US 7,639,253 B2Granted

System and method for automatic 3D scan data alignment

AssigneeInus Technology, Inc.

InventorsSeockhoon Bae, Donghoon Lee, Seungyob Kim, Sungwook Cho

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Abstract

An automated mechanism that identifies and defines a global coordinate system that is most appropriate for a collection of raw 3D scan data used to form a mesh model is discussed. More specifically, a coordinate system is identified that is able to minimize the total sum of deviation error while also minimizing the peak error for raw 3D scan data. The present invention searches for appropriate coordinate systems from raw 3D scan data in a fully automated way. Multiple coordinate systems in order of likelihood of leading to minimal global deviation error are identified and presented to a user. End users are also allowed to edit suggested coordinate system parameters interactively prior to the alignment of the 3D scan data being transformed based on a selected coordinate system.

Claims14

Dependent claims

A computer-implemented method for automatically determining coordinate systems for 3D scan data, comprising:

providing a collection of 3D scan data to a computing device, the 3D scan data used to generate a mesh model representing the surface of a three dimensional object;
determining programmatically with the computing device a plurality of coordinate systems for the 3D scan data;
generating with the computing device a ranked list of the plurality of determined coordinate systems;
segmenting the mesh model with the computing device;
classifying a plurality of regions in the segmented mesh model with the computing device;
calculating parameters with the computing device, the parameters used for defining coordinate systems for at least one of the classified regions;
identifying with the computing device at least one group of parameters from which a coordinate system is well-determined;
identifying with the computing device at least one group of parameters from which a coordinate system is undetermined by one degree of freedom;
and
sorting into the ranked list the identified at least one group of parameters from which a coordinate system is well-determined and the identified at least one group of parameters from which a coordinate system is undetermined by one degree of freedom, the sorting occurring using the computing device.

7 more elements

A physical medium for use with a computing device, the physical medium holding computer-executable instructions for automatically determining coordinate systems for 3D scan data, the instructions when executed causing a computing device to:

provide a collection of 3D scan data, the 3D scan data used to generate a mesh model representing the surface of a three dimensional object;
determine programmatically a plurality of coordinate systems for the 3D scan data;
and
generate a ranked list of the plurality of determined coordinate systems;
segment the mesh model;
classify a plurality of regions in the segmented mesh model;
calculate parameters used for defining coordinate systems for at least one of the classified regions;
identify at least one group of parameters from which a coordinate system is well-determined;
identify at least one group of parameters from which a coordinate system is undetermined by one degree of freedom;
and
sort into the ranked list the identified at least one group of parameters from which a coordinate system is well-determined and the identified at least one group of parameters from which a coordinate system is undetermined by one degree of freedom.

8 more elements

Dependencies are inferred from the claim text.