1405 results about "Structure light" patented technology

A scanning apparatus and method for generating computer models of three-dimensional objects comprising means for scanning the object to capture data from a plurality of points on the surface of the object so that the scanning means may capture data from two or more points simultaneously, sensing the position of the scanning means, generating intermediate data structures from the data, combining intermediate data structures to provide the model; display, and manually operating the scanning apparatus. The signal generated is structured light in the form of a stripe or an area from illumination sources such as a laser diode or bulbs which enable data for the position and color of the surface to be determined. The object may be on a turntable and may be viewed in real time as rendered polygons on a monitor as the object is scanned.

An information processing apparatus includes an acquisition unit configured to acquire a plurality of positions on a surface of a measurement target object using information of light reflected from the measurement target object on which structured light is projected, a position of a light source of the structured light, and a position of a light reception unit configured to receive the reflected light and acquire the information of the reflected light, a calculation unit configured to acquire at least one of a position and a direction on the surface of the measurement target object based on the plurality of the positions, and a correction unit configured to correct at least one of the plurality of the positions based on information about an error in measurement for acquiring the plurality of the positions and at least one of the position and the direction on the surface of the measurement target object.

An object detection system utilizing one or more thin, planar structured light patterns projected into a volume of interest, along with digital processing hardware and one or more electronic imagers looking into the volume of interest. Triangulation is used to determine the intersection of the structured light pattern with objects in the volume of interest. Applications include navigation and obstacle avoidance systems for autonomous vehicles (including agricultural vehicles and domestic robots), security systems, and pet training systems.

A structured light source comprising VCSEL arrays is configured in many different ways to project a structured illumination pattern into a region for 3 dimensional imaging and gesture recognition applications. One aspect of the invention describes methods to construct densely and ultra-densely packed VCSEL arrays with to produce high resolution structured illumination pattern. VCSEL arrays configured in many different regular and non-regular arrays together with techniques for producing addressable structured light source are extremely suited for generating structured illumination patterns in a programmed manner to combine steady state and time-dependent detection and imaging for better accuracy. Structured illumination patterns can be generated in customized shapes by incorporating differently shaped current confining apertures in VCSEL devices. Surface mounting capability of densely and ultra-densely packed VCSEL arrays are compatible for constructing compact on-board 3-D imaging and gesture recognition systems.

The invention discloses a face recognition method and system, in particular relates to a face recognition model training method and system. The face recognition method comprises the following steps: every user for recognition is trained and a face recognition model is obtained; within the set face posture range, the face image with structure light coding and the face image without structure light coding of the present user waiting for recognition are collected simultaneously; a face range image is obtained based on the face image with structure light coding, and a face gray image is obtained based on the face image without structure light coding; the face gray image is used for calibration, and face pre-treatment is conducted for the face gray image and the face range image based on the calibration results; the characteristics of pretreated face range image and face gray image are calculated respectively; the characteristics are input to the face recognition model to recognize faces and output face recognition results. The technical proposal provided by the invention can reduce the interference of light to face recognition and reduce costs simultaneously.

The present invention relates to a method for on-line detecting railway car wheel set diameter and its detection equipment. It is characterized by that it utilizes the projection information of light source of structure light on the wheel set tread and base point information detected by displacement sensor to detect wheel average diameter parameter and left-right wheels wheel-diameter difference parameter. Said method includes the following steps: speed detection, starting light source, starting inside surface detection and image collection, image treatment, fitting rolling circle and diameter parameter calculation.

The invention relates to GaN-based Single chip white light emitting diode epitaxial material comprising a substrate and also comprising an initial growth layer, an intrinsic GaN buffer layer, an n-type GaN layer, a stress relaxation layer, an InGaN multiple quantum well structure light emitting layer, a p-type AlGaN sandwich layer and a p-type GaN layer which grow in sequence on the substrate. Thestress relaxation layer is an InGaN / GaN superlattice stress modulation layer which comprises InGaN layers and GaN layers, which are grown alternatively; the InGaN layers and GaN layers have the growth cycle of 6-500 and the corresponding thickness of 10 nm to 3 Mum; and the In components in the InGaN layers are in the range of 1-35 percent. Because the stress-relaxed InGaN / GaN superlattice stressmodulation layer is added between the n-type GaN layer and a multiple quantum light emitting layer, the In segregation effect is strengthened, InGaN quantum dots with different components are formed,and the mixing of different-wave light emitted by the InGaN quantum dots realizes the white light emitting. The cost of the white light emitting diode is reduced radically, the light emitting efficiency and the light using efficiency are increased and the integral performance of the white light emitting diode is improved.

