US 12,231,617 B2
System and method for 3D pose measurement with high precision and real-time object tracking
MingDu Kang, Pleasanton, CA (US); Kai C. Yung, Livermore, CA (US); Wing Tsui, Milpitas, CA (US); and Zheng Xu, Pleasanton, CA (US)
Assigned to eBots Inc., Fremont, CA (US)
Appl. No. 18/016,269
Filed by eBots Inc., Fremont, CA (US)
PCT Filed Jul. 22, 2020, PCT No. PCT/US2020/043105
§ 371(c)(1), (2) Date Jan. 13, 2023,
PCT Pub. No. WO2021/016370, PCT Pub. Date Jan. 28, 2021.
Claims priority of provisional application 62/877,696, filed on Jul. 23, 2019.
Prior Publication US 2023/0269361 A1, Aug. 24, 2023
Int. Cl. H04N 13/363 (2018.01); G06T 7/521 (2017.01); H04N 13/296 (2018.01)
CPC H04N 13/363 (2018.05) [G06T 7/521 (2017.01); H04N 13/296 (2018.05)] 18 Claims
OG exemplary drawing
 
1. A machine-vision system, comprising one or more stereo-vision modules, wherein a respective stereo-vision module comprises:
a structured-light projector;
a first camera positioned on a first side of the structured-light projector; and
a second camera positioned on a second side of the structured-light projector, wherein the first and second cameras are configured to capture images of an object under illumination by the structured-light projector;
wherein the structured-light projector comprises a laser-based light source and an optical modulator configured to reduce speckles caused by the laser-based light source;
wherein the optical modulator comprises two rotating diffuser discs arranged with edges partially overlapping with each other; and
wherein the two edge overlapping diffuser discs rotate at different speeds in opposite directions.