Method and apparatus for generating three-dimensional representations of objects

A method of obtaining a 3D computer representation of an object, comprising:

• a. storing, in a computer memory, images of a sequence of video frames obtained by scanning, each of which includes a depiction of a portion of the object illuminated by a line of light and a depiction of a statically-mounted orientation indicator;
• b. determining locations of the orientation indicator within the frames;
• c. performing a calibration procedure, without regard to the indicator, to obtain calibration parameters based on a spacial relationship between the camera, the light source and the object;
• d. after a completion of step c, determining 3D locations of at least some points on the portion of the object in real time based on pixels representing the individual lines of light in the sequence of frames obtained by scanning;
• and
• e. after step c and during step d, generating the 3D computer representation of the object using a position of the indicator, the calibration parameters and the 3D locations.

An apparatus for scanning an object and generating a three-dimensional representation of at least a portion of the object, comprising:

• (a) a camera adapted to receive video information, and generate images of at least a portion of the object associated with the video information when the portion of the object is in a field of view of the camera;
• (b) a light source adapted to illuminate at least a portion of the object within the field of view of the camera within a line of light;
• (c) a stationary indicator positioned within the field of view of the camera, and
• (d) a processing arrangement adapted to obtain calibration parameters during a calibration procedure, the processing arrangement generating the three-dimensional representation using the calibration parameters,
• wherein each of the images comprises a depiction of the stationary indicator and a depiction of particular points of a portion of the object illuminated by the line of light,
• wherein the calibration parameters are obtained based on a spacial relationship between the camera, the light source and the object and without regard to the indicator, and
• wherein, after a completion of the calibration procedure, the processing arrangement is adapted receive data associated with the object in real time so as to construct the three-dimensional representation of at least a portion of the object using a position of the indicator, the calibration parameters and a sequence of such images with the particular points of different portions of the object illuminated by the line of light.

A computer method for processing a sequence of images, the images including a depiction of a stationary indicator and a depiction of a portion of an object illuminated by a line of light, the computer method comprising:

• receiving video information associated with at least one portion of the object;
• identifying a location of the stationary indicator in each of the images in the sequence, wherein the images corresponds to the received video information;
• performing a calibration procedure to obtain calibration parameters based on a spacial relationship between the camera, the light source and the object and without regard to the indicator;
• in real time, identifying a portion of the object illuminated by the line of light in each of the images in the sequence;
• and
• after a completion of the calibration procedure, determining 3D coordinates of at least some points located on the object so as to generate a 3D representation of the at least one portion of the object using a position of the indicator, the calibration parameters, and the identified locations of a portion of the line of light in the images.

An article of manufacture for processing a sequence of images, the images including a depiction of at least one portion of an object illuminate by a line of light and a depiction of a stationary indicator, the article of manufacture comprising:

• software for identifying locations of such stationary indicator in the images of the sequence, wherein the images are associated with video information received for the at least one portion of the object;
• software for identifying, in real time, illuminated portions of the object in the images of the sequence;
• software for performing a calibration procedure to obtain calibration parameters based on a spacial relationship between the camera, the light source and the object and without regard to the indicator;
• and
• software for determining 3D coordinates of at least some points located on the object using a position of the indicator, the calibration parameters and the illuminated portion of the object so as to generate a 3D representation of the at least one portion of the object, wherein the 3D coordinates are determined after a completion of the calibration procedure.