Structured-light-based three-dimensional scanning method, apparatus and system thereof

A structured-light-based three-dimensional scanning apparatus, comprising:

• a projector, projecting structured light with a plurality of scanning patterns subsequently onto a subject so as to scan the subject;
• at least one image capturing device, capturing a plurality of images of the subject respectively corresponding to each of the plurality of scanning patterns so as to generate an image set including the plurality of images when the structured light with each of the plurality of scanning patterns is projected onto the subject;
• an angle detector, measuring a plurality of tilt angles of the three-dimensional scanning apparatus so as to generate a plurality of angle measurements respectively corresponding to each of the plurality of images, wherein the angle detector, the projector, and the at least one image capturing device are disposed on a same platform;
• and
• a processor, coupled to the projector, the at least one image capturing device, and the angle detector, determining whether an angle variation of the image set is too large according to the plurality of angle measurements of the plurality of images in the image set, and if yes, flagging the image set.

A three-dimensional scanning system comprising:

• a scanning apparatus, comprising:
• a projector, projecting structured light with a plurality of scanning patterns subsequently onto a subject so as to scan the subject;
• at least one image capturing device, capturing a plurality of images of the subject respectively corresponding to each of the plurality of scanning patterns so as to generate an image set including the plurality of images when the structured light with each of the plurality of scanning patterns is projected onto the subject;
• and
• an angle detector, measuring a plurality of tilt angles of the scanning apparatus so as to generate a plurality of angle measurements respectively corresponding to each of the plurality of images, wherein the angle detector, the projector, and the at least one image capturing device are disposed on a same platform;
• and
• a processing apparatus, connected to the scanning apparatus, and determining whether an angle variation of the image set is too large according to the plurality of angle measurements of the plurality of images in the image set, flagging the image set if the angle variation is too large, and generating stereo information of the subject according to the image set when the image set is not flagged.