Patent Document ID: 8121352
Application ID: 12847680
Patent Status: 1

Claim One:
1. An automated system for three-dimensional recovery of an object placed inside the field of view of a plurality of cameras, comprising: an illumination and image acquisition apparatus configured for the acquisition of reciprocal stereo images of said object without physical movement of said plurality of cameras; a computational apparatus programmed to recover depth data of said object from said reciprocal stereo images, wherein stereo rectification utilizing stereo calibration parameters is used for perspective projection reconstruction, wherein radiometric rectification utilizing radiometric calibration parameters is used, and wherein said depth data can be recovered regardless of the reflectance properties of said object; wherein said computational apparatus is further programmed to perform automatic calibration of said system based on a plurality of stereo calibration images, said automatic calibration comprising radiometric calibration and geometric calibration, said geometric calibration generating said stereo calibration parameters based on a non-symmetric calibration model that breaks down the total calibration area into a plurality of sections and computes localized calibration parameters for each of said plurality of sections, and said radiometric calibration generating said radiometric calibration parameters.