MARKERS IN 3D DATA CAPTURE

摘要

A structured light projector includes an optical mask and a light emitter. The light emitter can be capable of illuminating the optical mask, and the optical mask can be capable of transforming the light from the emitter so as to provide structured light bi-dimensional coded light pattern that includes a plurality of feature types formed by a unique combination of feature elements. The projected light pattern includes one or more markers which include pairs of feature elements between which the epipolar distances are modified relative to distances between respective feature elements in non-marker areas of the pattern, and an appearance of feature elements within the marker and across the marker's edges is continuous.

主权项

1. A method, comprising:
obtaining an image of a reflection off a scene of a projected structured light bi-dimensional coded light pattern that includes a plurality of feature types, each one of the plurality feature types serves as a codeword and is formed by a unique combination of feature elements, wherein the projected light pattern includes one or more markers, and wherein a marker includes one or more pairs of feature elements between which the epipolar distances are modified relative to distances between respective feature elements in non-marker areas of said pattern; detecting a marker in said image and recording the detected marker's location; decoding said image, wherein at least one feature type within the marker is classified as a feature type from said plurality of feature types.