Hand-held self-referenced apparatus for three-dimensional scanning

A method for three-dimensional scanning of an object, comprising:

• obtaining at least one photogrammetric image of said object from a hand-held self-referenced scanning apparatus having:
• a first light source for illuminating at least one marker of a set of retro-reflective markers, wherein each marker of said set of retro-reflective markers is provided at a fixed position one of on and near said object, said first light source being adapted to illuminate said marker at a photogrammetric modeling distance of more than 75 cm to said object;
• a photogrammetric high-resolution camera for acquiring and storing at least one photogrammetric image of said object, said photogrammetric high-resolution camera cooperating with said first light source, wherein at least a portion of said set of retro-reflective markers is apparent on said photogrammetric image, said photogrammetric high-resolution camera being adapted to acquire said photogrammetric image at said photogrammetric modeling distance;
• a pattern projector for providing a projected pattern on a surface of said object;
• at least a pair of second light sources, each said second light sources for illuminating at least one marker of said set of retro-reflective markers, said second light source being adapted to illuminate said marker at a surface scanning distance of less than 45 cm from said object;
• at least a pair of basic cameras for acquiring and storing 2D images of said object, one 2D image from each basic camera, each said basic camera cooperating with one of said second light sources, wherein said projected pattern and at least a portion of said set of retro-reflective markers is apparent on said 2D images, a spatial relationship between said pair of basic cameras being known, said basic cameras being adapted to acquire said 2D images at said surface scanning distance;
• a frame for holding in position said first light source, said photogrammetric high-resolution camera, said pattern projector, said basic cameras and said at least a pair of second light sources within said hand-held apparatus, said frame having a handle, said frame allowing support and free movement of said scanning apparatus by a user;
• extracting markers from said at least one photogrammetric images;
• building a 3D model of said markers;
• obtaining at least two 2D images of said object using said scanning apparatus;
• positioning said at least two 2D images of said object in said 3D model of said markers;
• extracting dense sets of 3D surface points from said at least two self-referenced 2D images;
• whereby said user may freely handle said hand-held self-referencing scanning apparatus to build a 3D model of said markers and then obtain dense sets of 3D surface points from said 2D images.