Embedded System for Fast Structured Light 3D Camera
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Solution Overview
Problem
Conventional 3D sensors based on structured light face challenges such as difficulty in achieving nanosecond-level precise control, increased processing time for moving objects, high costs, large size, and low positioning accuracy, making them unsuitable for modern automated systems and industrial robots.
Innovation Solution
A fast embedded system that generates patterns in real-time using a digital micro-mirror device and synchronizes a camera with a projector, utilizing a Field Programmable Gate Array/Digital Signal Processor or Micro Controller Unit to reduce reliance on PC memory and processing delays, enabling precise and rapid 3D image acquisition.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If an additional processor and embedded device are used to control camera and projector, then control precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent merges the pattern generation, synchronization control, and image processing functions into a single embedded system integrated with the camera. The embedded processor within the camera handles pattern generation and timing control, eliminating the need for separate external processors and reducing overall system complexity while maintaining nanosecond-level precision control.
Solution Approach 2:
The embedded processor in the camera serves multiple functions: generating projection patterns, controlling projector synchronization, capturing images, and processing 3D data. This multi-functional approach replaces multiple dedicated devices, reducing device complexity and cost while improving control precision through centralized management.
2Measurement precision
If pattern projection and image capture time is extended, then measurement precision is improved, but processing time increases making it difficult to capture moving objects
Solution Approach 1:
The system uses periodic pattern projection with multiple sequential patterns (e.g., binary patterns, phase-shifted patterns) to encode 3D information. By projecting patterns in rapid succession and capturing corresponding images at each phase, the system achieves high measurement precision through multiple measurements while keeping each individual exposure time short to freeze motion.
Solution Approach 2:
The embedded system generates and buffers multiple projection patterns in advance before actual projection begins. This preliminary pattern generation eliminates real-time computation delays during projection, allowing the system to maintain short projection-capture cycles for capturing moving objects while still achieving high precision through pre-computed multi-pattern sequences.
3Adaptability or versatility
If PC OS communication processing is used, then system flexibility is improved, but additional delays are introduced
Solution Approach 1:
The patent extracts the time-critical pattern generation and synchronization control functions from the PC OS environment into a dedicated embedded system with real-time operating capabilities. This separation removes the burden of OS communication processing delays from the critical projection-capture timing path, while the PC can still provide flexible high-level control and data processing through standard communication interfaces.
4Ease of operation
If 2D sensor with intelligent solution is used, then ease of operation is improved, but positioning accuracy decreases requiring extensive calibration
Solution Approach 1:
The patent replaces traditional 2D sensor-based vision systems with a structured light active measurement system that projects known patterns and captures their deformation. This substitution eliminates the need for extensive calibration of 2D sensors and complex intelligent algorithms, providing direct 3D positioning information with high accuracy while maintaining ease of operation through automated pattern projection and capture.
Data Source
AI summary
Disclosed are an embedded system, a fast 3D camera system based on structured light, and a method for acquiring 3D images using the system. The embedded system includes a pattern generation module for generating the pattern in real time and a camera trigger module for converting a camera synchronization signal into a trigger signal and transmitting the signal to a camera. A transform module for transforming the pattern into a video signal and a communication module for receiving a command for projecting patterns and capturing images may be further included. The fast 3D camera system based on structured light includes an embedded system for generating a pattern in real time upon receiving a command for projecting patterns and capturing images, a projection device for projecting the pattern, and a camera for capturing the image of an object onto which the pattern is projected.