Patent application number | Description | Published |
20100134598 | HAND-HELD SELF-REFERENCED APPARATUS FOR THREE-DIMENSIONAL SCANNING - A method and hand-held scanning apparatus for three-dimensional scanning of an object is described. The hand-held self-referenced scanning apparatus has a light source for illuminating retro-reflective markers, the retro-reflective markers being provided at fixed positions on or around the object, a photogrammetric high-resolution camera, a pattern projector for providing a projected pattern on a surface of the object; at least a pair of basic cameras, the basic camera cooperating with light sources, the projected pattern and at least a portion of the retro-reflective markers being apparent on the 2D images, a frame for holding all components in position within the hand-held apparatus, the frame having a handle, the frame allowing support and free movement of the scanning apparatus by a user. | 06-03-2010 |
20110074929 | AUTO-REFERENCED SENSING DEVICE FOR THREE-DIMENSIONAL SCANNING - An auto-referenced sensing device for scanning an object to provide three-dimensional surface points in an object coordinate system, comprising: a Light-Emitting Diode (LED) light source emitting light for illuminating and enabling image acquisition of at least a portion of a set of retro-reflective target positioning features, wherein each of the retro-reflective target positioning features is provided at a fixed position on the object; a laser pattern projector, additional to the LED light source, for providing a projected laser pattern on a surface of the object for illuminating and enabling image acquisition of dense points between at least two of the retro-reflective target positioning features in the portion of the set; at least a pair of cameras each for simultaneously acquiring a 2D image of the object, wherein both the projected laser pattern and the portion of the set of retro-reflective target positioning features are apparent on the simultaneous images, a spatial relationship between the pair of cameras being known, the LED light source being provided in close proximity to the at least the pair of cameras; wherein the portion of the set of retro-reflective target positioning features reflect at least part of the light emitted by the LED light source towards the cameras; wherein the simultaneous images acquired by the pair of cameras contain both positioning measurements made available from the portion of the set of retro-reflective target positioning features apparent on the images and dense surface measurements made available from the points enabled by the projected laser pattern apparent on the images. | 03-31-2011 |
20110074930 | AUTO-REFERENCED SENSING METHOD FOR THREE-DIMENSIONAL SCANNING - There is provided a method for obtaining three-dimensional surface points of an object in an object coordinate system having two groups of steps. The method first comprises providing a set of target positioning features on the object. In a first group of steps, acquiring at least a pair of 2D first images of the object, at least a first portion of the set of target positioning features being apparent on the pair of first images, extracting, from the 2D first images, at least two first sets of 2D positioning features from a reflection of the target positioning features of the first portion on the surface; calculating a first set of calculated 3D positioning features in the sensing device coordinate system using the first sets of 2D positioning features; computing first transformation parameters for characterizing a current spatial relationship between the sensing device coordinate system and the object coordinate system, cumulating the first set of transformed 3D positioning features to provide and augment the set of reference 3D positioning features. In a second group of steps, providing a projected pattern on a surface of the object using a pattern projector; acquiring at least a pair of 2D second images of the object by the cameras, the projected pattern and at least a second portion of the set of target positioning features being apparent on the pair of second images, extracting, from the 2D second images, at least one set of 2D surface points from a reflection of the projected pattern on the surface, and at least two second sets of 2D positioning features from a reflection of the target positioning features of the second portion on the surface; calculating a set of 3D surface points in the sensing device coordinate system using the set of 2D surface points; calculating a second set of calculated 3D positioning features in the sensing device coordinate system using the second sets of 2D positioning features; computing second transformation parameters for characterizing a current spatial relationship between the sensing device coordinate system and the object coordinate system, transforming the set of 3D surface points into a set of transformed 3D surface points in the object coordinate system using the second transformation parameters. | 03-31-2011 |
20110134225 | SYSTEM FOR ADAPTIVE THREE-DIMENSIONAL SCANNING OF SURFACE CHARACTERISTICS - There are provided systems and methods for obtaining a three-dimensional surface geometric characteristic and/or texture characteristic of an object. A pattern is projected on a surface of said object. A basic 2D image of said object is acquired; a characteristic 2D image of said object is acquired; 2D surface points are extracted from said basic 2D image, from a reflection of said projected pattern on said object; a set of 3D surface points is calculated in a sensor coordinate system using said 2D surface points; and a set of 2D surface geometric/texture characteristics is extracted. | 06-09-2011 |
20130028478 | OBJECT INSPECTION WITH REFERENCED VOLUMETRIC ANALYSIS SENSOR - A positioning method and system for non-destructive inspection of an object include providing at least one volumetric analysis sensor having sensor reference targets; providing a sensor model of a pattern of at least some of the sensor reference targets; providing object reference targets on at least one of the object and an environment of the object; providing an object model of a pattern of at least some of the object reference targets; providing a photogrammetric system including at least one camera and capturing at least one image in a field of view, at least a portion of the sensor reference and the object reference targets being apparent on the image; determining a sensor spatial relationship and an object spatial relationship; determining a sensor-to-object spatial relationship of the at I act one volumetric analysis sensor with respect to the object; repeating the steps and tracking a displacement of the volumetric analysis sensor and the object. | 01-31-2013 |
20140085429 | SENSOR POSITIONING FOR 3D SCANNING - A method for obtaining a refined pose for a 3D sensor for online 3D modeling of a surface geometry of an object, the pose encompassing six degrees of freedom (DOF) including three translation parameters and three orientation parameters, the method comprising: providing the 3D sensor, the 3D sensor being adapted to capture 3D point measurements of the surface of the object from a viewpoint; providing a geometry model of at least part of the surface; observing a portion of the surface of the object with the 3D sensor; measuring an initialization pose for the 3D sensor by at least one of positioning device pose measurement, predicted pose tracking and target observation; finding a best fit arrangement of the 3D point measurements in the geometry model using the initialization pose; generating the refined pose for the 3D sensor using the best fit arrangement. | 03-27-2014 |