The present invention discloses a method and system for generating sole glue-spraying track automatically based on linear structure light sensor. Obtaining upper underside three-dimensional coordinates data using linear laser, vidicon, mobile platform and computer, and generating glue-spraying track automatically. The linear laser scans upper underside continuously, and the vidicon collects laser scanning image at the same time, then distilling laser beam center in the image and transforming to three-dimensional coordinates through image processing, thus obtaining point-cloud data of upper underside, generating glue-spraying track according to the point-cloud data. Compared with the method by machine, the generating method of the present invention has the advantage of high orientation precision, simple operation method, strong adaptability, high efficiency etc., and has great superiority.

A method and apparatus is provided for high speed, non-contact method of measuring the 3-D coordinates of a dense grid of points on a surface, including high accuracy interpolation between grid points. A plurality of pulsed laser sub-projectors sequentially illuminates a plurality of discrete Gray code bar pattern transparencies carried on a spinning circular code disk to project high frame rate structured light. The structured light is reflected by the surface and recorded at high signal-to-noise ratio by a plurality of high frame rate digital cameras, then decoded and interpolated by electronic signal processing. A numerical formula is derived for numbers of equally spaced discrete code patterns on the code disk that allow each camera to receive pulses from all sub-projectors and all patterns at a constant frame rate. Methods to derive an extended complementary Gray code pattern sequence and to normalize measured signal amplitudes are presented.

The present invention relates to robot technology, and is weld seam tracking sight sensor based on laser structure light. The welding seam tracking sight sensor has laser as the light source of structure light, and consists of laser, video camera, monitor, treating unit, etc. By means of forming laser plane with laser beam in a cylindrical mirror, projecting the laser plane to a workpiece to generate laser fringes, acquiring the laser image of weld seam with a visual sensor, calculating weld seam positions through image processing and converting into analog signal or radio signal, the present invention controls welding robot for automatic weld seam tracking. Different weld seam processing modules for different kinds of weld seam are developed. The present invention has high weld seam position measuring precision, raised anti-jamming capacity and high versatility and flexibility.

A method of manufacturing a vertical structure light emitting diode device, the method including: sequentially forming a first conductivity type III-V group compound semiconductor layer, an active layer, and a second conductivity type III-V group compound semiconductor layer on a substrate for growth; bonding a conductive substrate to the second conductivity type III-V group compound semiconductor layer; removing the substrate for growth from the first conductivity type III-V group compound semiconductor layer; and forming an electrode on an exposed portion of the first conductive III-V group compound semiconductor layer due to the removing the substrate for growth, wherein the bonding a conductive substrate comprises partially heating a metal bonding layer by applying microwaves to a bonding interface while bringing the metal bonding layer into contact with the bonding interface.

The invention provides an optical measurement system and method for a three-dimensional shape of a large-scale complex curved surface member. The method is based on binocular optical grating projection measurement technologies, point cloud poses of all station positions during multiple station position measurement are obtained via a laser tracker and a corresponding target ball, point cloud obtained via the multiple station position measurement is converted to be under a unified laser tracker coordinate system according to corresponding pose data, and overall merging of point cloud data of a large-scale complex surface-shaped member can be realized; in the system, a six degree-of-freedom robot is used as a carrier for a point cloud space pose tracking unit and a binocular structured light measurement device, single station position measurement precision is ensured via calibration of the binocular structured light measurement device before measurement work starts, and data integrity and measurement efficiency are ensured via measurement route planning. Via the optical measurement system and method, all kinds of large-scale complex surface-shaped members can be accurately measured in non-contact conditions; practical, reliable and complete original three dimensional shape data can be provided for evaluation of all kinds of processing quality.

A hand-size structured-light three-dimensional metrology imaging system and method. Laser illumination stripes are scanned across a workpiece surface for obtaining z-height and x-coordinate information. A Scheimpflug configuration is used. Utilizing this configuration, a laser illumination stripe across a raised workpiece portion will be shown in a contour image at the image sensor in a focused manner, such that the offsets along the contour image line due to the raised portions of the workpiece surface can be accurately converted to a z-height measurement. The y-axis positions associated with each of the contour images, used for reassembling the information from the contour images into a surface map for the workpiece, may be determined without the need for a position sensor, by including a reference object in the contour images.

