METHOD AND SYSTEM FOR DETERMINING OPTIMAL EXPOSURE OF STRUCTURED LIGHT BASED 3D CAMERA

US 20090185800A1
Filed: 02/15/2008
Published: 07/23/2009
Est. Priority Date: 01/23/2008
Status: Active Grant

First Claim

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1. A method for determining an optimal exposure of a structured light based three dimensional (3D) camera system including a projecting means for illuminating a predetermined pattern on a target object, an image capturing means for capturing an image of the target object with the pattern projected, and a processing means for reconstructing 3D data based on the captured image, wherein the method automatically determines an optimal exposure level of the structured light based 3D camera system through analyzing the captured image of the target object.

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Abstract

Provided are a method and system for determining an optimal exposure of a structured light based 3D camera. The system includes a projecting means for illuminating a predetermined pattern on a target object, an image capturing means for capturing an image of the target object with the pattern projected, and a processing means for reconstructing 3D data for the target object by identifying the pattern of the captured images from the image capturing means. The system automatically determines an optimal exposure of the structured light based 3D camera system through analyzing the captured image of the target object.

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11 Claims

1. A method for determining an optimal exposure of a structured light based three dimensional (3D) camera system including a projecting means for illuminating a predetermined pattern on a target object, an image capturing means for capturing an image of the target object with the pattern projected, and a processing means for reconstructing 3D data based on the captured image, wherein the method automatically determines an optimal exposure level of the structured light based 3D camera system through analyzing the captured image of the target object.
- View Dependent Claims (2, 3, 4, 5, 6, 7)
- - 2. The method of claim 1, comprising the steps of:
    - a) obtaining an image of a target object with a predetermined pattern projected thereon, which is illuminated from a projecting means, and an image of the target object without a predetermined pattern projected thereon;
      
      b) dividing an intensity of a corresponding pixel into red intensity, green intensity, and blue intensity of three channels (R, G, B) for one same pixel at each of the captured images, and generating a characteristic curve for each of the three channels for showing the intensity of a pixel for each channel according to variation of exposure levels;
      
      c) estimating intensity I of the corresponding pixel according to variation of exposure levels using the generated characteristic curves, and calculating an intensity difference Δ
      
      I or a brightness ratio SNR between the image of the target object with the predetermined pattern projected and the image of the target object without the predetermined pattern for the corresponding pixel using the estimated intensity;
      
      d) collecting brightness data about intensity differences Δ
      
      I or brightness ratios SNR according to variation of exposure levels for all pixels by repeating the steps b) and c) for all pixels of each image;
      
      e) discriminating pixels with spread phenomenon (saturation) occurred or the pixels without the predetermined pattern projected when the projecting means projects the predetermined pattern from the collected brightness data and excluding the brightness data of the discriminated pixels; and
      
      f) calculating the number of pixels having an intensity difference Δ
      
      I and a brightness ratio SNR exceeding a predetermined threshold Δ
      
      I_thor SNR_that every exposure levels using the brightness data filtered at the step e) and deciding an exposure level having a largest calculated number of pixels as an optimal exposure level.
  - 3. The method of claim 2, wherein the characteristic curves are created based on proportional relation between an intensity and an exposure, where the intensity denotes brightness of a pixel and the exposure is an amount of incoming light.
  - 4. The method of claim 3, wherein in the step b), proportional factors k_R, k_G, and k_Bare calculated by applying an exposure applied for capturing the images in the step a) and red intensity, green intensity, and blue intensity for one same pixel in each of the obtained images to an equation:
    - I_R=k_R*E, I_G=k_G*E, I_B=k_B*E, intensities of a corresponding pixel are calculated for input exposures by inputting various exposures to the equation, and the characteristic curve is created by corresponding the calculated intensities of a corresponding pixel with the input exposures, where I_R, I_G, and I_Bdenote the intensities in R, G, and B channels, k_R, k_G, and k_Bdenote a proportional factor, and E denotes an exposure in the equation.
  - 5. The method of claim 4, wherein in the step c), intensity of a gray level of a corresponding pixel is estimated according to variation of exposure levels by transforming the created characteristic curves for red, green, and blue channels to a characteristic curve of a gray level.
  - 6. The method of claim 5, wherein in the step e), an enable term is set as a factor for checking the collected brightness data, is checked as Disable for a pixel in which spread phenomenon (saturation) occurs when the projecting means illuminates the predetermined pattern and an intensity difference Δ
    - I or a brightness ratio SNR of the pixel is classified as unreliable data.
  - 7. The method of claim 6, wherein in the step f), the brightness threshold Δ
    - I_thor SNR_thfor the intensity difference or the brightness ratio is set as minimum intensity difference or minimum brightness ratio for discriminating an area with the predetermined pattern illuminated from an area without the predetermined pattern illuminated.

