Three-dimensional measurement method and apparatus

A method of obtaining three-dimensional data for a surface, said method comprising the steps of:

• a. obtaining three-dimensional data of various points of the surface in a plurality of at least patially overlapping views by use of a range-sensor head, where the positions and relative positions of the surface and the range-sensor head are not tracked or measured by any other sensor or device, and are otherwise unknown, the three-dimensional data being in the form of points along several spaced apart surface profiles;
• b. registering a plurality of said views, by computing the transformations between overlapping views;
• and
• c. integrating said views into a common reference frame by applying appropriate transformations to points of each registered view.

Apparatus for obtaining three-dimensional data of a surface, comprising:

• a sensor head comprising a light projector and a camera, said light projector projecting at least several generally parallel lines on the surface, said camera being positioned for capturing an image of said lines projected onto said surface at an angle from said light projector and said lines on said surface;
• and
• a computer for analyzing said image, wherein said computer is programmed to:
• a. compute three-dimensional data of various points of the surface in a plurality of at least partially overlapping views from the camera;
• b. register a plurality of said views, by computing the transformations between overlapping views;
• and
• c. integrate said views into a common reference frame by applying appropriate transformations to points of each registered view;
• wherein the positions and relative positions of said surface and said sensor head are not tracked or measured by any other sensor or device.