公开(公告)号：EP3087341B1

公开(公告)日：2019-08-28

申请号：EP14828155.3

申请日：2014-12-22

申请人： Universität Zürich ,  ETH Zürich

发明人： BRÄNDLI, Christian ,  DELBRUCK, Tobias ,  HÖPFLINGER, Markus Andreas ,  HUTTER, Marco ,  MANTEL, Thomas Albert

IPC分类号： G01B11/25 ,  H04N3/14 ,  G01S7/48

公开(公告)号：EP3087341A1

公开(公告)日：2016-11-02

申请号：EP14828155.3

申请日：2014-12-22

申请人： Universität Zürich ,  ETH Zürich

发明人： BRÄNDLI, Christian ,  DELBRUCK, Tobias ,  HÖPFLINGER, Markus Andreas ,  HUTTER, Marco ,  MANTEL, Thomas Albert

IPC分类号： G01B11/25 ,  H04N3/14

CPC分类号： G01B11/25 ,  G01B11/002 ,  G01S7/4816 ,  G01S7/484 ,  G01S7/487 ,  G01S17/42 ,  G01S17/89

摘要： The present invention relates to a method for detecting and particularly reconstructing a surface (40), wherein the surface (40) is illuminated with spatially structured light, such that said light illuminates an area (31) of said surface (40) from which said light is reflected back, wherein said light comprises a temporarily varying intensity (I) in the form of successive light modulation patterns (32), wherein back-reflected light is detected by means of an optical sensor (20) that comprises a plurality of pixels, wherein a pixel coordinate ( u,v ) is associated to each pixel, and wherein each pixel generates a photocurrent being proportional to the intensity of the light impinging on the respective pixel, and computes a signal related to said photocurrent, and wherein each pixel outputs an address-event ( Ev ) merely when the respective signal due to the light impinging on the respective pixel increases by an amount being larger than a first threshold (˜ ON ) or decreases by an amount being larger than a second threshold (˜ O FF ) since the last address-event ( Ev ) from the respective pixel, and wherein as a current image of said area, also denoted as laser stripe in case spatially structured light in the form of a plane/sheet of laser light is used, pixel coordinates ( u,v ) of address-events ( Ev' ) caused by light of the last light modulation pattern (32) back-reflected from said area (31) onto the optical sensor (20) are determined. Furthermore, the invention relates to a corresponding computer program and a corresponding system.

摘要翻译： 本发明从其中所述涉及用于检测的方法和特别是重建表面（40）的worin表面（40）被照射具有空间结构化光，这就是说在所述表面（40）的区域（31）的光照亮检测 光被反射回，worin所述光包括在连续的光调制图案（32）的形式的临时变化的强度（I）worin背反射的光由光学传感器检测（20）做了包括像素的多元性 ，worin的像素坐标（U，v）被关联到每个像素，并且worin每个像素基因率的光电流成比例的光撞击在respectivement像素的强度，并计算相关于所述光电流的信号，并且worin每个像素 输出，以解决事件（EV）仅仅当在像素respectivement增加了量撞击由比第一阈值（〜ON）越大respectivement信号由于光或在AMO减小由 UNT小于第二阈值（〜öFF）由于从respectivement像素负载地址事件（EV），并worin作为所述区域的当前图像越大，所以表示为激光条纹的情况下，空间结构化光的形式 激光的平面/片使用时，像素坐标（U，v）的由最后光调制图案（32）的光致地址的事件（EV“）从所述区域（31）背反射到光学传感器 （20）被确定。 进一步，本发明涉及一种计算机程序和对应的相应的系统。

公开(公告)号：EP2887009A1

公开(公告)日：2015-06-24

申请号：EP13199421.2

申请日：2013-12-23

申请人： Universität Zürich ,  ETH Zürich

发明人： BRÄNDLI, Christian ,  DELBRUCK, Tobias ,  HÖPFLINGER, Markus Andreas ,  HUTTER, Marco ,  MANTEL, Thomas Albert

