Method and device for high-resolution imaging which obtains camera pose using defocusing

摘要

A method and device for high-resolution three-dimensional (3-D) imaging which obtains camera pose using defocusing is disclosed. The device comprises a lens obstructed by a mask having two sets of apertures. The first set of apertures produces a plurality of defocused images of the object, which are used to obtain camera pose. The second set of optical filters produces a plurality of defocused images of a projected pattern of markers on the object. The images produced by the second set of apertures are differentiable from the images used to determine pose, and are used to construct a detailed 3-D image of the object. Using the known change in camera pose between captured images, the 3-D images produced can be overlaid to produce a high-resolution 3-D image of the object.

主权项

1. An imaging device for producing a high-resolution three-dimensional (3-D) image of an object, comprising;
a lens obstructed by a mask having a first set and a second set of off-axis apertures where;
the first set of off-axis apertures comprises a plurality of apertures fitted with filter separators for capturing a plurality of defocused images of an object simultaneously; andthe second set of off-axis apertures comprises a plurality of apertures fitted with filter separators differentiable from those of the first set of off-axis apertures for capturing a plurality of defocused images, a projector for projecting a pattern of markers on the surface of the object, the projected pattern of markers being of a wavelength corresponding to the filter separators of the second set of off-axis apertures; a sensor configured to capture the defocused images produced; and a data processing system, the data processing system having one or more processors configured to, by defocusing without stereo imaging, use the images captured on the sensor through the first set of off-axis apertures to determine camera pose, and use the images captured on the sensor through the second set of off-axis apertures to construct a high-resolution three-dimensional image of the object.