Method and apparatus for providing specular surface reconstruction

Patent metadata

Field	Value
Publication number	US-2016292830-A1
Application number	US-201514675103-A
Country	US
Kind code	A1
Filing date	Mar 31, 2015
Priority date	Mar 31, 2015
Publication date	Oct 6, 2016
Grant date	—

Abstract

An approach is provided for reconstruction of dynamic arbitrary specular objects. The approach involves determining time-of-flight data for at least one pixel of at least one time-of-flight sensor configured with at least one retro-reflector, wherein the time-of-flight data includes a first distance from the at least one time-of-flight sensor to at least one point of at least one surface, and a second distance from the at least one point to the at least one retro-reflector. The approach also involves determining other time-of-flight data for one or more neighboring pixels which are neighboring the at least one pixel. The approach further involves determining at least one range distance to the at least one point of the at least one surface by causing, at least in part, a factoring out of the second distance from the time-of-flight data by using the other time-of-flight data. The approach also involves causing, at least in part, a reconstruction of the at least one surface using the at least one range distance.

First claim

1 . A method comprising:
determining time-of-flight data for at least one pixel of at least one time-of-flight sensor configured with at least one retro-reflector, wherein the time-of-flight data includes a first distance from the at least one time-of-flight sensor to at least one point of at least one surface, and a second distance from the at least one point to the at least one retro-reflector; determining other time-of-flight data for one or more neighboring pixels which are neighboring the at least one pixel; determining at least one range distance to the at least one point of the at least one surface by causing, at least in part, a factoring out of the second distance from the time-of-flight data by using the other time-of-flight data; and causing, at least in part, a reconstruction of the at least one surface using the at least one range distance.

2 . A method of claim 1 , further comprising:
causing, at least in part, a specification of a minimum number of the one or more neighboring pixels to process.

3 . A method of claim 2 , further comprising:
determining that an available number of the one or more neighboring pixels is below the minimum number; and causing, at least in part, an initiation of the factoring out of the second distance based, at least in part, on the available number.

4 . A method of claim 2 , wherein the minimum number of the one or more neighboring pixels is at least four.

5 . A method of claim 1 , wherein the at least one retro-reflector is a planar surface, a semi-spherical surface, a parabolic surface, or a combination thereof.

6 . A method of claim 1 , further comprising:
determining the time-of-flight data, the other time-of-flight data, or a combination thereof by causing, at least in part, an opening and a shutting of the at least one retro-reflector to capture a plurality of measurements; and determining that one or more objects have only diffuse surfaces, mixed diffuse and specular surfaces, only specular surfaces, or a combination thereof based, at least in part, on one or more differences among the plurality of measurements.

7 . A method of claim 6 , further comprising:
determining the at least one range distance for the at least one point of the one or more objects that are associated with the at least one surface that includes the only diffuse surfaces using non-retro reflector based processes; and determining the at least one range distance for the at least one point of the one or more objects that are associated with the at least one specular surface that includes the mixed diffuse and specular surfaces, the only specular surfaces, or a combination thereof using retro reflector based processes comprising the factoring out of the second distance.

8 . A method of claim 1 , wherein the at least one surface is associated with at least one dynamic object, the method further comprising:
causing, at least in part, a synchronization of the at least one time-of-flight sensor configured with the retro-reflector and at least one other time-of-flight sensor configured without the retro-reflector to cause, at least in part, a capturing of the time-of-flight data, the other time-of-flight data, or a combination thereof for the at least one dynamic object.

9 . A method of claim 8 , wherein the at least one time-of-flight sensor and the at least one other time-of-flight sensor are configured with differently modulated lasers.

10 . A method of claim 1 , further comprising:
determining the at least one surface, one or more objects associated with the at least one surface, or a combination thereof extends beyond a field of view of the at least one time-of-flight sensor; and causing, at least in part, a movement of the at least one time-of-flight sensor to capture the time-of-flight data, the other time-of-flight data, or a combination thereof for the at least one surface, the one or more objects, or a combination thereof.

11 . An apparatus comprising:
at least one processor; and at least one memory including computer program code for one or more programs, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to perform at least the following,
determine time-of-flight data for at least one pixel of at least one time-of-flight sensor configured with at least one retro-reflector, wherein the time-of-flight data includes a first distance from the at least one time-of-flight sensor to at least one point of at least one surface, and a second distance from the at least one point to the at least one retro-reflector;
determine other time-of-flight data for one or more neighboring pixels which are neighboring the at least one pixel;
determine at least one range distance to the at least one point of the at least one surface by causing, at least in part, a factoring out of the second distance from the time-of-flight data by using the other time-of-flight data; and
cause, at least in part, a reconstruction of the at least one surface using the at least one range distance.

12 . An apparatus of claim 11 , wherein the apparatus is further caused to:
cause, at least in part, a specification of a minimum number of the one or more neighboring pixels to process.

13 . An apparatus of claim 12 , wherein the apparatus is further caused to:
determine that an available number of the one or more neighboring pixels is below the minimum number; and cause, at least in part, an initiation of the factoring out of the second distance based, at least in part, on the available number.

14 . An apparatus of claim 12 , wherein the minimum number of the one or more neighboring pixels is at least four.

15 . An apparatus of claim 11 , wherein the at least one retro-reflector is a planar surface, a semi-spherical surface, a parabolic surface, or a combination thereof.

16 . An apparatus of claim 11 , wherein the apparatus is further caused to:
determine the time-of-flight data, the other time-of-flight data, or a combination thereof by causing, at least in part, an opening and a shutting of the at least one retro-reflector to capture a plurality of measurements; and determine that one or more objects have only diffuse surfaces, mixed diffuse and specular surfaces, only specular surfaces, or a combination thereof based, at least in part, on one or more differences among the plurality of measurements.

17 . An apparatus of claim 16 , wherein the apparatus is further caused to:
determine the at least one range distance for the at least one point of the one or more objects that are associated with the at least one surface that includes the one only diffuse surfaces using non-retro reflector based processes; and determine the at least one range distance for that at least one point of the one or more objects that are associated with the at least one specular surface that includes the mixed diffuse and specular surfaces, the only specular surfaces, or a combination thereof using retro reflector based processes comprising the factoring out of the second distance.

18 . A computer-readable storage medium carrying one or more sequences of one or more instructions which, when executed by one or more processors, cause an apparatus to at least perform the following steps:
determining time-of-flight data for at least one pixel of at least one time-of-flight sensor configured with at least one retro-reflector, wherein the time-of-flight data includes a first distance from the at least one time-of-flight sensor to at least one point of at least one surface, and a seco

Assignees

• Nokia Technologies Oy

Inventors

• Chen Xin
• Yang Ruigang

Classifications

• G06T2207/10028

  Range image; Depth image; 3D point clouds · CPC title

• G06T2207/10024

  Color image · CPC title

• G06T7/586

  from multiple light sources, e.g. photometric stereo · CPC title

• G01B11/026

  by measuring distance between sensor and object (G01B11/0608 takes precedence) · CPC title

• G06T7/521

  from laser ranging, e.g. using interferometry; from the projection of structured light · CPC title