Systems, methods, and media for performing shape measurement

Abstract

Systems, methods, and media for performing shape measurement are provided. In some embodiments, systems for performing shape measurement are provided, the systems comprising: a projector that projects onto a scene a plurality of illumination patterns, wherein each of the illumination patterns has a given frequency, each of the illumination patterns is projected onto the scene during a separate period of time, three different illumination patterns are projected with a first given frequency, and only one or two different illumination patterns are projected with a second given frequency; a camera that detects an image of the scene during each of the plurality of periods of time: and a hardware processor that is configured to: determine the given frequencies of the plurality of illumination patterns; and measure a shape of an object in the scene.

What is claimed is: 
     
         1 . A system for performing shape measurement, comprising:
 a projector that projects onto a scene a plurality of illumination patterns, wherein each of the illumination patterns has a given frequency, each of the illumination patterns is projected onto the scene during a separate period of time, three different illumination patterns are projected with a first given frequency, and only one or two different illumination patterns are projected with a second given frequency;   a camera that detects an image of the scene during each of the plurality of periods of time; and   a hardware processor that is configured to:
 determine the given frequencies of the plurality of illumination patterns; and 
 measure a shape of an object in the scene. 
   
     
     
         2 . The system of  claim 1 , wherein the hardware processor is further configured to determine the given frequencies of the plurality of illumination patterns by measuring the amplitudes of reflected light at different frequencies of illumination patterns and selecting frequencies corresponding to a small range of amplitudes. 
     
     
         3 . The system of  claim 2 , wherein the small range of amplitudes are with 1% of each other. 
     
     
         4 . The system of  claim 2 , wherein the small range of amplitudes are with 5% of each other. 
     
     
         5 . The system of  claim 2 , wherein the small range of amplitudes are with 10% of each other. 
     
     
         6 . The system of  claim 1 , wherein the hardware processor is further configured to:
 determine a plurality of light transport characteristics relating to the scene; and   determine the spatial frequency based on the plurality of light transport characteristics.   
     
     
         7 . The system of  claim 1 , wherein the hardware processor is further configured to determine parameters for each sinusoidal pattern such that global illumination and defocus effects for the plurality of images is constant. 
     
     
         8 . The system of  claim 1 , wherein the hardware processor is further configured to perform phase unwrapping using the Gushov-Solodkin (G-S) algorithm. 
     
     
         9 . The system of  claim 1 , wherein each of the given frequencies of the plurality of illumination patterns is higher than 10 Hz. 
     
     
         10 . The system of  claim 1 , wherein each of the given frequencies of the plurality of illumination patterns is higher than 30 Hz. 
     
     
         11 . The system of  claim 1 , wherein each of the given frequencies of the plurality of illumination patterns is higher than 60 Hz. 
     
     
         12 . A method for performing shape measurement, comprising:
 projecting onto a scene a plurality of illumination patterns using a projector, wherein each of the illumination patterns has a given frequency, each of the illumination patterns is projected onto the scene during a separate period of time, three different illumination patterns are projected with a first given frequency, and only one or two different illumination patterns are projected with a second given frequency;   detecting an image of the scene during each of the plurality of periods of time using a camera;   determining the given frequencies of the plurality of illumination patterns using a hardware processor; and   measuring a shape of an object in the scene using the hardware processor.   
     
     
         13 . The method of  claim 12 , wherein the determining the given frequencies of the plurality of illumination patterns is performed by measuring the amplitudes of reflected light at different frequencies of illumination patterns and selecting frequencies corresponding to a small range of amplitudes. 
     
     
         14 . The method of  claim 13 , wherein the small range of amplitudes are with 1% of each other. 
     
     
         15 . The method of  claim 13 , wherein the small range of amplitudes are with 5% of each other. 
     
     
         16 . The method of  claim 13 , wherein the small range of amplitudes are with 10% of each other. 
     
     
         17 . The method of  claim 12 , further comprising:
 determining a plurality of light transport characteristics relating to the scene; and   determining the spatial frequency based on the plurality of light transport characteristics.   
     
     
         18 . The method of  claim 12 , further comprising determining parameters for each sinusoidal pattern such that global illumination and defocus effects for the plurality of images is constant. 
     
     
         19 . The method of  claim 12 , further comprising performing phase unwrapping using the Gushov-Solodkin (G-S) algorithm. 
     
     
         20 . The method of  claim 12 , wherein each of the given frequencies of the plurality of illumination patterns is higher than 10 Hz. 
     
     
         21 . The method of  claim 12 , wherein each of the given frequencies of the plurality of illumination patterns is higher than 30 Hz. 
     
     
         22 . The method of  claim 12 , wherein each of the given frequencies of the plurality of illumination patterns is higher than 60 Hz. 
     
     
         23 . A non-transitory computer-readable medium containing computer-executable instructions that, when executed by a processor, cause the processor to perform a method for performing shape measurement, the method comprising:
 projecting onto a scene a plurality of illumination patterns, wherein each of the illumination patterns has a given frequency, each of the illumination patterns is projected onto the scene during a separate period of time, three different illumination patterns are projected with a first given frequency, and only one or two different illumination patterns are projected with a second given frequency;   detecting an image of the scene during each of the plurality of periods of time;   determining the given frequencies of the plurality of illumination patterns; and   measuring a shape of an object in the scene.   
     
     
         24 . The non-transitory computer-readable medium of  claim 23 , wherein the determining the given frequencies of the plurality of illumination patterns is performed by measuring the amplitudes of reflected light at different frequencies of illumination patterns and selecting frequencies corresponding to a small range of amplitudes. 
     
     
         25 . The non-transitory computer-readable medium of  claim 24 , wherein the small range of amplitudes are with 1% of each other. 
     
     
         26 . The non-transitory computer-readable medium of  claim 24 , wherein the small range of amplitudes are with 5% of each other. 
     
     
         27 . The non-transitory computer-readable medium of  claim 24 , wherein the small range of amplitudes are with 10% of each other. 
     
     
         28 . The non-transitory computer-readable medium of  claim 23 , wherein the method further comprises:
 determining a plurality of light transport characteristics relating to the scene; and   determining the spatial frequency based on the plurality of light transport characteristics.   
     
     
         29 . The non-transitory computer-readable medium of  claim 23 , wherein the method further comprises determining parameters for each sinusoidal pattern such that global illumination and defocus effects for the plurality of images is constant. 
     
     
         30 . The non-transitory computer-readable medium of  claim 23 , wherein the method further comprises performing phase unwrapping using the Gushov-Solodkin (G-S) algorithm. 
     
     
         31 . The non-transitory computer-readable medium of  claim 23 , wherein each of the given frequencies of the plurality of illumination patterns is higher than 10 Hz. 
     
     
         32 . The non-transitory computer-readable medium of  claim 23 , wherein each of the given frequencies of the plurality of illumination patterns is higher than 30 Hz. 
     
     
         33 . The non-transitory computer-readable medium of  claim 23 , wherein each of the given frequencies of the plurality of illumination patterns is higher than 60 Hz.