Three-dimensional sensor with counterposed channels

An optical phase profilometry system, comprising:

• a first operative coaxial camera-projector pair aligned at a perpendicular point of view relative to a surface target that projects a first illumination on to the target surface;
• a second operative coaxial camera-projector pair aligned at a first oblique angle relative to the first operative coaxial camera-projector pair and the surface target that projects a second illumination on to the target surface;
• a third operative coaxial camera-projector pair aligned at a second oblique angle relative to the first operative coaxial camera-projector pair and the surface target that projects a third illumination on to the target surface;
• wherein the first and second oblique angles are equal and opposite to one another relative to the first operative coaxial pair such that the third operative coaxial camera-projector pair is configured to receive a first specular reflection from the second illumination and the second operative coaxial camera-projector pair is configured to receive a second specular reflection from the third illumination;
• and
• a controller configured to, based on the received first and second specular reflections, generate a first and second estimation, each estimation comprising a respective point cloud of the target surface, and iteratively refine erroneous points in the first and second point clouds by moving each erroneous point in one point cloud toward a corresponding erroneous point in the other point cloud along the respective erroneous point's reflection ray, the controller being configured to merge the iteratively refined first and second point clouds to generate a dimensional profile of the target surface.

An optical phase profilometry system, comprising:

• a first operative coaxial camera-projector pair aligned at a perpendicular point of view relative to a surface target;
• a second operative coaxial camera-projector pair aligned at a first oblique angle relative to the first operative coaxial camera-projector pair and the surface target;
• a third operative coaxial camera-projector pair aligned at a second oblique angle relative to the first operative coaxial camera-projector pair and the surface target;
• wherein the alignment of the first operative coaxial camera-projector pair and the second operative coaxial camera-projector pair relative to each other form a first and second counterposed channel, the alignment of the first operative coaxial camera-projector pair and the third operative coaxial camera-projector pair form a third and fourth counterposed channel, and the alignment of the second operative coaxial camera-projector pair and the third operative coaxial camera-projector pair form a fifth and sixth counterposed channel;
• and
• a controller coupled to the first, second and third operative camera-projector pairs, the controller being configured to, based on received specular reflections, generate a first and second estimation, each estimation comprising a respective point cloud of the target surface, and iteratively refine erroneous points in the first and second point clouds by moving each erroneous point in one point cloud toward a corresponding erroneous point in the other point cloud along the respective erroneous point's reflection ray, the controller being configured to merge the iteratively refined first and second point clouds to generate a dimensional profile of the target surface.

An optical phase profilometry system, comprising:

• a first operative coaxial camera-projector pair aligned at a first angle relative to a target surface that projects a first illumination on the target surface;
• a second operative coaxial camera-projector pair aligned at a second angle relative to the target surface that projects a second illumination on the target surface;
• wherein the second operative coaxial camera-projector pair is configured to capture a first reflection from the first illumination and the first operative coaxial camera projector-pair is configured to capture a second reflection from the second illumination;
• and
• a controller configured to, based on the captured first and second reflections, generate a first and second estimation, each estimation comprising a respective point cloud of the target surface, and iteratively refine erroneous points in the first and second point clouds by moving each erroneous point in one point cloud toward a corresponding erroneous point in the other point cloud along a respective erroneous point's reflection ray, the controller being configured to merge the iteratively refined first and second point clouds to generate a dimensional profile of the target surface.