IPC分类号： G01B11/25 ,  H04N3/14

CPC分类号： G01B11/25 ,  G01B11/002 ,  G01S7/4816 ,  G01S7/484 ,  G01S7/487 ,  G01S17/42 ,  G01S17/89

摘要： The present invention relates to a method for detecting and particularly reconstructing a surface (40), wherein the surface (40) is illuminated with spatially structured light, such that said light illuminates an area (31) of said surface (40) from which said light is reflected back, wherein said light comprises a temporarily varying intensity (I) in the form of successive light modulation patterns (32), wherein back-reflected light is detected by means of an optical sensor (20) that comprises a plurality of pixels, wherein a pixel coordinate ( u,v ) is associated to each pixel, and wherein each pixel generates a photocurrent being proportional to the intensity of the light impinging on the respective pixel, and computes a signal related to said photocurrent, and wherein each pixel outputs an address-event ( Ev ) merely when the respective signal due to the light impinging on the respective pixel increases by an amount being larger than a first threshold (Θ ON ) or decreases by an amount being larger than a second threshold (Θ O FF ) since the last address-event ( Ev ) from the respective pixel, and wherein as a current image of said area, also denoted as laser stripe in case spatially structured light in the form of a plane/sheet of laser light is used, pixel coordinates ( u,v ) of address-events ( Ev' ) caused by light of the last light modulation pattern (32) back-reflected from said area (31) onto the optical sensor (20) are determined. Furthermore, the invention relates to a corresponding computer program and a corresponding system.

摘要翻译： 本发明从其中所述涉及用于检测的方法和特别是重建表面（40）的worin表面（40）被照射具有空间结构化光，这就是说在所述表面（40）的区域（31）的光照亮检测 光被反射回，worin所述光包括在连续的光调制图案（32）的形式的临时变化的强度（I）worin背反射的光由光学传感器检测（20）做了包括像素的多元性 ，worin的像素坐标（U，v）被关联到每个像素，并且worin每个像素基因率的光电流成比例的光撞击在respectivement像素的强度，并计算相关于所述光电流的信号，并且worin每个像素 输出，以解决事件（EV）仅仅当在像素respectivement增加了量撞击由比第一阈值（〜ON）越大respectivement信号由于光或在AMO减小由 UNT小于第二阈值（〜öFF）由于从respectivement像素负载地址事件（EV），并worin作为所述区域的当前图像越大，所以表示为激光条纹的情况下，空间结构化光的形式 激光的平面/片使用时，像素坐标（U，v）的由最后光调制图案（32）的光致地址的事件（EV“）从所述区域（31）背反射到光学传感器 （20）被确定。 进一步，本发明涉及一种计算机程序和对应的相应的系统。

公开(公告)号：EP3172699A1

公开(公告)日：2017-05-31

申请号：EP15750648.6

申请日：2015-07-24

申请人： Universität Zürich

发明人： DELBRÜCK, Tobias ,  BRÄNDLI, Christian ,  OSSWALD, Marc

IPC分类号： G06K9/20 ,  G06K9/60 ,  G06K9/62 ,  G06T7/20 ,  G06K9/46

CPC分类号： G06K9/00711 ,  G06K9/4671 ,  G06K9/605 ,  G06K9/6288 ,  G06T7/248 ,  G06T7/73

摘要： The present invention relates to a method for tracking a position of at least one keypoint in an image of an object moving relative to an optical sensor, wherein light reflected from the object (12) is detected so as to generate an image of the object, and wherein a position of at least one keypoint (K j ) in said image is detected and updated using temporal contrast events ( Ev ) of the optical sensor. The invention also relates to a corresponding computer program and device.

摘要翻译： 本发明涉及一种用于跟踪相对于光学传感器移动的对象的图像中的至少一个关键点的位置的方法，其中检测从对象（12）反射的光以便生成对象的图像， 并且其中使用所述光学传感器的时间对比度事件（Ev）来检测和更新所述图像中的至少一个关键点（K j）的位置。 本发明还涉及相应的计算机程序和设备。