Real time three dimensional sensing system

Patent · Mon Jan 01 00:00:00 EST 1996

OSTI ID:870763

Gordon, Steven J ^[1]

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1. Boston, MA

The invention is a three dimensional sensing system which utilizes two flexibly located cameras for receiving and recording visual information with respect to a sensed object illuminated by a series of light planes. Each pixel of each image is converted to a digital word and the words are grouped into stripes, each stripe comprising contiguous pixels. One pixel of each stripe in one image is selected and an epi-polar line of that point is drawn in the other image. The three dimensional coordinate of each selected point is determined by determining the point on said epi-polar line which also lies on a stripe in the second image and which is closest to a known light plane.

• Research Organization: Intelligent Automation Systems
• DOE Contract Number: AC02-88ER80594
• Assignee: Intelligent Automation Systems (Cambridge, MA)
• Patent Number(s): US 5589942
• OSTI ID: 870763
• Country of Publication: United States
• Language: English

Related Subjects

time
dimensional
sensing
utilizes
flexibly
located
cameras
receiving
recording
visual
information
respect
sensed
illuminated
series
light
planes
pixel
image
converted
digital
word
words
stripes
stripe
comprising
contiguous
pixels
selected
epi-polar
line
drawn
coordinate
determined
determining
lies
closest
plane
stripe comprising
dimensional sensing
/356/250/382/