Development of a Real-Time Full-Field Range Imaging System

Abstract

This article describes the development of a full-field range imaging system employing a high frequency amplitude modulated light source and image sensor. Depth images are produced at video frame rates in which each pixel in the image represents distance from the sensor to objects in the scene. The various hardware subsystems are described as are the details about the firmware and software implementation for processing the images in realtime. The system is flexible in that precision can be traded off for decreased acquisition time. Results are reported to illustrate this versatility for both high-speed (reduced precision) and high-precision operating modes.

The development of a time of flight range imager for mobile robotics

“…VICTORIA UNIVERSITY RANGE IMAGING SYSTEM A range imaging system has been developed at Victoria University and Waikato University using the indirect time of flight method [11]. Initially the system was developed as a bench top prototype.…”

39.2: Invited Paper: Natural and Intuitive User Interfaces: Technologies and Applications

“…Fig. 1 conceptually illustrates a method for converting the phase shifts of the reflected optical pulse into light intensity which allows determination of the depth range [8].…”

“…Middle, a projected structured-light 3D imaging method[7]. Right, a time-of-flight range imaging technique using pulsed light reflection[8].…”

Natural and Intuitive User Interfaces with Perceptual Computing Technologies

“…The system typically comprises a full-field range imaging capability, including amplitudemodulated illumination source and an image sensor array with a high-speed shutter. Figure 3 (right) conceptually illustrates a method for converting the phase shifts of the reflected optical pulse into light intensity, 11 which allows determination of the depth map.…”

“…The close-range finger-tracking module includes geometric node tracking and 7-point tracking of fingertips, palm center, and elbow. Advanced computer-vision algorithms provide an estimation of positions, volumes, Principles of 3-D image-capture technologies include, at left, stereo-3D imaging based on the geometric relationship between object distance and binocular disparity; in middle, a projected structured-light 3-D imaging method10 ; and, at right, a time-of-flight range-imaging technique using pulsed light reflection 11.…”