20140247326 | METHOD AND SYSTEM FOR ALIGNMENT OF A PATTERN ON A SPATIAL CODED SLIDE IMAGE - A method for preparing a spatial coded slide image in which a pattern of the spatial coded slide image is aligned along epipolar lines at an output of a projector in a system for 3D measurement, comprising: obtaining distortion vectors for projector coordinates, each vector representing a distortion from predicted coordinates caused by the projector; retrieving an ideal pattern image which is an ideal image of the spatial coded pattern aligned on ideal epipolar lines; creating a real slide image by, for each real pixel coordinates of the real slide image, retrieving a current distortion vector; removing distortion from the real pixel coordinates using the current distortion vector to obtain ideal pixel coordinates in the ideal pattern image; extracting a pixel value at the ideal pixel coordinates in the ideal pattern image; copying the pixel value at the real pixel coordinates in the real slide image. | 09-04-2014 |
Patent application number | Description | Published |
20100134598 | HAND-HELD SELF-REFERENCED APPARATUS FOR THREE-DIMENSIONAL SCANNING - A method and hand-held scanning apparatus for three-dimensional scanning of an object is described. The hand-held self-referenced scanning apparatus has a light source for illuminating retro-reflective markers, the retro-reflective markers being provided at fixed positions on or around the object, a photogrammetric high-resolution camera, a pattern projector for providing a projected pattern on a surface of the object; at least a pair of basic cameras, the basic camera cooperating with light sources, the projected pattern and at least a portion of the retro-reflective markers being apparent on the 2D images, a frame for holding all components in position within the hand-held apparatus, the frame having a handle, the frame allowing support and free movement of the scanning apparatus by a user. | 06-03-2010 |
20110074929 | AUTO-REFERENCED SENSING DEVICE FOR THREE-DIMENSIONAL SCANNING - An auto-referenced sensing device for scanning an object to provide three-dimensional surface points in an object coordinate system, comprising: a Light-Emitting Diode (LED) light source emitting light for illuminating and enabling image acquisition of at least a portion of a set of retro-reflective target positioning features, wherein each of the retro-reflective target positioning features is provided at a fixed position on the object; a laser pattern projector, additional to the LED light source, for providing a projected laser pattern on a surface of the object for illuminating and enabling image acquisition of dense points between at least two of the retro-reflective target positioning features in the portion of the set; at least a pair of cameras each for simultaneously acquiring a 2D image of the object, wherein both the projected laser pattern and the portion of the set of retro-reflective target positioning features are apparent on the simultaneous images, a spatial relationship between the pair of cameras being known, the LED light source being provided in close proximity to the at least the pair of cameras; wherein the portion of the set of retro-reflective target positioning features reflect at least part of the light emitted by the LED light source towards the cameras; wherein the simultaneous images acquired by the pair of cameras contain both positioning measurements made available from the portion of the set of retro-reflective target positioning features apparent on the images and dense surface measurements made available from the points enabled by the projected laser pattern apparent on the images. | 03-31-2011 |
20110074930 | AUTO-REFERENCED SENSING METHOD FOR THREE-DIMENSIONAL SCANNING - There is provided a method for obtaining three-dimensional surface points of an object in an object coordinate system having two groups of steps. The method first comprises providing a set of target positioning features on the object. In a first group of steps, acquiring at least a pair of 2D first images of the object, at least a first portion of the set of target positioning features being apparent on the pair of first images, extracting, from the 2D first images, at least two first sets of 2D positioning features from a reflection of the target positioning features of the first portion on the surface; calculating a first set of calculated 3D positioning features in the sensing device coordinate system using the first sets of 2D positioning features; computing first transformation parameters for characterizing a current spatial relationship between the sensing device coordinate system and the object coordinate system, cumulating the first set of transformed 3D positioning features to provide and augment the set of reference 3D positioning features. In a second group of steps, providing a projected pattern on a surface of the object using a pattern projector; acquiring at least a pair of 2D second images of the object by the cameras, the projected pattern and at least a second portion of the set of target positioning features being apparent on the pair of second images, extracting, from the 2D second images, at least one set of 2D surface points from a reflection of the projected pattern on the surface, and at least two second sets of 2D positioning features from a reflection of the target positioning features of the second portion on the surface; calculating a set of 3D surface points in the sensing device coordinate system using the set of 2D surface points; calculating a second set of calculated 3D positioning features in the sensing device coordinate system using the second sets of 2D positioning features; computing second transformation parameters for characterizing a current spatial relationship between the sensing device coordinate system and the object coordinate system, transforming the set of 3D surface points into a set of transformed 3D surface points in the object coordinate system using the second transformation parameters. | 03-31-2011 |
20130028478 | OBJECT INSPECTION WITH REFERENCED VOLUMETRIC ANALYSIS SENSOR - A positioning method and system for non-destructive inspection of an object include providing at least one volumetric analysis sensor having sensor reference targets; providing a sensor model of a pattern of at least some of the sensor reference targets; providing object reference targets on at least one of the object and an environment of the object; providing an object model of a pattern of at least some of the object reference targets; providing a photogrammetric system including at least one camera and capturing at least one image in a field of view, at least a portion of the sensor reference and the object reference targets being apparent on the image; determining a sensor spatial relationship and an object spatial relationship; determining a sensor-to-object spatial relationship of the at I act one volumetric analysis sensor with respect to the object; repeating the steps and tracking a displacement of the volumetric analysis sensor and the object. | 01-31-2013 |