Light point identification method
A data processing method performed by a computer for detecting reflections of light pulses, comprising the steps: acquiring a camera signal representing a series of camera images of a camera viewing field; detecting whether the camera signal includes one or more light mark portions within the camera viewing field possibly representing a light pulse reflection; relating the detected light mark portions in the series of camera images to a pre-defined emission pattern of the light pulses; and determining that a light mark portion is a reflected light pulse, if the light mark portion in the series of camera images matches to the pre-defined emission pattern of the light pulses.
1. A method, comprising:
acquiring, from a camera system, a series of camera images of a camera viewing field;
detecting whether the series of camera images include a light mark within the camera viewing field, wherein the light mark detected represents a possible light pulse reflection;
comparing a time pattern of the light mark detected in the series of camera images to a pre-define emission pattern of light pulses; and
determining that the light mark detected is a reflected light pulse when the time pattern of the light mark detected in the series of camera images matches the pre-defined emission pattern.
2. The method of claim 1 , wherein the series of camera images of the camera viewing field is a series of subsequent camera images taken with a pre-defined time interval between two camera images, a series of stereoscopic camera images, or includes 3D data.
3. The method of claim 1 , wherein the pre-defined emission pattern of light pulses includes a light pulse during every n-th camera image, wherein n is greater than or equal to 2.
4. The method of claim 1 , further comprising determining a match of the time pattern of the light mark detected in the series of camera images to the pre-defined emission pattern of light pulses when the light mark is only detected in camera images that align with emissions in the pre-defined emission pattern of light pulses and the light mark is not detected in camera images corresponding to periods of no emission in the pre-defined emission pattern of light pulses.
5. The method of claim 1 , further comprising determining the light mark detected in the series of camera images to be a reflected light pulse when the time pattern of the light mark detected indicates m detections in n consecutive camera images, wherein n is greater than or equal to 3 and m is less than n.
6. The method of claim 1 , further comprising determining the light mark detected in the series of camera images to be a reflected light pulse when the time pattern of the light mark includes two subsequent detection within a pre-defined maximum distance.
7. The method of claim 1 , determining the light mark detected in the series of camera images to be a reflected light pulse when a single reflected light pulse is identified in a camera image.
8. The method of claim 1 , further comprising generating a light mark on a surface via a light beam.
9. The method of claim 8 , further comprising determining three-dimensional spatial positions of the reflected light pulse corresponding to the light mark generated on the surface.
10. The method of claim 9 , further comprising registering a shape of the surface based on positional data of the reflected light pulse.