Shape reflector and surface contour mapping

Patent metadata

Field	Value
Publication number	US-9186470-B2
Application number	US-201213630025-A
Country	US
Kind code	B2
Filing date	Sep 28, 2012
Priority date	Feb 8, 2012
Publication date	Nov 17, 2015
Grant date	Nov 17, 2015

Abstract

The three dimensional surface shape of one or more layers of a reflective object is determined by examining one or more captured images reflected from the reflective object. Curved surfaces reflect a distorted image altered by the surface shape. By analyzing one or more captured images of the distorted reflected images, the shape of the surface that caused the distortion is estimated. A captured distorted image is compared to a reference undistorted image having known geometric properties. A system to capture and process such images is assembled from components including an image capture assembly such as a digital camera to capture reflected images and a positioning assembly on which to orient the components with respect to each other. Multiple surface layers of the reflective object are separately estimated using polarizations, luminance levels, chroma values or combinations thereof contained in one or more captured images.

First claim

What is claimed is:

1. A method for estimating a three-dimensional surface shape of two reflective surface layers of an object, the method comprising:
capturing, by an image capture device and when a polarizing filter is blocking a first reflected image pattern reflected from a first reflective surface of the object, a second reflected image pattern reflected from a second reflective surface of the object;
capturing, by the image capture device and when the polarizing filter is blocking the second reflected image pattern, the first reflected image pattern, wherein the first reflected image pattern exhibits a different amount of luminance than the second reflected image pattern as a result of a difference between the first reflective surface and the second reflective surface;
obtaining a first and second set of two-dimensional reflected image points from the first reflected image pattern and the second reflected image pattern respectively;
calculating a set of three-dimensional direction vectors for the first set and second set of two-dimensional reflected image points;
calculating a set of three-dimensional surface estimates for each two-dimensional image point along its corresponding three-dimensional direction vector, wherein each element of the set of three-dimensional surface estimates represents a different position of a surface of the object; and
minimizing a curvature function of a curve connecting an estimate of the three-dimensional surface to a previously generated three-dimensional surface estimate.

2. The method as recited in claim 1 , wherein the first and second reflected image patterns each include information related to a shape of the two reflective surface layers of the object.

3. The method as recited in claim 1 , wherein the curve corresponds to a cubic polynomial function.

4. An apparatus for estimating a three-dimensional surface shape of a manufactured part having multiple reflective surfaces, the apparatus comprising:
a polarizing filter;
an image capture device configured to:
capture, when the polarizing filter is blocking a first reflected image pattern reflected from a first reflective surface of the manufactured part, a second reflected image pattern reflected from a second reflective surface of the manufactured part, and
capture, when the polarizing filter is blocking the second reflected image pattern, the first reflected image pattern, wherein the first reflected image pattern exhibits a different amount of luminance than the second reflected image pattern as a result of a difference between the first reflective surface and the second reflective surface; and

a processing unit coupled to the image capture device and configured to:
generate a first and second set of two-dimensional reflected image points from the first reflected image pattern and the second reflected image pattern respectively;
calculate a set of three-dimensional direction vectors for each two-dimensional image point;
calculate a set of three-dimensional surface estimates for each two-dimensional image point along its corresponding three-dimensional direction vector; and
minimize a curvature function of a curve connecting an estimate of the three-dimensional surface to a previously generated three-dimensional surface estimate.

5. A machine-readable non-transitory storage medium storing instructions that, when executed by a processor included in a computing device, cause the computing device to carry out steps that include:
capturing, by an image capture device and when a polarizing filter is blocking a first reflected image pattern reflected from a first reflective surface of an object, a second reflected image pattern reflected from a second reflective surface of the object;
capturing, by the image capture device and when the polarizing filter is blocking the second reflected image pattern, the first reflected image pattern, wherein the first reflected image pattern exhibits a different amount of luminance than the second reflected image pattern as a result of a difference between the first reflective surface and the second reflective surface;
generating a first and second set of two-dimensional reflected image points from the first reflected image pattern and the second reflected image pattern respectively;
calculating a set of three-dimensional direction vectors for each two-dimensional image point;
calculating a set of three-dimensional surface estimates for each two-dimensional image point along its corresponding three-dimensional direction vector, wherein each element of the set of three-dimensional surface estimates represents a different position and orientation of a surface of the object; and
minimizing a curvature function of a curve connecting an estimate of the three-dimensional surface to a previously estimated three-dimensional surface estimate.

6. A system for estimating a three-dimensional surface shape of two reflective surface layers of an object, the system comprising:
a polarizing filter;
an image capture device configured to:
capture, when the polarizing filter is blocking a first reflected image pattern reflected from a first reflective su 4 rface of the object, a second reflected image pattern reflected from a second reflective surface of the object, and
capture, when the polarizing filter is blocking the second reflected image pattern, the first reflected image pattern, wherein the first reflected image pattern exhibits a different amount of luminance than the second reflected image pattern as a result of a difference between the first reflective surface and the second reflective surface;

an image pixelator configured to generate first and second set of two-dimensional reflected image points from the first reflected image pattern and the second reflected image pattern; and
a processing unit configured to:
determine adjacency information for each two-dimensional image point, the adjacency information relating each two-dimensional image point to a neighboring point,
calculate a three-dimensional direction for each two-dimensional image points,
calculate an estimate of the three-dimensional surface of each of the first and second reflective surfaces of the object based on the two-dimensional image points, and
minimize a curvature function of a curve connecting the estimate of the three-dimensional surface to a previously estimated three-dimensional surface estimate.

7. The system as recited in claim 6 , wherein the curve includes a cubic polynomial function.

8. The method as recited in claim 1 , wherein the polarizing filter is capable of passing a non-polarized first reflected image and blocking a polarized second reflected image.

9. The method as recited in claim 1 , further comprising:
rotating the polarizing filter to a different position in order to discriminate between polarizations of the first reflected image pattern and the second reflected image pattern.

10. The method as recited in claim 1 , further comprising:
rotating the polarizing filter after the image capture device captures the first reflected image pattern.

11. The system as recited in claim 6 , wherein the polarizing filter is configured to rotate at a time between the image capture device capturing the first reflected image pattern and the second reflected image pattern.

12. The method of claim 1 , wherein each of the first and second reflected image patterns include multiple circular dots.

13. The method of claim 12 , wherein the multiple circular dots have approximately uniform shape and luminance values.

14. The method of claim 1 , wherein obtaining a first and second set of two-dimensional reflected image

Assignees

• Apple Inc

Inventors

• Kessler Patrick
• Rundle Nicholas Alan

Classifications

• A61M13/003 Primary

  Blowing gases other than for carrying powders, e.g. for inflating, dilating or rinsing · CPC title

• A61B2090/401

  using air flow · CPC title

• A61M2202/02

  Gases · CPC title

• A61G13/108

  Means providing sterile air at a surgical operation table or area (treatment rooms A61G10/00; instruments or implements for sterile operation A61B90/00; sterilisation of air A61L9/00; purification of air in air-conditioning systems F24F3/16, F24F8/00) · CPC title

• A61M13/00

  Insufflators for therapeutic or disinfectant purposes {, i.e. devices for blowing a gas, powder or vapour into the body (hand-held units in which gas flow is produced by muscular energy at the moment of use B05B11/062)} · CPC title