其中該準週期性圖案具有一n 重對稱性，其中n =5或n 7。
  14. 如請求項10之設備，其中該等光點具有一橫跨該圖案而改變之局部工作循環。
  15. 如請求項10之設備，其中該透明片含有在一第一方向上週期性地重複之複數個平行帶，每一帶含有在一垂直於該第一方向之第二方向上橫跨該透明片之至少一部分而延伸的該不相關圖案之一複本。
  16. 如請求項10至15中任一項之設備，其中該處理器經組態以藉由找出在投影至該物件上的該圖案之該影像中捕捉的該物件之多個區域上之該等光點之該圖案與該圖案之一基準影像之間的各別偏移來導出該3D圖，其中該等各別偏移指示該等區域與該影像捕捉總成之間的各別距離。
  17. 如請求項16之設備，其中該等光點具有一沿著一軸線橫跨該圖案而單調地改變之局部工作循環，且其中該處理器經組態以回應於該局部工作循環而判定該影像中之該多個區域之局部灰階，且基於該等局部灰階來估計該等各別偏移。
  18. 如請求項10之設備，其中該透明片中之該等光點包含以該不相關圖案配置之微透鏡。
  19. 一種用於對一物件製圖之設備，其包含：一照明總成，其包含：一透明片，其含有以一非均勻圖案配置之複數個微 透鏡；及一光源，其經組態以用光輻射透照該透明片以便將該圖案投影至該物件上；一影像捕捉總成，其經組態以捕捉使用該透明片而投影至該物件上的該圖案之一影像；及一處理器，其經耦接以處理由該影像捕捉總成捕捉之該影像以便重建該物件之一三維(3D)圖。
  20. 如請求項19之設備，其中該等微透鏡經組態以聚焦該光輻射以按照該非均勻圖案在一焦平面處形成各別焦點，且其中該光源包含用於將該等焦點之該非均勻圖案自該焦平面投影至該物件上的光學器件。
  21. 如請求項19之設備，其中該等微透鏡中之至少一些具有非均勻焦距，且其中該光源包含用於投影該等焦點之該非均勻圖案以使得投影在該物件上的該圖案隨著與該照明總成相距之距離而改變之光學器件。
  22. 一種用於對一物件製圖之方法，其包含：藉由由一點源將光輻射投影通過單一透明片透照一含有光點之一固定圖案之單一透明片以便將該圖案投影至該物件上；捕捉使用該單一透明片而投影至該物件上的該圖案之一影像；及處理該所捕捉之影像以便重建該物件之一三維(3D)圖。
  23. 如請求項22之方法，其中該圖案在由該方法製圖的一深 度範圍內係不相關的。
  24. 如請求項22之方法，其中處理該所捕捉之影像包含找出在投影至該物件上的該圖案之該影像中捕捉的該物件之多個區域上之該等光點之該圖案與該圖案之一基準影像之間的各別偏移及回應於該等各別偏移而判定與該等區域相距之各別距離。
  25. 如請求項22之方法，其中捕捉該影像包含自一相對於該單一透明片之單一固定位置及角度捕捉該物件上之該圖案之影像。
  26. 如請求項25之方法，其中該透明片及該點源係相對於彼此而固定於各別位置。
  27. 如請求項25之方法，其中處理該所捕捉之影像包含在未使用自除該單一固定位置及角度外的任何位置或角度捕捉的其他影像且未使該透明片及該光源自該等固定的各別位置移動的情況下重建該3D圖。
  28. 如請求項22至27中任一項之方法，其中處理該所捕捉之影像包含處理在該物件移動時捕捉的一連續影像以便對該物件之一3D移動製圖。
  29. 如請求項28之方法，其中該物件為一人體之一部分，且其中該3D移動包含一由該人體之該部分作出的姿勢，且其中處理該等影像之該序列包含回應於該姿勢而將一輸入提供至一電腦應用程式。
  30. 如請求項22之方法，其中該透明片中之該等光點包含以該固定圖案配置之微透鏡。
  31. 一種用於對一物件製圖之方法，其包含：透照一含有光點之一不相關圖案之透明片以便將該不相關圖案投影至該物件上，其中該不相關圖案具有一小於1/e之空間工作循環；捕捉投影至該物件上的該不相關圖案之一影像；及處理該所捕捉之影像以便重建該物件之一三維(3D)圖。
