US20030147002A1 — Method and apparatus for a color sequential scann…

Claim 1

Independent Claim 233 words

1 . A color scannerless range imaging system for capturing both color and range information from illumination reflected from a scene, said color scannerless range imaging system comprising: an illumination system for illuminating the scene with modulated illumination of a predetermined modulation frequency, whereby some of the modulated illumination is reflected from objects in the scene; a sequentially selectable color filter arrangement positioned in an optical path of the reflected illumination and comprised of a first color filter that preferentially transmits the reflected modulated illumination and a plurality of other color filters that preferentially transmit reflected unmodulated illumination; a control system for driving the color filter arrangement to sequentially provide each of the color filters in the optical path; an image intensifier receiving the reflected illumination and including a modulating stage for modulating the reflected modulated illumination from the scene with the predetermined modulation frequency, thereby generating phase images from which the range information is obtained; and an image capture system including an image responsive element for capturing a plurality of images output by the image intensifier, including (a) a plurality of phase images corresponding to the reflected modulated illumination, whereby the modulation of the reflected modulated illumination incorporates a phase delay corresponding to the distance of objects in the scene from the range imaging system, and (b) a plurality of color images of reflected unmodulated illumination corresponding to color in the scene.

Claim 2

Dependent Claim 233 words

1 . A color scannerless range imaging system for capturing both color and range information from illumination reflected from a scene, said color scannerless range imaging system comprising: an illumination system for illuminating the scene with modulated illumination of a predetermined modulation frequency, whereby some of the modulated illumination is reflected from objects in the scene; a sequentially selectable color filter arrangement positioned in an optical path of the reflected illumination and comprised of a first color filter that preferentially transmits the reflected modulated illumination and a plurality of other color filters that preferentially transmit reflected unmodulated illumination; a control system for driving the color filter arrangement to sequentially provide each of the color filters in the optical path; an image intensifier receiving the reflected illumination and including a modulating stage for modulating the reflected modulated illumination from the scene with the predetermined modulation frequency, thereby generating phase images from which the range information is obtained; and an image capture system including an image responsive element for capturing a plurality of images output by the image intensifier, including (a) a plurality of phase images corresponding to the reflected modulated illumination, whereby the modulation of the reflected modulated illumination incorporates a phase delay corresponding to the distance of objects in the scene from the range imaging system, and (b) a plurality of color images of reflected unmodulated illumination corresponding to color in the scene.

Claim 3

Dependent Claim 19 words

2 . The range imaging system as claimed in claim 1 wherein the image intensifier includes a micro-channel plate.

Claim 4

Dependent Claim 31 words

3 . The range imaging system as claimed in claim 1 wherein the image intensifier is interposed in the optical path between the image responsive element and the color filter arrangement.

Claim 5

Dependent Claim 20 words

4 . The range imaging system as claimed in claim 1 wherein the image responsive element is a photosensitive film.

Claim 6

Dependent Claim 21 words

5 . The range imaging system as claimed in claim 1 wherein the image responsive element is an electronic image sensor.

Claim 7

Dependent Claim 27 words

6 . The range imaging system as claimed in claim 1 further comprising means for storing the color and phase images as a bundle of associated images.

Claim 8

Dependent Claim 49 words

7 . The range imaging system as claimed in claim 1 wherein the image responsive element captures a plurality of phase images corresponding to the reflected modulated illumination, wherein each phase image incorporates the effect of the predetermined modulation frequency together with a phase offset unique for each image.

Claim 9

Dependent Claim 24 words

8 . The range imaging system as claimed in claim 7 wherein each unique phase offset θ is given by θ i =2πi/3; i=0,1,2.

Claim 10

Dependent Claim 24 words

9 . The range imaging system as claimed in claim 1 wherein the illumination system includes a laser illuminator for producing the modulated illumination.

Claim 11

Dependent Claim 27 words

10 . The range imaging system as claimed in claim 1 wherein the illumination system includes a plurality of light emitting diodes for producing the modulated illumination.

Claim 12

Dependent Claim 29 words

11 . The range imaging system as claimed in claim 1 wherein the predetermined modulating frequency is an infra-red frequency and said first color filter is an infra-red filter.

Claim 13

Dependent Claim 22 words

12 . The range imaging system as claimed in claim 1 wherein said other color filters comprise red, green and blue filters.

Claim 14

Dependent Claim 33 words

13 . The range imaging system as claimed in claim 1 wherein the illumination system also emits unmodulated illumination and the reflected unmodulated illumination includes at least some of the emitted unmodulated illumination.

Claim 15

Dependent Claim 25 words

14 . The range imaging system as claimed in claim 1 wherein the reflected unmodulated illumination includes ambient illumination reflected from objects in the scene.

Claim 16

Dependent Claim 21 words

15 . The range imaging system as claimed in claim 2 wherein the color filter arrangement is a color filter wheel.

Claim 17

Dependent Claim 22 words

16 . The range imaging system as claimed in claim 2 wherein the color filter arrangement is an electro-optically tunable color filter.

Claim 18

Dependent Claim 204 words

17 . A method for capturing both color and range information from illumination reflected from a scene, said method comprising the steps of: illuminating the scene with modulated illumination of a predetermined modulation frequency, whereby some of the modulated illumination is reflected from objects in the scene; sequentially positioning an arrangement of color filters in an optical path of the reflected illumination including a first color filter that preferentially transmits the reflected modulated illumination and a plurality of other color filters that preferentially transmit reflected unmodulated illumination; using an image intensifier to modulate the reflected modulated illumination from the scene with the predetermined modulation frequency, thereby generating phase images from which range information is obtained; and capturing a plurality of images output by the image intensifier, including (a) a plurality of phase images corresponding to the reflected modulated illumination when the first color filter is provided in the optical path, whereby the modulation of the reflected modulated illumination incorporates a phase delay corresponding to the distance of objects in the scene from the range imaging system, and (b) a plurality of color images of reflected unmodulated illumination corresponding to color in the scene when the other color filters are provided in the optical path.

