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1. 发明申请

US20130101176A1 3D IMAGE ACQUISITION APPARATUS AND METHOD OF CALCULATING DEPTH INFORMATION IN THE 3D IMAGE ACQUISITION APPARATUS 有权
标题翻译：三维图像采集装置和计算3D图像采集装置深度信息的方法
公开(公告)号：US20130101176A1
公开(公告)日：2013-04-25
申请号：US13594094
申请日：2012-08-24
申请人： Yong-hwa PARK , Jang-woo YOU , Hee-sun YOON
发明人： Yong-hwa PARK , Jang-woo YOU , Hee-sun YOON
IPC分类号： G06K9/00 , H04N13/02
CPC分类号： G06T7/0022 , G01S7/4816 , G01S7/4912 , G01S7/4915 , G01S7/4918 , G01S7/493 , G01S17/36 , G01S17/89 , G06K9/00201 , G06T7/50 , G06T7/97 , G06T2207/10028 , H04N5/2226 , H04N2013/0081
摘要： A 3-dimensional (3D) image acquisition apparatus and a method of calculating depth information in the 3D image acquisition apparatus, the 3D image acquisition apparatus including: an optical modulator for modulating light reflected from a subject by sequentially projected N (N is 3 or a larger natural number) light beams; an image sensor for generating N sub-images by capturing the light modulated by the optical modulator; and a signal processor for calculating depth information regarding a distance to the subject by using the N sub-images.
摘要翻译：一种三维（3D）图像获取装置和3D图像获取装置中的深度信息的计算方法，所述3D图像获取装置包括：光调制器，用于通过顺序投影N（N为3或3）来调制从被摄体反射的光较大的自然数）光束; 用于通过捕获由光调制器调制的光来产生N个子图像的图像传感器; 以及信号处理器，用于通过使用N个子图像来计算关于到被摄体的距离的深度信息。

2. 发明申请

US20120162197A1 3-DIMENSIONAL IMAGE ACQUISITION APPARATUS AND METHOD OF EXTRACTING DEPTH INFORMATION IN THE 3D IMAGE ACQUISITION APPARATUS 有权
标题翻译：三维图像获取装置和3D图像采集装置中提取深度信息的方法
公开(公告)号：US20120162197A1
公开(公告)日：2012-06-28
申请号：US13160135
申请日：2011-06-14
申请人： Yong-hwa PARK , Jang-woo YOU , Yong-chul CHO
发明人： Yong-hwa PARK , Jang-woo YOU , Yong-chul CHO
IPC分类号： G06T15/00
CPC分类号： G01S17/36 , G01S7/487 , G01S17/87 , G01S17/89
摘要： A 3 dimensional (3D) image acquisition apparatus and a method of extracting depth information in the 3D image acquisition apparatus are provided. The method of extracting depth information includes sequentially projecting N (N is a natural number equal to or greater than 3) different pieces of projection light onto a object; modulating N pieces of reflection light reflected from the object with an optical modulation signal having a gain waveform; generating N images by capturing the N pieces of modulated reflection light; generating a first averaged image by multiplying the N images by primary weights and generating a second averaged image by multiplying the N images by secondary weights; acquiring an average phase delay from the first and second averaged images; and calculating a distance to the object from the average phase delay.
摘要翻译：提供了三维（3D）图像采集装置和提取3D图像采集装置中的深度信息的方法。提取深度信息的方法包括将不同投影光的N（N等于或大于3的自然数）顺序投影到物体上; 用具有增益波形的光调制信号调制从物体反射的N个反射光; 通过捕获N个调制反射光产生N个图像; 通过将N个图像乘以主要权重来产生第一平均图像，并且通过将N个图像乘以次要权重来产生第二平均图像; 从所述第一和第二平均图像获取平均相位延迟; 以及从所述平均相位延迟计算到所述物体的距离。

3. 发明授权

US09874637B2 Illumination optical system and 3D image acquisition apparatus including the same 有权
公开(公告)号：US09874637B2
公开(公告)日：2018-01-23
申请号：US13244329
申请日：2011-09-24
申请人： Yong-hwa Park , Alexander Shirankov , Jang-woo You , Oleg Vladimirovich Rozhkov
发明人： Yong-hwa Park , Alexander Shirankov , Jang-woo You , Oleg Vladimirovich Rozhkov
IPC分类号： H04N13/02 , G03B15/06 , G03B15/02 , G01S17/89 , G01S7/481 , H04N5/225
CPC分类号： G01S17/89 , G01S7/4814 , H04N5/2256 , H04N13/254
摘要： An illumination optical system of a 3-dimensional (3D) image acquisition apparatus and a 3D image acquisition apparatus including the illumination optical system. The illumination optical system of a 3D image acquisition apparatus includes a beam shaping element which outputs light having a predetermined cross-sectional shape which is proportional to a field of view of the 3D image acquisition apparatus. The beam shaping element may adjust a shape of illumination light according to its cross-sectional shape. The beam shaping element may uniformly homogenize the illumination light without causing light scattering or absorption.

