Integrated illumination and optical surface topology detection system and methods of use thereof

Abstract

Systems and methods are provided for optical topology detection and illumination. Embodiments provide an integrated system, and methods of operation thereof, where the integrated system includes an illumination system and an optical topology detection system, and where at least a portion of the spectral content of illumination light from the illumination system is within an optical detection bandwidth of the optical topology detection system, and where the operation of the optical topology detection system and the illumination system are interleaved to avoid crosstalk, such that the optical topology detection system detects the optical topology detection light when the illumination system is not emitting illumination light. The system may include, and control the operation of, an optical navigation system. The components of the system may be mounted to a rigid frame to maintain calibration.

1 . A structured light system comprising:
 a rigid support;   a first structured light projector, said first structured light projector having a first projection field of view;   a second structured light projector, said second structured light projector having a second projection field of view;   at least one camera for acquiring structured light images, said at least one camera being supported by said rigid support; and   control circuitry operatively coupled to said first structured light projector, said second structured light projector and said at least one camera for controlling projection of structured light patterns from said first structured light projector and said second structured light projector, and for acquiring the structured light images from said at least one camera;   said first structured light projector and said second structured light projector being supported by said rigid support such that the first projection field of view and the second projection field of view are spatially overlapped.   
     
     
         2 . The structured light system according to  claim 1  wherein said first structured light projector and said second structured light projector are inwardly angled relative to a central alignment axis of said rigid support to reduce or avoid shadowing. 
     
     
         3 . The structured light system according to  claim 1  wherein said rigid support comprises a first side and a second side, said first side comprising a central region, wherein said first structured light projector and said second structured light projector are supported on said first side of said rigid support at respective locations offset from said central region, and wherein said first structured light projector and said second structured light projector are angled toward said central region. 
     
     
         4 . The structured light system according to  claim 3  wherein said first structured light projector and said second structured light projector are supported such that the first projection field of view and the second projection field of view spatially overlap at a location that is coaxial with said central region along an alignment axis of said rigid support. 
     
     
         5 . The structured light system according to  claim 1  wherein said control circuitry is configured to selectively operate said first structured light projector and said second structured light projector, such that only one of said first structured light projector and said second structured light projector is operated to project structured light patterns at a given time. 
     
     
         6 . The structured light system according to  claim 1  wherein said first structured light projector and said second structured light projector are configured to operate within different spectral bands to prevent cross-talk during simultaneous operation. 
     
     
         7 . The structured light system according to  claim 1  wherein said control circuitry is configured to perform image reconstruction based on structured light images associated with structured light patterns projected from said first structured light projector and said second structured light projector. 
     
     
         8 . The structured light system according to  claim 1  further comprising a plurality of light sources for illumination a spatial region including the first projection field of view and the second projection field of view. 
     
     
         9 . The structured light system according to  claim 8  wherein said rigid support comprises a first side and a second side, said first side comprising a central region and an outer peripheral region, wherein at least a subset of said plurality of light sources reside on said first side at respective locations that are further remote from said central region than either of said first structured light projector and said second structured light projector. 
     
     
         10 . The structured light system according to  claim 8  wherein said rigid support comprises a first side and a second side, said first side comprising a central region, and wherein at least a subset of said plurality of light sources reside on said first side within a peripheral region that is remote from said central region. 
     
     
         11 . The structured light system according to  claim 1  wherein at least one of said first structured light projector and said second structured light projector is movable relative to said rigid support. 
     
     
         12 . The structured light system according to  claim 1  further comprising an optical tracking subsystem supported by said rigid support, said optical tracking subsystem comprising a plurality of tracking cameras. 
     
     
         13 . A method of performing structured light imaging, said method comprising:
 providing a structured light system according to  claim 1 ; and   selectively operating said first structured light projector and said second structured light projector, such that only one of said first structured light projector and said second structured light projector is operated to project structured light patterns at a given time.