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Real time three dimensional sensing system

United States Patent

*** EXPIRED ***
5,589,942
December 31, 1996
View the Complete Patent at the US Patent & Trademark Office
The invention is a three dimensional sensing system which utilizes two flexibly located cameras for receiving and recording visual information with respect to a sensed object illuminated by a series of light planes. Each pixel of each image is converted to a digital word and the words are grouped into stripes, each stripe comprising contiguous pixels. One pixel of each stripe in one image is selected and an epi-polar line of that point is drawn in the other image. The three dimensional coordinate of each selected point is determined by determining the point on said epi-polar line which also lies on a stripe in the second image and which is closest to a known light plane.
Gordon; Steven J. (Boston, MA)
Intelligent Automation Systems (Cambridge, MA)
07/ 505,722
April 5, 1990
STATEMENT OF GOVERNMENT INTEREST This Invention was made with Government support under Contract No. DE-AC02-88ER80594 awarded by the Department of Energy. The Government has certain rights in this invention.