4. 发明授权

US09418425B2 3D image acquisition apparatus and method of calculating depth information in the 3D image acquisition apparatus 有权
标题翻译： 3D图像采集装置和3D图像采集装置中的深度信息的计算方法
公开(公告)号：US09418425B2
公开(公告)日：2016-08-16
申请号：US13594094
申请日：2012-08-24
申请人： Yong-hwa Park , Jang-woo You , Hee-sun Yoon
发明人： Yong-hwa Park , Jang-woo You , Hee-sun Yoon
IPC分类号： G06T7/00 , G06K9/00 , H04N5/222 , G01S17/36 , G01S17/89 , G01S7/481 , G01S7/493 , G01S7/491 , H04N13/00
CPC分类号： G06T7/0022 , G01S7/4816 , G01S7/4912 , G01S7/4915 , G01S7/4918 , G01S7/493 , G01S17/36 , G01S17/89 , G06K9/00201 , G06T7/50 , G06T7/97 , G06T2207/10028 , H04N5/2226 , H04N2013/0081
摘要： A 3-dimensional (3D) image acquisition apparatus and a method of calculating depth information in the 3D image acquisition apparatus, the 3D image acquisition apparatus including: an optical modulator for modulating light reflected from a subject by sequentially projected N (N is 3 or a larger natural number) light beams; an image sensor for generating N sub-images by capturing the light modulated by the optical modulator; and a signal processor for calculating depth information regarding a distance to the subject by using the N sub-images.
摘要翻译：一种三维（3D）图像获取装置和3D图像获取装置中的深度信息的计算方法，所述3D图像获取装置包括：光调制器，用于通过顺序投影N（N为3或3）来调制从被摄体反射的光较大的自然数）光束; 用于通过捕获由光调制器调制的光来产生N个子图像的图像传感器; 以及信号处理器，用于通过使用N个子图像来计算关于到被摄体的距离的深度信息。

5. 发明授权

US09188662B2 Beam splitter for 3D camera, and 3D image acquisition apparatus employing the beam splitter 有权
标题翻译：用于3D照相机的光束分离器和采用分束器的3D图像采集装置
公开(公告)号：US09188662B2
公开(公告)日：2015-11-17
申请号：US13162224
申请日：2011-06-16
申请人： Jang-woo You , Yong-hwa Park , Yong-chul Cho
发明人： Jang-woo You , Yong-hwa Park , Yong-chul Cho
IPC分类号： G02B27/14 , H04N13/02 , G01S7/481 , G01S17/89 , H04N5/225 , H04N5/33 , G02B27/10 , G03B15/03 , G03B35/08
CPC分类号： G01S7/4811 , G01S17/89 , G02B27/1013 , G02B27/141 , G03B15/03 , G03B35/08 , H04N5/2254 , H04N5/33
摘要： A beam splitter and a 3D image acquisition apparatus including the beam splitter are provided. The beam splitter includes a light incident surface on which light having a first wavelength and light having a second wavelength are incident; a beam splitting surface which is inclined to the light incident surface and reflects the light having the first wavelength and transmits the light having the second wavelength; a first light exit surface through which the light having the first wavelength reflected from the beam splitting surface exits; a first reflective surface which reflects the light having the second wavelength transmitted by the beam splitting surface; a second reflective surface which reflects the light having the second wavelength reflected from the first reflective surface; and a second light exit surface through which the light having the second wavelength reflected from the second reflective surface exits.
摘要翻译：提供了一种分束器和包括分束器的3D图像采集装置。分束器包括光入射表面，在该入射表面上入射具有第一波长的光和具有第二波长的光; 光束分离表面，其与所述光入射表面倾斜并且反射具有所述第一波长的光并透射具有所述第二波长的光; 第一光出射表面，具有从分束表面反射的第一波长的光离开; 第一反射表面，其反射由分束表面传输的具有第二波长的光; 反射从第一反射面反射的具有第二波长的光的第二反射面; 以及第二光出射表面，具有从第二反射表面反射的第二波长的光离开。

