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    • 5. 发明授权
    • Error compensation in three-dimensional mapping
    • 三维映射中的误差补偿
    • US09330324B2
    • 2016-05-03
    • US13541775
    • 2012-07-05
    • Daniel CohenDmitri RaisErez SaliNiv GalezerAlexander Shpunt
    • Daniel CohenDmitri RaisErez SaliNiv GalezerAlexander Shpunt
    • H04N5/228G01B11/30G06K9/20G06T7/00H04N13/02
    • G06K9/2036G06K2209/40G06T7/521G06T2207/30196H04N13/254H04N13/271
    • A method for forming a three-dimensional (3D) map of an object, including illuminating the object from a light source so as to project a pattern onto the object, capturing an image of the pattern using an array of detector elements, and processing the captured image so as to measure respective offsets of elements of the pattern in the captured image relative to a reference pattern, the offsets including at least a first offset of a first element of the pattern and a second offset of a second element of the pattern, measured respectively in first and second, mutually-perpendicular directions in a plane of the array. The method further includes computing a correction factor in response to the first offset, applying the correction factor to the second offset so as to find a corrected offset, and computing depth coordinates of the object in response to the corrected offset.
    • 一种用于形成物体的三维(3D)地图的方法,包括从光源照射物体以将图案投射到物体上,使用检测器元件的阵列捕获图案的图像,并且处理 拍摄图像,以便相对于参考图案测量所捕获的图像中的图案的元素的相应偏移,所述偏移包括图案的第一元素的第一偏移和图案的第二元素的第二偏移的至少第一偏移, 分别在阵列的平面中的第一和第二,相互垂直的方向测量。 所述方法还包括:响应于所述第一偏移来计算校正因子,将所述校正因子应用于所述第二偏移,以便找到校正的偏移量,以及响应于校正的偏移来计算所述物体的深度坐标。