Claim 19

Dependent Claim 204 words

17 . A method for capturing both color and range information from illumination reflected from a scene, said method comprising the steps of: illuminating the scene with modulated illumination of a predetermined modulation frequency, whereby some of the modulated illumination is reflected from objects in the scene; sequentially positioning an arrangement of color filters in an optical path of the reflected illumination including a first color filter that preferentially transmits the reflected modulated illumination and a plurality of other color filters that preferentially transmit reflected unmodulated illumination; using an image intensifier to modulate the reflected modulated illumination from the scene with the predetermined modulation frequency, thereby generating phase images from which range information is obtained; and capturing a plurality of images output by the image intensifier, including (a) a plurality of phase images corresponding to the reflected modulated illumination when the first color filter is provided in the optical path, whereby the modulation of the reflected modulated illumination incorporates a phase delay corresponding to the distance of objects in the scene from the range imaging system, and (b) a plurality of color images of reflected unmodulated illumination corresponding to color in the scene when the other color filters are provided in the optical path.

Claim 20

Dependent Claim 26 words

18 . The method as claimed in claim 17 further comprising the step of storing the color and range images as a bundle of associated images.

Claim 21

Dependent Claim 44 words

19 . The method as claimed in claim 17 wherein a plurality of phase images are captured corresponding to the reflected modulated illumination, and each phase image incorporates the effect of the predetermined modulation frequency together with a phase offset unique for each image.

Claim 22

Dependent Claim 22 words

20 . The method as claimed in claim 19 wherein each unique phase offset θ is given by θ i =2πi/3; i=0,1,2.

Claim 23

Dependent Claim 27 words

21 . The method as claimed in claim 17 wherein the predetermined modulating frequency is an infra-red frequency and said first color filter is an infra-red filter.

Claim 24

Dependent Claim 20 words

22 . The method as claimed in claim 17 wherein said other color filters comprise red, green and blue filters.

Claim 25

Dependent Claim 34 words

23 . The method as claimed in claim 17 wherein the step of illuminating the scene also emits unmodulated illumination and the reflected unmodulated illumination includes at least some of the emitted unmodulated illumination.

Claim 26

Dependent Claim 22 words

24 . The method as claimed in claim 17 wherein the arrangement of color filters are provided in a color filter wheel.

Claim 27

Dependent Claim 23 words

25 . The method as claimed in claim 17 wherein the arrangement of color filters are provided by an electro-optically tunable color filter.

Claim 28

Dependent Claim 231 words

26 . An attachment for a camera system for capturing both color and phase information from illumination reflected from a scene, said camera system including an illumination system for illuminating the scene with modulated illumination of a predetermined modulation frequency, whereby some of the modulated illumination is reflected from objects in the scene, and an image responsive element for capturing the reflected illumination; said attachment comprising: a sequentially selectable color filter arrangement positioned in an optical path of the reflected illumination and comprised of a first color filter that preferentially transmits the reflected modulated illumination and a plurality of other color filters that preferentially transmit reflected unmodulated illumination; a control system for driving the color filter arrangement to sequentially provide each of the color filters in the optical path; an image intensifier receiving the reflected illumination and including a modulating stage for modulating the reflected modulated illumination from the scene with the predetermined modulation frequency, thereby generating the phase information, whereby the image responsive element captures a plurality of images output by the image intensifier, including (a) a plurality of phase images corresponding to the reflected modulated illumination, whereby the modulation of the reflected modulated illumination incorporates a phase delay corresponding to the distance of objects in the scene from the range imaging system, and (b) a plurality of color images of reflected unmodulated illumination corresponding to color in the scene.

Claim 29

Dependent Claim 231 words

26 . An attachment for a camera system for capturing both color and phase information from illumination reflected from a scene, said camera system including an illumination system for illuminating the scene with modulated illumination of a predetermined modulation frequency, whereby some of the modulated illumination is reflected from objects in the scene, and an image responsive element for capturing the reflected illumination; said attachment comprising: a sequentially selectable color filter arrangement positioned in an optical path of the reflected illumination and comprised of a first color filter that preferentially transmits the reflected modulated illumination and a plurality of other color filters that preferentially transmit reflected unmodulated illumination; a control system for driving the color filter arrangement to sequentially provide each of the color filters in the optical path; an image intensifier receiving the reflected illumination and including a modulating stage for modulating the reflected modulated illumination from the scene with the predetermined modulation frequency, thereby generating the phase information, whereby the image responsive element captures a plurality of images output by the image intensifier, including (a) a plurality of phase images corresponding to the reflected modulated illumination, whereby the modulation of the reflected modulated illumination incorporates a phase delay corresponding to the distance of objects in the scene from the range imaging system, and (b) a plurality of color images of reflected unmodulated illumination corresponding to color in the scene.

Claim 30

Dependent Claim 19 words

27 . The attachment as claimed in claim 26 wherein the color filter arrangement is a color filter wheel.

Claim 31

Dependent Claim 20 words

28 . The attachment as claimed in claim 26 wherein the color filter arrangement is an electro-optically tunable color filter.

Method and apparatus for a color sequential scannerless range imaging system

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