Combining depth-maps from different acquisition methods

摘要

A method and system capturing three-dimensional information of a scene on a structure includes operating a light pattern projector to project a known light pattern onto the scene; using at least two cameras, taking images of the scene, the images being two-dimensional images taken chronologically synchronous; using first and second images, and the known position and orientation of the cameras with respect to each other, extracting a first depth map of the scene; using the first image, the known light pattern, and the known position and orientation of the first camera and the light pattern projector with respect to each other, extracting a second depth map of the scene; and using the extracted first depth map and the extracted second depth map of the scene together to make a 3D measurement of the scene.

主权项

1. A method of capturing three-dimensional information of a scene on a structure, comprising the steps of:
positioning at least two cameras and a light pattern projector in a known position and orientation with respect to each other; operating the light pattern projector to project a known light pattern onto the scene on the structure; using a first of the cameras, taking a first image of the scene, the first image being a two-dimensional image; using a second of the cameras, taking a second image of the scene, the second image being a two-dimensional image, wherein the first and second images are taken chronologically synchronous; using the chronologically synchronously taken first image and second image, and the known position and orientation of the cameras with respect to each other, extracting a first depth map of the scene; using i) the first image, ii) the known light pattern, and iii) the known position and orientation of the first camera and the light pattern projector with respect to each other, extracting a second depth map of the scene; and using the extracted first depth map and the extracted second depth map of the scene together to make a 3D measurement of the scene.