6. 发明授权

US09170471B2 Optical system having integrated illumination and imaging optical systems, and 3D image acquisition apparatus including the optical system 有权
标题翻译：具有集成照明和成像光学系统的光学系统，以及包括光学系统的3D图像采集装置
公开(公告)号：US09170471B2
公开(公告)日：2015-10-27
申请号：US13156789
申请日：2011-06-09
申请人： Yong-hwa Park , Jang-woo You , Alexander Shirankov , Stanislav Shtykov , Viktor Pavlov
发明人： Yong-hwa Park , Jang-woo You , Alexander Shirankov , Stanislav Shtykov , Viktor Pavlov
IPC分类号： H04N13/02 , G03B15/03 , G02B7/32 , G03B13/20 , G03B35/08
CPC分类号： G03B15/03 , G02B7/32 , G03B13/20 , G03B35/08
摘要： An optical system including integrated illumination and imaging optical systems, and a 3-dimensional (3D) image acquisition apparatus including the optical system. In the optical system of the 3D image acquisition apparatus, the illumination optical system and the imaging optical system are integrated to have a coaxial optical path. Accordingly, there is no parallax between the illumination optical system and the imaging optical system, so that depth information about an object acquired using illumination light may reflect actual distances between the object and the 3D image acquisition apparatus. Consequently, the depth information about the object may be more precise. The zero parallax between the illumination optical system and the imaging optical system may improve utilization efficiency of the illumination light. As a result, a greater amount of light may be incident on the 3D image acquisition apparatus, which ensures to acquire further precise depth information about the object.
摘要翻译：包括集成照明和成像光学系统的光学系统以及包括该光学系统的三维（3D）图像采集设备。在3D图像获取装置的光学系统中，照明光学系统和成像光学系统被集成为具有同轴光路。因此，照明光学系统和成像光学系统之间不存在视差，因此关于使用照明光获取的物体的深度信息可以反映物体与3D图像获取装置之间的实际距离。因此，关于对象的深度信息可能更精确。照明光学系统和成像光学系统之间的零视差可以提高照明光的利用效率。结果，可能在3D图像获取装置上入射更多量的光，这确保获得关于对象的更精确的深度信息。

7. 发明授权

US08611610B2 Method and apparatus for calculating a distance between an optical apparatus and an object 有权
标题翻译：用于计算光学设备和物体之间的距离的方法和设备
公开(公告)号：US08611610B2
公开(公告)日：2013-12-17
申请号：US12837814
申请日：2010-07-16
申请人： Yong-hwa Park , Jang-woo You
发明人： Yong-hwa Park , Jang-woo You
IPC分类号： G06K9/00 , H01J40/14 , H01L31/00
CPC分类号： G06T7/521 , G06T2207/20056
摘要： A method and apparatus for determining a distance between an optical apparatus and an object by considering a measured nonlinear waveform, as opposed to a mathematically ideal waveform. The method and apparatus may accurately calculate distance information without being affected by a type of waveform projected onto the object and may not require an expensive light source or a light modulator for generating a light with little distortion and nonlinearity. Further, since the method may be able to use a general light source, a general light modulator, and a general optical apparatus, additional costs do not arise. Furthermore, a lookup table, in which previously calculated distance information is stored, may be used, and thus the amount of computation required to be performed to calculate the distance is small, thereby allowing for quick calculation of the distance information in real time.
摘要翻译：与数学上理想的波形相反，通过考虑测量的非线性波形来确定光学装置和物体之间的距离的方法和装置。该方法和装置可以精确地计算距离信息而不受投影到物体上的波形的类型的影响，并且可能不需要昂贵的光源或用于产生具有很小失真和非线性的光的光调制器。此外，由于该方法可以使用通用光源，普通光调制器和通用光学装置，所以不会产生额外的成本。此外，可以使用其中存储先前计算出的距离信息的查找表，因此需要执行计算距离的计算量很小，从而实时地快速计算距离信息。

8. 发明申请

US20120147147A1 ILLUMINATION OPTICAL SYSTEM AND 3D IMAGE ACQUISITION APPARATUS INCLUDING THE SAME 有权
标题翻译：照明光学系统和3D图像采集装置，包括它们
公开(公告)号：US20120147147A1
公开(公告)日：2012-06-14
申请号：US13244329
申请日：2011-09-24
申请人： Yong-hwa PARK , Alexander SHIRANKOV , Jang-woo YOU , O ROZHKOV
发明人： Yong-hwa PARK , Alexander SHIRANKOV , Jang-woo YOU , O ROZHKOV
IPC分类号： H04N13/02 , G03B15/06 , G03B15/02
CPC分类号： G01S17/89 , G01S7/4814 , H04N5/2256 , H04N13/254
摘要： An illumination optical system of a 3-dimensional (3D) image acquisition apparatus and a 3D image acquisition apparatus including the illumination optical system. The illumination optical system of a 3D image acquisition apparatus includes a beam shaping element which outputs light having a predetermined cross-sectional shape which is proportional to a field of view of the 3D image acquisition apparatus. The beam shaping element may adjust a shape of illumination light according to its cross-sectional shape. The beam shaping element may uniformly homogenize the illumination light without causing light scattering or absorption.
摘要翻译：一种三维（3D）图像获取装置的照明光学系统和包括照明光学系统的3D图像获取装置。 3D图像采集装置的照明光学系统包括：光束整形元件，其输出具有与3D图像采集装置的视场成比例的预定横截面形状的光。光束成形元件可以根据其横截面形状调节照明光的形状。光束成形元件可以均匀地均匀化照明光而不引起光散射或吸收。