A three dimensional (3D) image capture system uses structured light technique. The 3D image capture system includes a first texture camera for capturing a textural image of a 3D object and a second geometry camera for capturing a geometric image of a 3D object while a structured light pattern is projected onto the 3D object. A pattern flash unit is used for projecting the structured light pattern onto the 3D object. The textural image is stored in a texture image file; and the geometric image is stored in a geometric image file. The geometric image file is processed to determine 3D coordinates and stored in a geometric image data file; and then the texture image file is processed to create texture data that is overlaid onto the 3D coordinates in the geometric image data file to produce a composite image.

The invention relates to a calibration technology for multiple structured light projected three-dimensional profile measuring heads, discloses a technology for calibrating multiple structured light projected three-dimensional profile measuring heads in different directions, which can be used for the quick label-free measurement of an object profile projected by structured light, and belongs to the technical field of optical measurement. In the calibration technology, only a calibration object of a plane with a plurality of calibration patterns is required to be designed and is not required to be manufactured into a high-precision three-dimensional target with known geometrical relationships on all surfaces; and geometrical parameters among all planes of the calibration object can be obtained by a close-range photogrammetry technology to upgrade the calibration object into the three-dimensional target, so the difficulty of machining and maintaining the high-precision three-dimensional target directly is reduced. By utilizing the technology, multiple structured light projected three-dimensional profile measuring heads can be measured from different visual angles in a label-free mode, and point clouds scanned in different directions are unified to one coordinate system automatically, so error accumulation caused by splicing is avoided effectively, and the time of the three-dimensional appearance reconstruction of the object can be shortened.

The invention discloses a road information extraction device based on a two-dimensional image and depth information and a road crack information detection method based on the device, relating to the road information detection field and solving the problem that the traditional road detection technology is high in erroneous judgment rate and low in recognition since only two-dimensional image information or three-dimensional depth information is used in crack detection. The device is characterized in that a structured light laser emits structured light bars which are projected to a road, and a trigger control system is used to carry out coordinated control on an area-array camera and a linear-array camera according to vehicle speed to acquire road information. The detection method comprises the following steps: a vehicle equipped with the road information extraction device runs on a road section to be detected; a trigger control module triggers the area-array camera and the linear-array camera to perform image acquisition according to vehicle speed; and the road depth information can be obtain according to a light bar pattern obtained by the area-array camera and the road crack information of the road section to be detected is obtained according to a road two-dimensional image obtained by the linear-array camera. By adoption of the road information extraction device and the road crack information detection method, the accuracy rate and correction rate of road crack recognition can be improved effectively.

The invention provides a fixing and navigating surgery system in a vertebral pedicle based on a structure light image. The system comprises a structure light scanner, an infrared navigating and positioning apparatus, a dynamic standard, a surgery apparatus with a plurality of infrared luminous diodes and a computer, wherein the structure light scanner and the infrared navigating and positioning apparatus are arranged in a positioning way; the surgery apparatus is provided with the plurality of infrared luminous diodes, and the infrared light transmitted from the diodes are captured by the infrared navigating and positioning apparatus to define the relationship between the navigation coordinate system of the infrared navigating and positioning apparatus and the surgery apparatus coordinate system of the surgery apparatus; and the dynamic standard which is clamped on the patient vertebra is also provided with a plurality of infrared luminous diodes for instantly tracking the change of a patient coordinate system to the navigation coordinate system. The invention replaces doctor manual pointing with the structure light image scanning, reduces the manual operation error, and reduces the injure of the X ray to the doctor and the patient; and the dynamic standard also has the characteristics of small volume and good function, can improve the reliability of the surgery and the precision of the nail implantation, and reduces surgical wounds.

The invention provides a simulation method and device of a digital twin system of an industrial robot. The simulation device comprises the industrial robot, a vision perception unit and a computer, wherein the vision perception unit is arranged at the tail end of the robot and is composed of a camera and a wire structure light emitter; an industrial robot simulation system is established, the robot is modeled, and three instructions are analyzed and run; a target three-dimensional measurement model of a robot visual system is acquired by using a wire structure optical geometric triangular method; a motion instruction is determined for the working task of the robot, virtual simulation is carried out through the computer, and reachable points and collision point detection are carried out; and the robot is actually used for identifying a target object through the visual perception unit, and the actual movement of the robot is driven. The simulation device is safe and reliable in virtual simulation, abnormal operation possibly in actual operation is avoided, the visual perception unit is used for identifying the target object through three-dimensional visual technology, the self-adaptive capacity of the robot to the field environment is improved, and flexibility and intelligence are enhanced.

