WO1990009561A3 - Laser range imaging system using projective geometry - Google Patents

Laser range imaging system using projective geometry Download PDF

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Publication number
WO1990009561A3
WO1990009561A3 PCT/US1990/000832 US9000832W WO9009561A3 WO 1990009561 A3 WO1990009561 A3 WO 1990009561A3 US 9000832 W US9000832 W US 9000832W WO 9009561 A3 WO9009561 A3 WO 9009561A3
Authority
WO
WIPO (PCT)
Prior art keywords
projective geometry
imaging system
range imaging
electronic
laser range
Prior art date
Application number
PCT/US1990/000832
Other languages
French (fr)
Other versions
WO1990009561A2 (en
Inventor
Constantine J Tsikos
Original Assignee
Constantine J Tsikos
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Constantine J Tsikos filed Critical Constantine J Tsikos
Publication of WO1990009561A2 publication Critical patent/WO1990009561A2/en
Publication of WO1990009561A3 publication Critical patent/WO1990009561A3/en

Links

Classifications

    • 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
    • G01B11/2518—Projection by scanning of the object
    • G01B11/2522—Projection by scanning of the object the position of the object changing and being recorded
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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
    • G06V10/147—Details of sensors, e.g. sensor lenses

Abstract

A range imaging system, and a method for calibrating such a system are based on the principles of projective geometry. The system comprises four subsystems: (1) a laser and a cylindrical lens or vibrating mirror for producing a planar beam of light; (2) an electronic camera equipped with a lens and an appropriate interference filter; (3) an electronic circuit for height (depth) measurements and video image generation; and (4) a scanning mechanism for moving the object with respect to the light beam and the camera so as to scan an area of the object surface. The system is calibrated by determining the position in the electronic image of the object surface at three different heights. The range image is generated from these three known heights from either a previously determined look-up table, or from a calculation based on the invariance of the cross-ratio, a well known ratio from projective geometry.
PCT/US1990/000832 1989-02-17 1990-02-15 Laser range imaging system using projective geometry WO1990009561A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US312,635 1989-02-17
US07/312,635 US4979815A (en) 1989-02-17 1989-02-17 Laser range imaging system based on projective geometry

Publications (2)

Publication Number Publication Date
WO1990009561A2 WO1990009561A2 (en) 1990-08-23
WO1990009561A3 true WO1990009561A3 (en) 1990-10-04

Family

ID=23212346

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US1990/000832 WO1990009561A2 (en) 1989-02-17 1990-02-15 Laser range imaging system using projective geometry

Country Status (3)

Country Link
US (1) US4979815A (en)
IL (1) IL93292A0 (en)
WO (1) WO1990009561A2 (en)

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WO1990009561A2 (en) 1990-08-23
IL93292A0 (en) 1990-11-29
US4979815A (en) 1990-12-25

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