Testing 3D imaging systems

Abstract

A system (100) for testing a three-dimensional imaging system (110) having a three-dimensional camera, comprising: a mount (112) for a three-dimensional camera; a mount (152) for a calibration target, wherein the calibration target comprises a rotating propeller (158); a rail (130) to which the mount (152) for the calibration target is coupled, wherein movement of the mount (152) for the calibration target is limited to the direction extending along the rail (130); a processing device having logic configured to: receive a reading from a specific three-dimensional camera coupled to the mount (112) for the three-dimensional camera, the reading including a distance from the three-dimensional camera to the calibration target; receive a measurement of an actual distance from the specific three-dimensional camera to the calibration target;andproviding measurement characteristics of the specific three-dimensional camera, wherein the measurement characteristics are scores that quantify a specific characteristic of the specific three-dimensional camera, and wherein the specific characteristic of the specific three-dimensional camera includes motion artifacts.;

Claims

[1] A system (100) for testing a three-dimensional imaging system (110) having a three-dimensional camera, comprising: a holder (112) for a three-dimensional camera; a mount (152) for a calibration target, the calibration target comprising a rotating propeller (158); a rail (130) to which the calibration target holder (152) is coupled, wherein the movement of the calibration target holder (152) is limited to the direction extending along the rail (130); a processing device having logic configured to: Receiving a reading from a specific three-dimensional camera coupled to the three-dimensional camera mount (112), the reading including a distance from the three-dimensional camera to the calibration target; Receiving a measurement of an actual distance from the specific three-dimensional camera to the calibration target; and Providing measurement characteristics of the specific three-dimensional camera, wherein the measurement characteristics are scores that quantify a specific characteristic of the specific three-dimensional camera, and wherein the specific characteristic of the specific three-dimensional camera includes motion artifacts. [2] The system (100) of claim 1, wherein the processing device comprises logic further configured to receive a reading from the calibration target. [3] The system (100) of claim 1, wherein the specific characteristic of the specific three-dimensional camera comprises a distance error. [4] The system (100) of claim 1, wherein the specific characteristic of the specific three-dimensional camera comprises a sharpness or a frequency response. [5] The system (100) of claim 1, wherein the measurement characteristics are transformations that produce a transformation of a subsequent reading from the specific three-dimensional camera. [6] The system (100) of claim 1, wherein the calibration target comprises a uniformly flat surface. [7] The system (100) of claim 1, wherein the calibration target comprises tilted, stepped targets (156). [8] The system (100) of claim 1, wherein the three-dimensional imaging system (110) is capable of acquiring two-dimensional images having pixel values indicative of a distance from the three-dimensional camera to a specific point of a captured scene of the calibration target, and wherein, to provide the measurement characteristics of the specific three-dimensional camera, the logic of the processing device is further configured to perform a plurality of measurements and determine a distance mean and variance for each pixel. [9] A method (500) for testing a three-dimensional imaging system (110) having a three-dimensional camera, comprising: Receiving (502) a reading from the three-dimensional camera coupled to a three-dimensional camera mount (112), the reading including a distance from the three-dimensional camera to a specific calibration target coupled to a calibration target mount (152), the specific calibration target comprising a rotating propeller (158); Receiving (504) a measurement of an actual distance from the specific three-dimensional camera to the specific calibration target; and Providing (506) measurement characteristics of the specific three-dimensional camera, wherein the measurement characteristics are scores that quantify a specific characteristic of the specific three-dimensional camera, and wherein the specific characteristic of the specific three-dimensional camera includes motion artifacts. [10] The method (500) of claim 9, further comprising receiving a reading from the specific calibration target. [11] The method (500) of claim 9, wherein the measurement characteristics are transformations that produce a transformation of a subsequent reading from the specific three-dimensional camera. [12] A computer-readable storage medium encoded with executable instructions that, when executed by at least one processor, cause the at least one processor to perform operations for testing a three-dimensional imaging system (110) having a three-dimensional camera, the operations comprising: Receiving a reading from the three-dimensional camera coupled to a three-dimensional camera mount (112), the reading including a distance from the three-dimensional camera to a specific calibration target coupled to a calibration target mount (152), the specific calibration target comprising a rotating propeller (158); Receiving a measurement of an actual distance from the specific three-dimensional camera to the specific calibration target; and Providing measurement characteristics of the specific three-dimensional camera, wherein the measurement characteristics are scores that quantify a specific characteristic of the specific three-dimensional camera, and wherein the specific characteristic of the specific three-dimensional camera includes motion artifacts. [13] The computer-readable storage medium of claim 12, wherein the operations further comprise receiving a reading from the specific calibration target. [14] The computer-readable storage medium of claim 12, wherein the measurement characteristics are transformations that produce a transformation of a subsequent reading from the specific three-dimensional camera. [15] The computer-readable storage medium of claim 12, wherein the operations further comprise: Comparing the reading from the specific three-dimensional camera with an ideal measurement; and Determine, based on the comparison, measurement characteristics of the specific three-dimensional camera. [16] The computer-readable storage medium of claim 15, wherein the operations further comprise: Determining, based on the measurement characteristics of the specific three-dimensional camera, a transformation; and Apply the transformation to subsequent readings from the three-dimensional camera.

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