Creating 3D images of objects by illuminating with infrared patterns
View Patent ↗According to a general aspect, processing images includes projecting an infra-red pattern onto a three-dimensional object and producing a first image, a second image, and a third image of the three-dimensional object while the pattern is projected on the three-dimensional object. The first image and the second image include the three-dimensional object and the pattern. The first image and the second image are produced by capturing at a first camera and a second camera, respectively, light filtered through an infra-red filter. The third image includes the three-dimensional object but not the pattern. Processing the images also includes establishing a first-pair correspondence between a portion of pixels in the first image and a portion of pixels in the second image. Processing the images further includes constructing, based on the first-pair correspondence and the third image, a two-dimensional image that depicts a three-dimensional construction of the three-dimensional object.
1. A computer-implemented method comprising:
using at least one processor to perform operations comprising:
generating first and second images of an object illuminated with a pattern;
establishing a first-pair correspondence between initial matched pixels of the first and second image based on detecting the illuminated pattern in the first and second images;
identifying a depth discontinuity associated with the object based on a deformation of the illuminated pattern;
controlling a disparity propagation of the initial matched pixels in two directions based on the identified depth discontinuity; and
generating a three-dimensional reconstruction of the object based on the controlled disparity propagation.
2. The method of claim 1 , wherein the object is illuminated using infrared light.
3. The method of claim 1 , wherein the pattern comprises a stripe.
4. The method of claim 1 , wherein identifying the depth discontinuity further comprises identifying a break in the pattern.
5. A device comprising:
a camera configured to generate first and second images of an object illuminated with a pattern; and
a processor configured to:
establish a first-pair correspondence between initial matched pixels of the first and second image based on detecting the illuminated pattern in the first and second images,
identify a depth discontinuity associated with the object based on a deformation of the illuminated pattern,
control a disparity propagation of the initial matched pixels in two directions based on the identified depth discontinuity, and
generate a three-dimensional reconstruction of the object based on the controlled disparity propagation.
6. A computer-implemented method comprising:
using at least one processor to perform operations comprising:
receiving first and second pairs of images in a sequence of paired images of an object illuminated with a pattern; and
for each of the first and second pairs of images:
establishing a first-pair correspondence between initial matched pixels of the paired images based on detecting the illuminated pattern in the paired images,
identifying a depth discontinuity associated with the object based on a deformation of the illuminated pattern,
controlling a disparity propagation of the initial matched pixels in two directions based on the identified depth discontinuity, and
generating a three-dimensional reconstruction of the object based on the controlled disparity propagation.
7. The method of claim 6 , wherein the object is illuminated using infrared light.
8. The method of claim 6 , wherein the pattern comprises a stripe.
9. The method of claim 6 , wherein, for each of the first and second pairs of images, identifying the depth discontinuity further comprises identifying a break in the pattern.
10. A device comprising:
a camera configured to generate first and second pairs of images in a sequence of paired images of an object illuminated with a pattern; and
a processor configured, for each of the first and second pairs of images, to:
establish a first-pair correspondence between initial matched pixels of the paired images based on detecting the illuminated pattern in the paired images,
identify a depth discontinuity associated with the object based on a deformation of the illuminated pattern,
control a disparity propagation of the initial matched pixels in two directions based on the identified depth discontinuity, and
generate a three-dimensional reconstruction of the object based on the controlled disparity propagation.
11. A computer-implemented method comprising:
using at least one processor to perform operations comprising:
receiving first and second images of an object illuminated with a pattern of uncoded stripes;
establishing a first-pair correspondence between initial matched pixels of the paired images based on detecting the illuminated pattern in the paired images;
identifying a depth discontinuity associated with the object based on a deformation of the illuminated pattern;
controlling a disparity propagation of the initial matched pixels in two directions based on the identified depth discontinuity; and
generating a three-dimensional reconstruction of the object based on the controlled disparity propagation.
12. The method of claim 11 , wherein the object is illuminated using infrared light.
13. The method of claim 11 , wherein identifying the depth discontinuity further comprises identifying a break in the pattern.
14. The method of claim 11 , wherein identifying the depth discontinuity further comprises identifying wherein first and second uncoded stripes join each other.
15. A device comprising:
a camera configured to generate first and second images of an object illuminated with a pattern of uncoded stripes; and
a processor configured to:
establish a first-pair correspondence between initial matched pixels of the paired images based on detecting the illuminated pattern in the paired images,
identify a depth discontinuity associated with the object based on a deformation of the illuminated pattern,
control a disparity propagation of the initial matched pixels in two directions based on the identified depth discontinuity, and
generate a three-dimensional reconstruction of the object based on the controlled disparity propagation.
16. A readable computer-readable storage medium, encoded with a computer program, the program comprising instructions that when executed by data processing apparatus cause the data processing apparatus to:
identify a depth discontinuity associated with an object illuminated with a pattern, based on a deformation of the illuminated pattern;
control a disparity propagation in two directions based on the identified depth discontinuity; and
generate a three-dimensional reconstruction of the object based on the controlled disparity propagation.
17. The computer-readable storage medium of claim 16 , wherein the object is illuminated using infrared light.
18. The computer-readable storage medium of claim 16 , wherein the pattern comprises a stripe.
19. A computer-implemented method comprising:
using at least one processor to perform operations comprising:
identifying a depth discontinuity associated with an object illuminated with a pattern, based on a deformation of the illuminated pattern;
controlling a disparity propagation in two directions based on the identified depth discontinuity; and
generating a three-dimensional reconstruction of the object based on the controlled disparity propagation.
20. A device comprising a processor configured to:
identify a depth discontinuity associated with an object illuminated with a pattern, based on a deformation of the illuminated pattern;
control a disparity propagation in two directions based on the identified depth discontinuity; and
generate a three-dimensional reconstruction of the object based on the controlled disparity propagation.