9. 发明申请

US20120147143A1 OPTICAL SYSTEM HAVING INTEGRATED ILLUMINATION AND IMAGING OPTICAL SYSTEMS, AND 3D IMAGE ACQUISITION APPARATUS INCLUDING THE OPTICAL SYSTEM 有权
标题翻译：具有集成照明和成像光学系统的光学系统，以及包括光学系统的3D图像采集装置
公开(公告)号：US20120147143A1
公开(公告)日：2012-06-14
申请号：US13156789
申请日：2011-06-09
申请人： Yong-hwa PARK , Jang-woo YOU , Alexander SHIRANKOV , Stanislav SHTYKOV , Viktor PAVLOV
发明人： Yong-hwa PARK , Jang-woo YOU , Alexander SHIRANKOV , Stanislav SHTYKOV , Viktor PAVLOV
IPC分类号： H04N13/02 , G02B27/22
CPC分类号： G03B15/03 , G02B7/32 , G03B13/20 , G03B35/08
摘要： An optical system including integrated illumination and imaging optical systems, and a 3-dimensional (3D) image acquisition apparatus including the optical system. In the optical system of the 3D image acquisition apparatus, the illumination optical system and the imaging optical system are integrated to have a coaxial optical path. Accordingly, there is no parallax between the illumination optical system and the imaging optical system, so that depth information about an object acquired using illumination light may reflect actual distances between the object and the 3D image acquisition apparatus. Consequently, the depth information about the object may be more precise. The zero parallax between the illumination optical system and the imaging optical system may improve utilization efficiency of the illumination light. As a result, a greater amount of light may be incident on the 3D image acquisition apparatus, which ensures to acquire further precise depth information about the object.
摘要翻译：包括集成照明和成像光学系统的光学系统以及包括该光学系统的三维（3D）图像获取装置。在3D图像获取装置的光学系统中，照明光学系统和成像光学系统被集成为具有同轴光路。因此，照明光学系统和成像光学系统之间不存在视差，因此关于使用照明光获取的物体的深度信息可以反映物体与3D图像获取装置之间的实际距离。因此，关于对象的深度信息可能更精确。照明光学系统和成像光学系统之间的零视差可以提高照明光的利用效率。结果，可能在3D图像获取装置上入射更多量的光，这确保获得关于对象的更精确的深度信息。

10. 发明申请

US20120105594A1 BEAM SPLITTER FOR 3D CAMERA, AND 3D IMAGE ACQUISITION APPARATUS EMPLOYING THE BEAM SPLITTER 有权
标题翻译：用于3D摄像机的光束分离器和采用光束分离器的3D图像采集设备
公开(公告)号：US20120105594A1
公开(公告)日：2012-05-03
申请号：US13162224
申请日：2011-06-16
申请人： Jang-woo YOU , Yong-hwa PARK , Yong-chul CHO
发明人： Jang-woo YOU , Yong-hwa PARK , Yong-chul CHO
IPC分类号： G02B27/14 , H04N13/02
CPC分类号： G01S7/4811 , G01S17/89 , G02B27/1013 , G02B27/141 , G03B15/03 , G03B35/08 , H04N5/2254 , H04N5/33
摘要： A beam splitter and a 3D image acquisition apparatus including the beam splitter are provided. The beam splitter includes a light incident surface on which light having a first wavelength and light having a second wavelength are incident; a beam splitting surface which is inclined to the light incident surface and reflects the light having the first wavelength and transmits the light having the second wavelength; a first light exit surface through which the light having the first wavelength reflected from the beam splitting surface exits; a first reflective surface which reflects the light having the second wavelength transmitted by the beam splitting surface; a second reflective surface which reflects the light having the second wavelength reflected from the first reflective surface; and a second light exit surface through which the light having the second wavelength reflected from the second reflective surface exits.
摘要翻译：提供了一种分束器和包括分束器的3D图像采集装置。分束器包括光入射表面，在该入射表面上入射具有第一波长的光和具有第二波长的光; 光束分离表面，其与所述光入射表面倾斜并且反射具有所述第一波长的光并透射具有所述第二波长的光; 第一光出射表面，具有从分束表面反射的第一波长的光离开; 第一反射表面，其反射由分束表面传输的具有第二波长的光; 反射从第一反射面反射的具有第二波长的光的第二反射面; 以及第二光出射表面，具有从第二反射表面反射的第二波长的光离开。

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