US 11,054,506 B2
Spatially self-similar patterned illumination for depth imaging
Benjamin Braker, Louisville, CO (US); Aaron Wegner, Longmont, CO (US); Ronald Zimmerman, Boulder, CO (US); Eric Moore, Longmont, CO (US); and Trevor McDonald, Lafayette, CO (US)
Assigned to COGNEX CORPORATION, Natick, MA (US)
Filed by COGNEX CORPORATION, Natick, MA (US)
Filed on Apr. 10, 2020, as Appl. No. 16/845,737.
Application 16/034,485 is a division of application No. 15/389,804, filed on Dec. 23, 2016, granted, now 10,088,556, issued on Oct. 2, 2018.
Application 16/845,737 is a continuation of application No. 16/377,434, filed on Apr. 8, 2019, granted, now 10,627,489.
Application 16/377,434 is a continuation of application No. 16/034,485, filed on Jul. 13, 2018, granted, now 10,295,655, issued on May 21, 2019.
Application 15/389,804 is a continuation of application No. 14/643,966, filed on Mar. 10, 2015, granted, now 9,562,760, issued on Feb. 7, 2017.
Claims priority of provisional application 61/950,219, filed on Mar. 10, 2014.
Prior Publication US 2020/0309914 A1, Oct. 1, 2020
This patent is subject to a terminal disclaimer.
Int. Cl. G01C 3/08 (2006.01); G01S 7/481 (2006.01); G01B 11/00 (2006.01); G01B 11/25 (2006.01); G06T 7/521 (2017.01); G01S 17/42 (2006.01)
CPC G01S 7/4814 (2013.01) [G01B 11/002 (2013.01); G01B 11/2531 (2013.01); G01S 17/42 (2013.01); G06T 7/521 (2017.01); G06T 2207/20056 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method for estimating coordinates of a location on an object in a 3D scene, the method comprising:
illuminating at least a portion of the 3D scene with a radiation pattern, wherein the radiation pattern includes:
a plurality of spatial symbols, wherein each spatial symbol from the plurality of spatial symbols comprises a radiation distribution such that at least one characteristic of the radiation distribution varies spatially and wherein the plurality of spatial symbols are configured such that:
each respective spatial symbol from the plurality of spatial symbols is distinguishable from the other spatial symbols from the plurality of spatial symbols; and
each respective spatial symbol from the plurality of spatial symbols is related to a one or more master spatial symbols
detecting the radiation pattern illuminating at least the portion of the illuminated 3D scene using one or more radiation detectors; and
estimating the coordinates of the location on the object based on the detected radiation pattern.