The invention relates to a method for measuring the diameter and the straightness accuracy parameters of a seamless round steel pipe. The method includes the steps as follows: accomplishing the calibration of parameters of a multi-linear structured light vision sensor formed by one video camera and multi-line laser projectors; distributing the multi-linear structured light vision sensors on the periphery of the seamless round steel pipe to be tested; respectively controlling the laser projectors to project structured light plane onto the measured section of the seamless round steel pipe by a computer, collecting the images of laser stripes on the surface of the seamless round steel pipe and processing the images of the laser strip by a video camera, and calculating the three-dimensional coordinates of different sections according to a measurement model; determining the elliptical center of each section of the space, realizing the measurement of the straightness accuracy of the seamless round steel pipe and establishing the dynamic and virtual central axis of the seamless round steel pipe; establishing the reference plane of the dynamic and virtual projection of ellipse of the section of the space; and front projecting the ellipse of the section of the space onto the reference plane of the dynamic and virtual projection, and carrying out the operation of circle fitting on the reference plane, thereby obtaining the section circle of the steel pipe. The method can realize the on-line, real-time, automatic and noncontact measurement of the diameter and the straightness accuracy parameters of the seamless round steel pipe.

A method and system for biometric identification utilizes structured light (e.g., fine grid) that is projected to the target objects (fingers and palm). The image with structured light on the object contours can give 3D information of the objects with resolution to satisfy NIST fingerprint standard. In embodiments, the structured light can be of different color, to reduce the burden of the software processing. To enhance the capture speed, a model with 2D image on “smooth” 3D surface can be used. In this “2.5-D” case, the finest feature of the structured light can be as big as millimeter size. Although grid-structured light can satisfy current requirement of fingerprint and palm print capture standards, in other embodiments, a customized structure based on the initial scan result can give optimal result on the 3D data. This may be useful when higher resolution is desired.

The invention relates to a hybrid image processing method of extracting the centric line of the structured-light stripe based on the ROI area, belonging to the field of machine vision technique. By combining the image threshold processing, communicated components extraction, shape factor constraint and expansion method, the invention automatically divides the structured light area as the ROI area of light stripe extraction, using the extraction method of fringe center based on Hessian matrix to realize the extraction of sub-pixel image space of the centric line of the structured-light stripe of the ROI area. The method has the advantages of high precision, good robustness, high automation degree and other advantages, avoiding the large formwork Gaussian convolution calculation of the pixel the non-light stripe area, thereby reducing the redundant calculation of the extraction of the structured light stripe and realizing the high speed and precision extraction of the centric line of the light stripe, laying a foundation for the real-time application of the structured light 3D vision measurement.

A 2-D three-frequency diphase measuring method based on colored- structure light includes preparing three gratings by complexing different three primary color sine light with three the same frequencies, projecting said gratings on object to be measured, utilizing two the same CCD vide cameras to make shooting for obtaining 24 pieces of pictures, dephasing said pictures to obtain phase values at X and Y direction on each pixel pf each picture and matching two phase values for calculating out 3-D coordinate of each point.

The invention discloses a visual welding seam surface quality real-time on-line detection sensor based on line structure light, comprising sensing units and an image processing unit, wherein two sensing units are respectively vertically installed at two sides of the upper and lower surfaces of the welding seam and connected with the image processing unit; the sensing units comprise a video camera for receiving the welding seam surface gray scale image including laser stripe formed on the welding work piece; a straight linear laser for generating laser structure light stripe on the welding work piece; an optical filter in front of the video camera lens; and an LED annular light source coaxially provided with the video camera and positioned in front of the optical filter. The invention uses the straight linear laser to project onto the upper and lower surfaces of the welding seam to generate the laser stripes; the camera collects the welding seam surface gray scale image including laser stripes to finally realize automatic quality detection of the upper and lower surfaces of the welding seam; and the precision of surface quality detection of the welding seam is improved. The sensor can be widely applied to the fields such as robot automatic welding.

