A head-mounted device (HMD) is configured to perform depth detection in conjunction with movement tracking. The HMD includes a stereo camera pair comprising a first camera and a second camera, both of which are mounted on the HMD. The fields of view for both of the cameras overlap to form an overlapping field of view. These cameras are configured to detect both visible light and infrared (IR) light. The HMD also includes an IR dot-pattern illuminator that is configured to emit an IR dot-pattern illumination. The HMD uses the IR dot-pattern illumination to determine an object's depth. The HMD also includes one or more flood IR light illuminators that emit a flood of IR light. The HMD uses the flood of IR light to track at least its own movements, and sometimes even hand movements, in various environments, even low light environments.

Disclosed embodiments include methods and systems for utilizing a structured projection pattern to perform depth detection. In some instances, the structured projection pattern forms a dot pattern, which is projected by an infrared (IR) illuminator, wherein the dot pattern includes a replicated sub-pattern having a predefined height and width. The sub-pattern is replicated in at least one direction such that the dot pattern comprises a plurality of replicated sub-patterns that are adjacently positioned.

A measuring apparatus, a measuring system, a measuring method, and a computer-readable non-transitory recording medium storing program code. The measuring apparatus and the measuring method include obtaining data indicating position coordinates of a surface of an object, and outputting information to associate amount information of the data belonging to at least one of a plurality of subspaces obtained by dividing a coordinate space with the plurality of subspaces when the amount information and the plurality of subspaces are displayed. The measuring system includes a measuring device and the measuring apparatus. The recording medium stores the program code for causing a computer to execute the measuring method.

A system and method for noncontact measurement of an environment is provided. The system includes a measurement system having a light projector. The measurement system is coupled to a tablet computer having a camera. The tablet computer causes the measurement system to project a light pattern onto the surface. An image of the light pattern on the surface is acquired. Three dimensional coordinates of points on the surface and a plane are determined from the image. A color image is acquired and two lines are determined. The two lines are matched to the plane. The color image and the three-dimensional coordinates are aligned based on the matching of the two lines to the plane.

The invention alleviates a burden on a user relating to an image inspection device based on photometric stereo and multi-spectral imaging. An illumination device 3 has three or more illumination blocks that irradiate a workpiece 2 with illumination beams from different directions, respectively. A camera 4 generates images of the workpiece 2. An image processing device 5 irradiates the workpieces 2 sequentially with illumination beams from light emitting elements of different lighting colors and generates a plurality of spectral images. The image processing device 5 sequentially turns on the three or more illumination blocks in units of blocks and generates a plurality of direction images. The image processing device 5 generates a color inspection image based on the plurality of spectral images and executes color inspection. The image processing device 5 generates a shape inspection image based on the plurality of direction images and executes shape inspection.

An optical 3-D sensor for very fast, highly resolved and dense capture of the surface shape of objects in 3-D space. One image or a plurality of images recorded at the same time in a single shot method suffice for the recording. Using this, it is possible, as a matter of principle, to record 3-D data with the frame rate of the employed cameras, i.e. to build a 3-D video camera. The optical 3-D sensor has a projector projecting a line pattern onto the object, and K cameras, which each record an image of the object illuminated by the projector. The line pattern contains lines in a number of R directions and the K cameras are disposed to span up to KR triangulation sensors. The triangulation sensors are coupled by a control and evaluation unit by way of the common line pattern.

A method for determining a contour of a frame groove in a rim of a spectacle frame includes illuminating the rim, capturing a plurality of images of the illuminated rim from different predetermined perspectives, evaluating the captured images, and determining a spatial curve of the frame groove based on the evaluated images. The rim is illuminated along the entire circumference of the rim by directed illumination. Moreover, the evaluation of the captured images includes assigning each portion contained in the captured images to a respective surface element of the frame groove on the basis of at least one of the following properties: shadowing of the respective portion, brightness of the respective portion and phase angle of the illumination of the respective portion. Moreover, an apparatus, a computer program, a method for grinding a spectacle lens, and a computer-implemented method for determining a geometry of a spectacle lens are disclosed.

A depth data measurement head, a depth data computing device, and a corresponding method. The measurement head (200) comprises: a projection device (210) for scanning and projecting a group of structured light having different patterns to a photographing area; and an image sensor (220) for photographing the photographing area to obtain a group of image frames under illumination of a group of structured light for single calculation of depth data in the photographing area, wherein the image sensor (220) comprises at least two sub-image sensors (223, 224) sharing at least part of an optical path, and the at least two sub-image sensors (223, 224) are respectively used for imaging the structured light having different patterns successively projected by the projection device (210). Continuous imaging is carried out by using the coaxial monocular or multiple binocular structures, so that the problems of incapability of dynamic imaging and too low depth data frame rate caused by too long multi-frame acquisition time in a scenario where the depth data is calculated by merging multiple frames can be solved.

A depth data measuring head (600, 700) comprising: a structured light projection apparatus (110, 610, 710) used for projecting, under the drive of a driving apparatus (114, 314) and at different projection angles, a beam having a texture to a measured space so as to form different textures on an object to be measured; and first and second image sensors (620, 630; 720, 730) that are respectively arranged on both sides of the structured light projection apparatus (110, 610, 710), the first and second image sensors having a predetermined relative spatial position relationship and imaging the measured space at least twice so as to obtain at least two sets of images having different texture distributions, wherein the at least two sets of images are used for obtaining single-measurement depth data of the object to be measured. The structured light projection apparatus (110, 610, 710) that reflects, at different angles, structured light generated by a light source module (I) is used, so that rapid, economical and low-failure-rate multi-pattern projection is implemented. Furthermore, the structured light projection apparatus (110, 610, 710) matches multiple pairs of binocular sensors (723, 724; 733, 734) sharing a light path, thereby further shortening the frame interval and improving the quality of depth fusion data. Also disclosed is a depth data computing device and measurement method.

The present invention discloses a line stripe mismatch detection and three-dimensional reconstruction method and device. The method includes: acquiring a first image of line stripes collected by a first camera and a second image of line stripes collected by a second camera, where the first image at least includes: a first line stripe and a second line stripe; the second image at least includes: a third line stripe and a fourth line stripe, the first line stripe is adjacent to the second line stripe, and the third line stripe is adjacent to the fourth line stripe; matching the first line stripe with the third line stripe, determining a first test distance between the first line stripe and the third line stripe, matching the second line stripe with the fourth line stripe, and determining a second test distance between the second line stripe and the fourth line stripe; and determining whether the line stripes are mismatched according to the first test distance and the second test distance. The present invention solves the technical problem of incapability of detecting whether the line stripes are mismatched.