US5081530A
Expired / Lapsed
US
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Three dimensional camera and range finder
Assignee: Individual
•
Filing: 1990-10-05
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Granted: 1992-01-14
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Expires: 2010-10-05
Abstract
Abstract A three dimensional camera system in which a precisely timed beam of energy is emitted from a single source with the beam illuminating the scene. The reflected energy from the beam is detected with a camera whose sensitivity is precisely timed and synchronized with the emitted beam. The reflected energy is separated and segregated according to the time of arrival at the camera. One or more cycles of energy are emitted, the camera segregates reflected energy during each cycle by separately storing the energy detected before and after a given time. The ratio of two consecutive separately detected energies conveys depth or third dimension. Signals can be displayed to a viewer to create a stereoscopic image or used by a machine for automatic response to a three dimensional environment.
Inventors
- 👤 Antonio Medina
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-29 14:19
CPC Classifications
G; G01; G01S; G01S7/00; G01S7/48; G01S17/00; G01S17/88; G01S17/89; G01S17/894; H; H04; H04N; H04N13/00; H04N13/20; H04N13/204; H04N13/207; H04N13/254; H04N13/296; H04N13/10; H04N13/189; H04N13/239; H04N13/30; H04N13/332; H04N13/341; H04N13/398; H04N2013/0074; H04N2013/0081
Claims Analysis
Total Claims: 34
Claim 1
Independent Claim
59 words
A three-dimensional camera system comprising: means for emitting a beam of energy; image detector means for detecting said energy when reflected from objects; means to segregate said detected energy according to the time of arrival at said detector means, resulting in a least two segregated energies; means for extracting information related to distance of object from said segregated energies.
Claim 2
Dependent Claim
59 words
A three-dimensional camera system comprising: means for emitting a beam of energy; image detector means for detecting said energy when reflected from objects; means to segregate said detected energy according to the time of arrival at said detector means, resulting in a least two segregated energies; means for extracting information related to distance of object from said segregated energies.
Claim 3
Dependent Claim
22 words
A three-dimensional camera system as set forth in claim 1 wherein said means for emitting a beam of energy includes a flashlamp.
Claim 4
Dependent Claim
23 words
A three dimensional camera system as set forth in claim 1 wherein said means for emitting a beam of energy includes a laser.
Claim 5
Dependent Claim
24 words
A three-dimensional camera system as set forth in claim 1 wherein said means for emitting a beam of energy includes a microwave emitting antenna.
Claim 6
Dependent Claim
26 words
A three dimensional camera system as set forth in claim 1 wherein said means for emitting a beam of energy includes a sonic or ultrasonic source.
Claim 7
Dependent Claim
24 words
A three dimensional camera system as set forth in claim 1 wherein said means for emitting a beam of energy includes a sinusoidal modulator.
Claim 8
Dependent Claim
31 words
A three dimensional camera system as set forth in claim 1 wherein said means for emitting a beam of energy includes a pulsed modulator producing at least one pulse of energy.
Claim 9
Dependent Claim
29 words
A three dimensional camera system as set forth in claim 1 wherein said means for emitting a beam of energy includes the sun and its natural variations in intensity.
Claim 10
Dependent Claim
23 words
A three dimensional camera system as set forth in claim 1 wherein detector means for detecting said reflected energy includes a video camera.
Claim 11
Dependent Claim
23 words
A three dimensional camera system as set forth in claim 1 wherein detector means for detecting said reflected energy includes a photographic camera.
Claim 12
Dependent Claim
25 words
A three-dimensional camera system as set forth in claim 1 wherein detector means for detecting said reflected energy includes a solid state device type camera.
Claim 13
Dependent Claim
33 words
A three-dimensional camera system as set forth in claim 1 wherein means for segregating said detected energy includes a shutter that operates in synchronization with said means for emitting a beam of energy.
Claim 14
Dependent Claim
39 words
A three-dimensional camera system as set forth in claim 1 wherein means for segregating said detected energy includes a solid state sensor electronically shuttered during the arrival of said energy by application of a voltage to an integral electrode.
Claim 15
Dependent Claim
65 words
A three-dimensional camera system as set forth in claim 1 wherein means for segregating said detected energy includes an interline transfer charge couple device, whose transferring of pixel charge to opaque transport registers is effected during the arrival of said detected energy, said transfer of charge being stopped before the end of arrival of energy, resulting in part of pixel charge segregated from register charge.
Claim 16
Dependent Claim
33 words
A three dimensional camera system as set forth in claim 1 wherein means for segregating said detected energy includes a gated microchannel plate intensifier that is gated during the arrival of said energy.
