Systems and Methods For Forming Models of Three-Dimensional Objects

An apparatus for computing a three-dimensional (3D) model of an object, comprising:

• at least one directional energy source arranged to directionally illuminate the object from at least three directions;
• one or more energy sensors arranged to capture images of the object from multiple viewpoints;
• a processor arranged to receive images captured by the energy sensors, and control the at least one energy source and the energy sensors;
• the processor being arranged to control the at least one energy source and one or more energy sensors to capture for each energy sensor, and for each said direction, at least one corresponding single-direction image which shows the object illuminated in the said direction;
• the processor further being arranged to combine corresponding ones of said single-direction images computationally to produce combined-direction images for each of the viewpoints, the combined-direction images each showing the object illuminated in a plurality of the directions;
• the processor further being arranged:
• to analyze the combined-direction images stereoscopically to obtain an initial model of the object;
• to obtain photometric data from the single-direction images;
• and
• to refine the initial model using the photometric data.