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US 2018/0321383 A1Published application
Triangulation scanner having flat geometry and projecting uncoded spots
AssigneeFaro Technologies, Inc.
InventorsRolf Heidemann, Mark Brenner, Simon Raab
Life of this patent
Estimating the term…
Abstract
A projector projects an uncoded pattern of uncoded spots onto an object, which is imaged by a first camera and a second camera, 3D coordinates of the spots on the object being determined by a processor based on triangulation, the processor further determining correspondence among the projected and imaged spots based at least in part on a nearness of intersection of lines drawn from the projector and image spots through their respective perspective centers.
Claims26
A method comprising:
- in a first instance:
- with a projector having a perspective center, projecting a first uncoded pattern of uncoded spots from a projector reference plane to form illuminated object spots on an object;
- with a first camera having a first-camera perspective center, capturing the illuminated object spots as first-image spots in a first image;
- with a second camera having a second-camera perspective center, capturing the illuminated object spots as second-image spots in a second image;
- with a processor, determining three-dimensional (3D) coordinates of a first collection of points on the object, the 3D coordinates of the first collection of points based at least in part on the first uncoded pattern of uncoded spots, the first image, the second image, relative positions of the projector, the first camera, and the second camera, and on a selected plurality of intersection sets, each intersection set including a first spot, a second spot, and a third spot, the first spot being one of the first uncoded pattern of uncoded spots in the projector reference plane, the second spot being one of the first-image spots, the third spot being one of the second-image spots, the selecting of each intersection set based at least in part on a nearness of intersection of a first line, a second line, and a third line, the first line being a line drawn from the first spot through the projector perspective center, the second line being a line drawn from the second spot through the first-camera perspective center, the third line being a line drawn from the third spot through the second-camera perspective center;
- and
- storing the determined 3D coordinates of the first collection of points.
4 more elements
A system comprising:
- a projector having a perspective center, the projector operable to project a first uncoded pattern of uncoded spots from a projector reference plane to form illuminated object spots on an object;
- a first camera having a first-camera perspective center, the first camera operable to capture the illuminated object spots as first-image spots in a first image;
- a second camera having a second-camera perspective center, the second camera operable to capture the illuminated object spots as second-image spots in a second image;
- and
- a processor operable to execute computer instructions that, when executed on the processor, determine three-dimensional (3D) coordinates of a first collection of points on the object, the 3D coordinates of the first collection of points based at least in part, in a first instance, on the first uncoded pattern of uncoded spots, the first image, the second image, relative positions of the projector, the first camera, and the second camera, and on a selected plurality of intersection sets, each intersection set including a first spot, a second spot, and a third spot, the first spot being one of the first uncoded pattern of uncoded spots in the projector reference plane, the second spot being one of the first-image spots, the third spot being one of the second-image spots, the selecting of each intersection set based at least in part on a nearness of intersection of a first line, a second line, and a third line, the first line being a line drawn from the first spot through the projector perspective center, the second line being a line drawn from the second spot through the first-camera perspective center, the third line being a line drawn from the third spot through the second-camera perspective center.
2 more elements
A system comprising:
- a projector having a projector optical axis and a projector perspective center, the projector operable to project onto an object a collection of uncoded spots of light in a first uncoded pattern;
- a first camera having a first-camera optical axis and a first-camera perspective center, the first camera operable to capture a first image of the collection of uncoded spots of light on the object;
- a second camera having a second-camera optical axis and a second-camera perspective center, the second camera operable to capture a second image of the collection of uncoded spots of light on the object;
- an enclosure having a front side, the front side intersected by the projector optical axis, the first-camera optical axis, and the second-camera optical axis, the front side further intersected by a first plane that includes the projector perspective center, the first-camera optical axis, and the second-camera optical axis;
- and
- a processor operable to execute computer instructions that, when executed on the processor, determine three-dimensional (3D) coordinates of a point on the object based at least in part on the first uncoded pattern of uncoded spots, the first image, and the second image.
3 more elements
Dependencies are inferred from the claim text.