Claim 17
Dependent Claim
32 words
A three dimensional camera system as set forth in claim 1 wherein means for segregating said detected energy includes a liquid crystal shutter that is operated during the arrival of said energy.
Claim 18
Dependent Claim
46 words
A three dimensional camera system as set forth in claim 12 wherein said shutter opens and closes in a rectangular wave mode with a delay for every other exposure substantially equal to the duration of the opened time and to the duration of the light pulse.
Claim 19
Dependent Claim
46 words
A three dimensional camera system as set forth in claim 12 wherein said shutter opens and closes in an arbitrary wave mode with a delay for every other exposure equal to the duration of the opened time and longer than the duration of the light pulse.
Claim 20
Dependent Claim
38 words
A three dimensional camera system as set forth in claim 12 wherein said shutter opens and closes in an arbitrary wave mode with a delay for every other exposure equal to half the duration of the triangular wave.
Claim 21
Dependent Claim
44 words
A three dimensional camera system as set forth in claim 12 wherein said shutter opens and closes with a delay from the onset of said energy pulses equal to twice the distance from the camera to the scene divided by the velocity of light.
Claim 22
Dependent Claim
29 words
A three dimensional camera system as set forth in claim 12 wherein said shutter opens and closes continuously and in alternation during the duration of an exposure or frame.
Claim 23
Dependent Claim
27 words
A three dimensional camera system as set forth in claim 1 wherein said camera has a shutter which opens and closes in opposite phase every other frame.
Claim 24
Dependent Claim
31 words
A three dimensional camera system as set forth in claim 1 wherein said means for extracting said information related to distance includes means for calculating the ratio of said segregated energies.
Claim 25
Dependent Claim
36 words
A three dimensional camera system as set forth in claim 1 wherein means for extracting said information related to distance includes means for calculating the ratio of the difference and the sum of said segregated energies.
Claim 26
Dependent Claim
64 words
A three dimensional camera system as set forth in claim 1 wherein said beam of energy of periodical intensity is a train of pulses modulated in frequency; means for extracting phase information that includes shutter that operates in synchronization with the frequency of said pulses and that opens for a period of time corresponding to the phase deviation of the pulses modulated in frequency.
Claim 27
Dependent Claim
95 words
In a three dimensional camera system as set forth in claim 1 wherein said means for extracting information related to distance includes: a pair of memory buffers for storing successively detected beams of energy, means for adding and means for subtracting values stored in said memory buffers, additional buffers for separately storing the sums and differences derived from said adding and subtracting means, and means for dividing said additional buffers, one into the other to derive a normalized difference related to the distance of the object from the camera system and the beam emitting means.
Claim 28
Dependent Claim
51 words
A three-dimensional camera system means for creating a three-dimensional image including means for emitting a beam of energy of periodical intensity, detector means for detecting said energy when reflected from objects, and a phase detector means for detecting the phase difference between the beam when emitted and the beam when received.
Claim 29
Dependent Claim
51 words
A three-dimensional camera system means for creating a three-dimensional image including means for emitting a beam of energy of periodical intensity, detector means for detecting said energy when reflected from objects, and a phase detector means for detecting the phase difference between the beam when emitted and the beam when received.
Claim 30
Dependent Claim
42 words
In a three-dimensional camera system as set forth in claim 27, said phase detector means including a shutter and means for opening said shutter with the frequency as said means for emitting a beam but having a phase shift in alternate cycles.
Claim 31
Dependent Claim
17 words
In a three-dimensional camera system as set forth in claim 28 wherein said emitted beam is sinusoidal.
Claim 32
Dependent Claim
17 words
In a three-dimensional camera system as set forth in claim 28 wherein said emitted beam is pulsed.
Claim 33
Dependent Claim
24 words
In a three-dimensional camera system as set forth in claim 28 wherein said phase shift is equal to the duration of the emitted energy.
Claim 34
Dependent Claim
88 words
In a three-dimensional camera system as set forth in either of claims 29 or 30. a pair of memory buffers for storing successively detected beams of energy, means for adding and means for subtracting values stored in said memory buffers, additional buffers for separately storing the sums and differences derived from said adding and subtracting means, and means for dividing said additional buffers, one into the other to derive a normalized difference related to the distance of the object from the camera system and the beam emitting means.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1995-01-13 | 1995-07-15 | 1996-01-14 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1999-01-13 | 1999-07-15 | 2000-01-14 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2003-01-13 | 2003-07-15 | 2004-01-14 | $7700.00 | Window Closed / Lapsed |