The invention provides an adaptively adjusted laser projection module. The module comprises a light source, a specific optical element, a pattern generator and a light beam detector. The specific optical element comprises at least one light dividing face, wherein each light dividing face is used for reflecting and transmitting at least parts of light beams emitted by the light source. The pattern generator receives light beams parts of which are reflected or transmitted through the light dividing face, and externally emitting structure light patterns. The light beam detector is used for receiving the light beams parts of which are reflected or transmitted through the light dividing face, and detecting the intensity of the light beams. The invention also provides a depth camera. The depth camera comprises the adaptively adjusted laser projection module and is used for projecting structuralized light beam images towards a target space. According to the invention, by use of the specific optical element having the reflection and transmission functions, the laser projection module has quite small size; and by combining an optical detector, the light source can be detected anytime and anywhere, so laser intensity can be further controlled and damage to human is avoided.

The invention relates to a computer binocular vision denture scanning device and a three-dimensional reconstruction method thereof. The device comprises a linearly structured light vision collection part, a rotary measuring bed, a control part of the rotary measuring bed, and a box, wherein two high resolution digital charge coupled device (CCD) cameras are positioned on the central sides above the rotary measuring bed and the control part of the rotary measuring bed and symmetrically distributed by taking the linearly structured light laser as the centre in the linearly structured light vision collection part; first and second accessories in the rotary measuring bed and the control part of the rotary measuring part are arranged on the rotary measuring bed; the rotary measuring bed is driven by a driving mechanism to rotate; and the structures are arranged in the box. The method comprises: placing a denture on the rotary measuring bed; allowing the linearly structured light laser to project laser on the denture; driving the rotary measuring bed to rotate continuously by the driving mechanism; and taking pictures by two CCD cameras and transmitting the pictures to an external control computer to process the pictures to obtain three-dimensional data on the denture surface. In the invention, the mechanical structure and the control method need no various speed control, have no requirement on precision of spindle rotation of a motor, and are convenient to operate and high in scanning precision.

The present invention discloses a method for online detecting railway car wheel set tread defect and its on-line detecting equipment. It is characterized by that the light sent out by light source of structure light can be irradiated on the wheel set tread, on the tread a projection image is formed. When the wheel set is run to the set position, the third position sensor can give out a triggering signal to start image sensor to shoot a series of tread projection images. By utilizing analysis and calculation a deviation image of actual shot image and defectless image can be obtained, it can further judge that in the deviation image the defect is existed or not, and can calculate tread defect parameter.

The invention discloses a longitudinal seam welding special machine with a linear structure light type vision sensor and a control method thereof. The longitudinal suture welding special machine comprises a welding gun, the linear structure light type vision sensor, an industrial control computer and an execution mechanism, wherein the welding gun is fixed on the execution mechanism; the welding gun and the linear structure light type vision sensor are connected to an operation rail of the longitudinal seam welding special machine, and the linear structure light type vision sensor is arranged in front of the welding gun; and the output end of the linear structure light type vision sensor is connected with the execution structure through the industrial control computer. With the control method, the concept of a coordinate system is established, and a welding seam track is detected through the vision sensor to essentially change an application way of corresponding the welding gun to an image reference point through a rigid body relation, and the method can also be used for tracking the space curve welding seam without limitation of tracking the linear welding track. The longitudinal seam welding special machine detects the whole welding seam track, even if the sensor is out of the visual field, the last section of the welding seam can also ensure the tracking of the whole welding seam.

The invention refers to the improvement of sensor scaling method in structured light three dimension vision measurement. The steps are: sets target mark, fixes sensor, collects image, gets target mark coordinate, irradiates structured light, gets the coordinate of light, gets the coordinate at any spot of the structured light strap. Calculates the three dimension object coordinate, calculate R and t, and calculates a, b, c, d.

The invention relates to a GaN-based light emitting diode and a preparation method thereof. An initial growth layer, a GaN buffer layer, an n-type electronic injection layer, a quantum well structure electronic emission layer, a quantum well structure light emitting active layer, a p-type AlInGaN electronic stopping layer and a p-type cavity injection layer are grown on an epitaxial substrate of the light emitting diode sequentially; in the quantum well structure of the electronic emission layer, the width of a forbidden band of the AlInGaN quantum well layer in the emission layer is greater than that of the forbidden band of the AlInGaN quantum well in the light emitting active layer; and the AlInGaN quantum well layer of the quantum well structure electronic emission layer is triangular. The GaN-based light emitting diode has the advantages that the quantum well structure electronic emission layer can improve the efficiency of an electronic injection light emitting active layer effectively; and by the triangular quantum well structure of the electronic emission layer, the polarization effect of the epitaxial substrate of the light emitting diode can be reduced, and the working voltage of the light emitting diode is decreased.