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Method and device for three-dimensionally detecting objects and the use of this device and method

A three-dimensional detection and object technology, which is used in measuring devices, three-dimensional object recognition, and optical devices, etc., can solve the problems of wrong projector angle, pattern element interference, wrong three-dimensional object coordinates, etc., to improve robustness, eliminate interference, The effect of removing color distortion

Inactive Publication Date: 2007-02-28
SIEMENS AG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, if there are deep gaps (Tiefenspruenge) in the object to be detected, the coded pattern elements around the image points are disturbed, which leads to undeterminable or wrong projector angles and consequently wrong three-dimensional object coordinates

Method used

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  • Method and device for three-dimensionally detecting objects and the use of this device and method
  • Method and device for three-dimensionally detecting objects and the use of this device and method
  • Method and device for three-dimensionally detecting objects and the use of this device and method

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Embodiment Construction

[0027] FIG. 1 shows a device 1 for determining the three-dimensional object coordinates of a surface 2 of an object 3 to be inspected.

[0028] The device 1 has a projector 4 which projects a colored pattern 5 onto the surface 2 of the object 3 to be inspected. In the case shown in FIG. 1 , the colored pattern 5 consists of a series of adjacent colored stripes. However, it is also conceivable to use a two-dimensional color pattern instead of the one-dimensional color pattern 5 shown in FIG. 1 .

[0029] In the exemplary embodiment shown in FIG. 1 , a projection plane g can be assigned to each point P of surface 2 of object 3 . The projection data are thus encoded by the color pattern 5 . The color pattern 5 projected onto the surface 2 of the object 3 is converted by the camera 6 into an image 7 in which a point P on the surface 2 is converted into a point P′. Given the arrangement of the projector 4 and the camera 6 , in particular the length of the basic line segment 8 , ...

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Abstract

In order to determine three-dimensional coordinates of a surface ( 2 ) of an object ( 3 ) to be detected, the changes in color of a color pattern ( 5 ), which is projected by a projector ( 4 ) onto the surface ( 2 ), are to be encoded by using a redundant code. An analyzing method, which analyzes the changes in color occurring in an image ( 7 ) recorded by a camera ( 6 ), is insensitive to changes on the surface ( 2 ). In addition, the contour of the object ( 3 ) can be determined with a single recording. The method is thereby also suited for moving objects.

Description

technical field [0001] The invention relates to a method for three-dimensional detection of objects, wherein, [0002] - projecting a color pattern (Farbmuster) with known projection data onto the object to be detected, [0003] - detection of the pattern projected onto the object to be detected by means of a camera, and [0004] - Processing of the image generated by the camera into three-dimensional object coordinates in the analysis unit. [0005] The invention also relates to a device for carrying out the method, and to the use of the device and the method. Background technique [0006] Methods for three-dimensional detection of objects are required for various application purposes, and also for the identification and authentication of persons. For example, DE 199 63 333 A1 discloses projecting a two-dimensional color pattern composed of colored pattern elements onto an object to be inspected and detecting the projected color pattern on the object to be inspected by m...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B11/25G06K9/20G01B11/00G01B11/24G06T1/00G06V10/145
CPCG06K9/00201G01B11/2518G06K9/2036G06V20/64G06V10/145
Inventor P·鲁梅尔C·霍夫曼F·福尔斯特
Owner SIEMENS AG