Method for the three dimensional measurement of a moving objects during a known movement

An apparatus for three-dimensional measurement of a moving object during a known relative movement between the moving object and a measuring sensor, the apparatus comprising a processor in communication with memory, the processor being configured to execute instructions stored in the memory that cause the processor to perform a method comprising the steps:

• causing a projector to project a pattern sequence of N patterns onto the moving object;
• causing a first camera to capture a first image sequence of N images and a second camera to capture a second image sequence of N images that is synchronous to the first image sequence;
• determining corresponding image points in the first image sequence and in the second image sequence;
• computing a trajectory of a potential object point from imaging parameters of both cameras and from known movement data for each pair of image points of both cameras that is to be checked for correspondence, wherein the potential object point is imaged by both image points in case both image points actually correspond to each other;
• imaging object positions derived therefrom at each of N capture points in time into image planes respectively of the first camera and of the second camera,
• wherein positions of the corresponding image points are determined as a first image point trajectory in the first camera and a second image point trajectory in the second camera and
• the image points are compared with each other along predetermined image point trajectories and examined for correspondence in the captured first and second image sequences;
• performing three-dimensional measurement of the moving object in a final step from the corresponding image points by triangulation.

A non-transitory computer-readable storage medium storing instructions for three-dimensional measurement of a moving object during a known relative movement between the moving object and a measuring sensor that, when executed by a processor, cause the processor to perform a method comprising the steps:

• projecting a pattern sequence of N patterns onto the moving object;
• capturing a first image sequence of N images by a first camera and capturing a second image sequence of N images that is synchronous to the first image sequence by a second camera;
• determining corresponding image points in the first image sequence and in the second image sequence;
• computing a trajectory of a potential object point from imaging parameters of both cameras and from known movement data for each pair of image points of both cameras that is to be checked for correspondence, wherein the potential object point is imaged by both image points in case both image points actually correspond to each other;
• imaging object positions derived therefrom at each of N capture points in time into image planes respectively of the first camera and of the second camera,
• wherein positions of the corresponding image points are determined as a first image point trajectory in the first camera and a second image point trajectory in the second camera and
• the image points are compared with each other along predetermined image point trajectories and examined for correspondence in the captured first and second image sequences;
• performing three-dimensional measurement of the moving object in a final step from the corresponding image points by triangulation.