Patent Document ID: 10049454
Application ID: 14749306
Patent Status: 1

Claim One:
1. A computer system for calibrating an active triangulation setup, comprising: a memory unit configured to store an image of a reflected portion of a projected structured light pattern that is comprised of a repeating structure of a plurality of unique feature types and a plurality of markers, each one of the plurality of feature types serves as a distinct codeword, and each unique feature type from the plurality of features appears at most once along any one of a first plurality of distinguishable epipolar lines, wherein each one of the plurality of markers has an appearance that is different in at least one visual aspect from any one of a plurality of non-marker feature types, and each marker from the plurality of markers appears at most once along any one of a second plurality of distinguishable epipolar lines, wherein each pair of adjacent distinguishable epipolar lines from the second plurality of epipolar lines is separated by a distance that is greater than a distance between any two distinguishable epipolar lines from the first plurality of epipolar lines; a processor that is configured to carry out epipolar matching, whereby a feature type from the plurality of feature types is associated with a distinguishable epipolar line from the first plurality of distinguishable epipolar lines, wherein the processor is configured to correct an epipolar matching error based on matching of a location of a marker from the plurality of markers in the projected structured light pattern and a location in the image of a respective epipolar line from the second plurality of epipolar lines.