Abstract

A new geometry for the acquisition of three-dimensional coordinates of points on the surfaces of objects is described. It is based on the use of a pattern projected onto the scene and a mask in the aperture of an objective lens. A compact charge-coupled-device camera is used to make the three-dimensional measurements. Experimental results are presented.

© 1986 Optical Society of America

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References

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  1. M. Rioux, “Laser range finder based on synchronized scanners,” Appl. Opt. 23, 3837–3844 (1984).
    [CrossRef] [PubMed]
  2. R. Oka, T. Kasvand, M. Rioux, “Cross-angle transform for viewer-independent recognition of 3-D objects,” presented at the Computer Vision and Pattern Recognition Conference, San Francisco, Calif., June 9–13, 1985.
  3. S. K. Case, J. A. Jalkio, “3-D inspection using multi-stripe structured light,” presented at the Optical Society of America Topical Meeting on Machine Vision, Nevada, March 20–22, 1985.
  4. F. Blais, M. Rioux, “Real-time numerical peak detector,” Signal Process, (to be published).
  5. H. Machida, J. Nitta, A. Seko, H. Kobayashi, “High-efficiency fiber grating for producing multiple beams with uniform intensities,” Appl. Opt. 23, 330–332 (1984).
    [CrossRef]

1984 (2)

Blais, F.

F. Blais, M. Rioux, “Real-time numerical peak detector,” Signal Process, (to be published).

Case, S. K.

S. K. Case, J. A. Jalkio, “3-D inspection using multi-stripe structured light,” presented at the Optical Society of America Topical Meeting on Machine Vision, Nevada, March 20–22, 1985.

Jalkio, J. A.

S. K. Case, J. A. Jalkio, “3-D inspection using multi-stripe structured light,” presented at the Optical Society of America Topical Meeting on Machine Vision, Nevada, March 20–22, 1985.

Kasvand, T.

R. Oka, T. Kasvand, M. Rioux, “Cross-angle transform for viewer-independent recognition of 3-D objects,” presented at the Computer Vision and Pattern Recognition Conference, San Francisco, Calif., June 9–13, 1985.

Kobayashi, H.

Machida, H.

Nitta, J.

Oka, R.

R. Oka, T. Kasvand, M. Rioux, “Cross-angle transform for viewer-independent recognition of 3-D objects,” presented at the Computer Vision and Pattern Recognition Conference, San Francisco, Calif., June 9–13, 1985.

Rioux, M.

M. Rioux, “Laser range finder based on synchronized scanners,” Appl. Opt. 23, 3837–3844 (1984).
[CrossRef] [PubMed]

R. Oka, T. Kasvand, M. Rioux, “Cross-angle transform for viewer-independent recognition of 3-D objects,” presented at the Computer Vision and Pattern Recognition Conference, San Francisco, Calif., June 9–13, 1985.

F. Blais, M. Rioux, “Real-time numerical peak detector,” Signal Process, (to be published).

Seko, A.

Appl. Opt. (2)

Other (3)

R. Oka, T. Kasvand, M. Rioux, “Cross-angle transform for viewer-independent recognition of 3-D objects,” presented at the Computer Vision and Pattern Recognition Conference, San Francisco, Calif., June 9–13, 1985.

S. K. Case, J. A. Jalkio, “3-D inspection using multi-stripe structured light,” presented at the Optical Society of America Topical Meeting on Machine Vision, Nevada, March 20–22, 1985.

F. Blais, M. Rioux, “Real-time numerical peak detector,” Signal Process, (to be published).

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Figures (6)

Fig. 1
Fig. 1

Basic principle to obtain 3-D encoding with mask.

Fig. 2
Fig. 2

Top, the scene as it appears on the CCD without the mask. Bottom, addition of an annular mask encodes the 3-D location of the dots in the form of circles.

Fig. 3
Fig. 3

Top, the scene as it appears without the mask. Bottom, a double-aperture mask splits the lines in two. Splitting amplitude encodes range.

Fig. 4
Fig. 4

Geometrical analysis.

Fig. 5
Fig. 5

Improved depth of view obtained by using an optical bias for the encoding.

Fig. 6
Fig. 6

Experimental result using multistripe projection and double-aperture mask.

Equations (5)

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z = 1 L 1 + K b ,
K = L f f d L ;
x = x 0 z ( L f ) f L , y = y 0 z ( L f ) f L ,
β = 2 ( n 1 ) α f ,
1 , 1 , 1 , 0 , + 1 , + 1 , + 1 , .

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