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Abstract

The target of the present invention is to provide a high speed, low-cost, multi-mode three-dimensional (3D) surface profile measurement method. The proposed Rainbow Stereo 3D Camera exploits the projected color light with a spatially distributed wavelength spectrum on the surface of objects in the scene. Multiple color imaging sensors separated by a baseline distance are used to capture stereo pair images of the scene at camera's frame rate. The 3D depth values are calculated using triangulation principle by finding pixels corresponding to a common color feature in both images. Unlike conventional stereo correspondence matching algorithms, which requires the feature extraction from a group of pixels, the proposed method utilizes a projected rainbow color pattern as unique landmarks of each pixel for correspondence registration. Essentially, the colors of pixels in a pair of stereo images are used as a 'token' to perform the stereo match. Searching corresponding point in a pair of stereo images becomes a straightforward pixel-to-pixel color matching. A simple and efficient 3D triangulation algorithm can be formulated to generate full frames of 3D images in high speed.

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First Claim