主权项 |
1. A method comprising:
directing modulated light at an object in motion over at least one set time interval; using a beam splitter to direct a first portion of the modulated light after reflection from the object onto a range imager and a second portion of the modulated light onto an intensity imager so as to generate time-dependent, pixel-specific, intensity data and range data of the object; and using a processor to:
perform pixel-level fusion of the intensity data and the range data, andcalculate three-dimensional, pixel-level motion flow from the pixel-level fusion of the intensity data and the range data, wherein the pixel-level fusion is implemented by minimizing∑u[I(R(u,p+Δp))-T(u)]2such that pixel motion p is constrained within a planar patch as defined by[∂uZ∂uX∂vZ∂vY1]pT=ΔtZ, wherein:
T(u) is previously acquired frame,I(u) is an input image,R(u,p) is a warp function describing a motion of image elements between T and I,u refers to image pixel coordinates in terms of row and column, (u,v),pT is motion of image elements between T and I, andΔp is a change in p from a previously calculated value,∂uZ and ∂uX are range image gradients along pixel row, u,∂vZ and ∂vY are range image gradients along pixel column, v,ΔtZ is partial derivative with respect to time, t,X, Y, Z refers to three-dimensional coordinates of range image expressed in pixel coordinates u, v, and t. |