Point cloud merging from multiple cameras and sources in three-dimensional profilometry
AssigneeCyberOptics Corporation
InventorsEric P. Rudd, Carl E. Haugan
Life of this patent
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Abstract
A computer-implemented method of and system for measuring a three-dimensional surface are provided. The method includes projecting structured illumination on the surface and acquiring a plurality of sets of images. The sets of images are processed to obtain a plurality of point clouds. A spatial accumulator is defined. A first point cloud of the plurality of point clouds is combined with a second point cloud of the plurality of point clouds into the spatial accumulator. Spatial coordinates of the surface are generated based on the contents of the spatial accumulator.
Claims24
A computer-implemented method of measuring a three-dimensional surface, the method comprising:
- projecting structured illumination on the surface and acquiring a plurality of sets of images;
- processing the sets of images to obtain a plurality of point clouds;
- defining a spatial accumulator that is configured to receive point cloud information in each element of the spatial accumulator;
- combining a first point cloud of the plurality of point clouds with a second point cloud of the plurality of point clouds into the spatial accumulator;
- and
- generating spatial coordinates of the surface based on the contents of the spatial accumulator.
A system for measuring a three-dimensional surface, the system comprising:
- a structured illumination projector configured to project structured illumination on the three-dimensional surface;
- a controller coupled to the structured illumination projector to control the structured illumination projector to generate multiple distinct structured illumination projections on the surface;
- a plurality of cameras, each coupled to the controller, wherein each camera is configured to acquire an image of the surface while each distinct structured illumination projection is present on the surface;
- wherein the controller is configured to receive image information from each camera and generate a plurality of point clouds, each point cloud corresponding to three-dimensional image data and a quality metric from a respective camera;
- and
- wherein the controller is configured to merge the plurality of point clouds into a spatial accumulator and generate a single, merged three-dimensional point cloud using the content of the spatial accumulator.
Dependencies are inferred from the claim text.