Surface modeling with structured light

摘要

Structured light patterns are projected onto an object and images of the structured light interacting with the surface of the object are acquired, as well as grayscale information. Edges within the structured light patterns are detected and depth sample points on the edges are used to determine distance to those sample points. The grayscale information is used to construct surface normals. From these normals relative surface contours such as curves or slopes may be determined. A model of a surface of the object is generated using the distances and the contours.

主权项

1. A system comprising:
one or more processors; a projector coupled to the one or more processors and configured to project first and second structured light patterns which overlay, at least in part, a surface of an object within an environment; a camera coupled to the one or more processors and configured to acquire images of the object while the first and second structured light patterns are overlaid onto the object; a memory coupled to the one or more processors; and a module stored within the memory and containing instructions, that when executed on the one or more processors perform at least the following acts:
acquire, from the camera, a first image of the environment when the first structured light pattern is projected at least partially onto the object, the first structured light pattern comprising two or more edges;acquire, from the camera, a second image of the environment when the second structured light pattern is projected at least partially onto the object, the second structured light pattern also comprising two or more edges;obtain a grayscale image of the object and detect the two or more edges of the first and second structured light patterns based at least in part on the first image and the second image;determine distances between the camera and to two or more points on the object based at least in part on a distance within the acquired images between the two or more edges as detected in the first and second structured light patterns;determine, based at least in part on the grayscale image, one or more surface normals of a portion of the surface of the object between the two or more points;determine a contour between the two or more edges on the surface based at least in part on the one or more surface normals; andconstruct at least a portion of a surface model of the object based at least in part on the distances between the camera and the two or more points and the contour.