8. A system for determining an optimal exposure of a structured light based three dimensional (3D) camera system, comprising:
- a projecting means for illuminating a predetermined pattern on a target object;
  
  an image capturing means for capturing an image of the target object with the pattern projected; and
  
  a processing means for calculating 3D data for the target object by identifying the pattern of the captured images from the image capturing means,wherein the processing means sequentially performs operation including the steps of;
  
  a) obtaining an image of a target object with a predetermined pattern projected thereon, which is illuminated from a projecting means, and an image of the target object without a predetermined pattern projected thereon;
  
  b) dividing an intensity of a corresponding pixel into red intensity, green intensity, and blue intensity of three channels (R, G, B) for one same pixel at each of the captured images, and generating a characteristic curve for each of the three channels for showing the intensity of a pixel for each channel according to variation of exposure levels;
  
  c) estimating intensity I of the corresponding pixel according to variation of exposure levels using the generated characteristic curves, and calculating an intensity difference Δ
  
  I or a brightness ratio SNR between the image of the target object with the predetermined pattern projected and the image of the target object without the predetermined pattern for the corresponding pixel using the estimated intensity;
  
  d) collecting brightness data about intensity differences Δ
  
  I or brightness ratios SNR according to variation of exposure levels for all pixels by repeating the steps b) and c) for all pixels of each image;
  
  e) discriminating pixels with spread phenomenon (saturation) occurred or the pixels without the predetermined pattern projected when the projecting means projects the predetermined pattern from the collected brightness data and excluding the brightness data of the discriminated pixels; and
  
  f) calculating the number of pixels having an intensity difference Δ
  
  I and a brightness ratio SNR exceeding a predetermined threshold Δ
  
  I_thor SNR_that every exposure levels using the brightness data filtered at the step e) and deciding an exposure level having a largest calculated number of pixels as an optimal exposure level.
- View Dependent Claims (9, 10)
- - 9. The system of claim 8, wherein the projecting means is a projector, the image capturing means is a camera, and the processing means is a computer.
  - 10. The system of claim 9, wherein the projecting means uses a coding pattern.

11. A method for generating a characteristic curve of a structured light based three dimensional (3D) camera system including a projecting means for illuminating a predetermined pattern on a target object, an image capturing means for capturing an image of the target object with the pattern projected, and a processing means for reconstructing 3D data using the captured image, the method comprising the steps of:
- a) capturing an image of a target image with a predetermined pattern projected thereon from the projecting means and another image of the target object without the predetermined pattern projected thereon;
  
  b) calculating proportional factors k_R, k_G, and k_Bby applying an exposure applied for capturing the images in the step a) and red intensity, green intensity, and blue intensity of a red channel, a green channel, and a blue channel measured for one same pixel in each of the captured images to an equation;
  
  I_R=k_R*E, I_G=k_G*E, I_B=k_B*E, where I_R, I_G, and I_Bdenote the intensities in R, G, and B channels, k_R, k_G, and k_Bdenote a proportional factor, and E denotes an exposure;
  
  c) calculating intensities of a corresponding pixel for input exposures by applying various exposures to the equation;
  
  d) generating a graph by corresponding the calculated intensities to the input exposures using the data obtained in the step c).

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Current Assignee
Sungkyunkwan University Foundation For Corporate Collaboration (SungKyunKwan University)
Original Assignee
Sungkyunkwan University Foundation For Corporate Collaboration (SungKyunKwan University)
Inventors
Kim, Dae Sik, Lee, Sukhan, Ryu, Moon Wook

Granted Patent

US 7,957,639 B2
Time in Patent Office

Days
Field of Search
US Class Current

396/213
CPC Class Codes

G03B 7/00 Control of exposure by sett...

G03B 7/003 setting of both shutter and...

METHOD AND SYSTEM FOR DETERMINING OPTIMAL EXPOSURE OF STRUCTURED LIGHT BASED 3D CAMERA

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Abstract

50 Citations

11 Claims

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METHOD AND SYSTEM FOR DETERMINING OPTIMAL EXPOSURE OF STRUCTURED LIGHT BASED 3D CAMERA

First Claim

1 Assignment

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0 Petitions

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Accused Products

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Abstract

50 Citations

11 Claims

Specification

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Use Cases

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