Context independent fusion of range and intensity imagery
US5349378A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | Dec 21, 1992 |
| Grant date | Sep 20, 1994 |
| Priority date | — |
| Expiry date | Dec 21, 2012 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S17/89
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A method and apparatus for fusion of three dimensional data due to an active optical triangulation based vision sensor, and two-dimensional data obtained from an independent TV camera. The two sensors are aligned so that their view volumes are partially overlapped. In the course of a calibration process, a planar target is placed and depressed through the common view volume of the two sensors. The illuminant of vision sensor projects a stripe onto the target. As the stripe is traversed across the target incrementally, it is imaged at every position not only by the camera of the vision sensor, but also by the independent TV camera. The calibration process yields a table which connects the resolution cells of the TV camera to a set of rays whose equations are established in the coordinate measurement system of the three dimensional vision sensor. The calibration table is subsequently used to inter-relate points in either sensory space via their connecting rays.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.