  32. 如請求項31之方法，其中該不相關圖案包含一虛擬隨機圖案。
  33. 如請求項31之方法，其中該不相關圖案包含一準週期性圖案。
  34. 如請求項33之方法，其中該準週期性圖案具有一n 重對稱性，其中n =5或n 7。
  35. 如請求項31之方法，其中該等光點具有一橫跨該圖案而改變之局部工作循環。
  36. 如請求項31之方法，其中該透明片含有在一第一方向上週期性地重複之複數個平行帶，每一帶含有在一垂直於該第一方向之第二方向上橫跨該透明片之至少一部分而延伸的該不相關圖案之一複本。
  37. 如請求項31至36中任一項之方法，其中處理該所捕捉之影像包含找出在投影至該物件上的該圖案之該影像中捕捉的該物件之多個區域上之該等光點之該圖案與該圖案之一基準影像之間的各別偏移及回應於該等各別偏移而判定與該等區域相距之各別距離。
  38. 如請求項37之方法，其中該等光點具有一沿著一軸線橫跨該圖案而單調地改變之局部工作循環，且其中找出該等各別偏移包含回應於該局部工作循環而判定該影像中之該多個區域之局部灰階及基於該等局部灰階而估計該等各別偏移。
  39. 如請求項31之方法，其中該透明片中之該等光點包含以該不相關圖案配置之微透鏡。
  40. 一種用於對一物件製圖之方法，其包含：透照一含有以一非均勻圖案配置之複數個微透鏡之透明片以便將該非均勻圖案投影至該物件上；捕捉投影至該物件上的該非均勻圖案之一影像；及處理該所捕捉之影像以便重建該物件之一三維(3D)圖。
  41. 如請求項40之方法，其中該等微透鏡經組態以聚焦光輻射以按照該非均勻圖案在一焦平面處形成各別焦點，且其中透照該透明片包含將該等焦點之該非均勻圖案自該焦平面投影至該物件上。
  42. 如請求項40之方法，其中該等微透鏡中之至少一些具有非均勻焦距，且其中透照該透明片包含投影該等焦點之該非均勻圖案以使得投影在該物件上之該圖案隨著與該透明片相距之距離而改變。
  43. 一種用於對一物件製圖之設備，其包含：一照明總成，其包含：一漫射體； 一光源，其經組態以用光輻射透照該漫射體；一透明片，其含有一陣列之微透鏡，該等微透鏡經配置以聚焦透射穿過該漫射體之該光輻射，藉此產生光點之一圖案；及投影光學器件，其經配置以將該圖案投影至該物件上；一影像捕捉總成，其經組態以捕捉使用該透明片而投影至該物件上的該圖案之一影像；及一處理器，其經耦接以處理由該影像捕捉總成捕捉之該影像以便重建該物件之一三維(3D)圖。
  44. 如請求項43之設備，其中該照明總成經組態以投影該圖案，以使得該圖案隨著與該照明總成相距之距離而改變。
  45. 一種用於對一物件製圖之方法，其包含：用光輻射透照一漫射體；使用一陣列之微透鏡來聚焦透射穿過該漫射體之該光輻射，藉此產生光點之一圖案；將該圖案投影至該物件上；捕捉投影至該物件上的該圖案之一影像；及處理該所捕捉之影像以便重建該物件之一三維(3D)圖。
  46. 如請求項45之方法，其中該所投影之圖案隨著與該陣列之微透鏡相距之距離而改變。
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US20100118123A1 (en) 2010-05-13
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US10514148B2 (en) 2019-12-24
US9885459B2 (en) 2018-02-06
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US8493496B2 (en) 2013-07-23
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