Articulated arm coordinate measurement machine that uses a 2D camera to determine 3D coordinates of smoothly continuous edge features
First Claim
Patent Images
1. A method of determining three-dimensional (3D) coordinates of an edge point of an object, comprising:
- a measurement device having at least one positioning device, a first camera, and an electronic circuit, the electronic circuit receiving a position signal from the positioning device providing data corresponding to a pose of the first camera, the electronic circuit having a processor and memory;
in a first instance;
capturing with the first camera in a first pose a first image of the object;
obtaining from the electronic circuit first data corresponding to the first pose;
in a second instance;
capturing with the first camera in a second pose a second image of the object;
obtaining from the electronic circuit second data corresponding to the second pose;
in a third instance;
capturing with the first camera in a third pose a third image of the object;
obtaining from the electronic circuit third data corresponding to the third pose;
determining with the processor the 3D coordinates of a first edge point, the 3D coordinates of the first edge point determined based at least in part on the first data, the second data, the third data, the first image, the second image, and the third image; and
storing in memory the determine 3D coordinates of the first edge point.
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Abstract
A measurement device having a camera captures images of an object at three or more different poses. A processor determines 3D coordinates of an edge point of the object based at least in part on the captured 2D images and pose data provided by the measurement device.
771 Citations
19 Claims
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1. A method of determining three-dimensional (3D) coordinates of an edge point of an object, comprising:
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a measurement device having at least one positioning device, a first camera, and an electronic circuit, the electronic circuit receiving a position signal from the positioning device providing data corresponding to a pose of the first camera, the electronic circuit having a processor and memory; in a first instance; capturing with the first camera in a first pose a first image of the object; obtaining from the electronic circuit first data corresponding to the first pose; in a second instance; capturing with the first camera in a second pose a second image of the object; obtaining from the electronic circuit second data corresponding to the second pose; in a third instance; capturing with the first camera in a third pose a third image of the object; obtaining from the electronic circuit third data corresponding to the third pose; determining with the processor the 3D coordinates of a first edge point, the 3D coordinates of the first edge point determined based at least in part on the first data, the second data, the third data, the first image, the second image, and the third image; and storing in memory the determine 3D coordinates of the first edge point. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method of determining three-dimensional (3D) coordinates of an edge point of an object with a measurement device having a first camera, a second camera, a position device and a processor, the method comprising:
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in a first instance; capturing with the first camera in a first pose a first image of the object, the position device providing data corresponding to a pose of the first camera and the second camera; determining the first pose with the processor based at least in part on a first data from the position device; capturing with the second camera in a second pose a second image of the object; determining the second pose with the processor based at least in part on a second data from the position device; in a second instance; capturing with the first camera in a third pose a third image of the object; determining the third pose with the processor based at least in part on a third data from the position device; determining with the processor the 3D coordinates of a first edge point, the first edge point being within an interval of edge points, the 3D coordinates of the first edge point determined based at least in part on the first pose, the second pose, the third pose, the first image, the second image, and the third image; and storing in a memory the 3D coordinates of the first edge point, the memory being operably coupled to the processor. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A measurement device for determining three-dimensional (3D) coordinates of an edge point of an object, the measurement device comprising:
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at least one positioning device; a first camera operably coupled to the at least one positioning device; an electronic circuit having a processor and memory, the electronic circuit being operably coupled to receive data from the positioning device corresponding to a pose of the first camera; wherein the processor is responsive to nontransitory executable computer instructions to; in a first instance; cause the first camera to capture in a first pose a first image of the object; determine the first pose in response to a first data from the at least one positioning device; in a second instance; cause the first camera to capture in a second pose a second image of the object; determine the second pose in response to a second data from the at least one positioning device; in a third instance; causing the first camera to capture in a third pose a third image of the object; determine the third pose in response to a third data from the at least one positioning device; and determining the 3D coordinates of a first edge point, the 3D coordinates of the first edge point determined based at least in part on the first pose, the second pose, the third pose, the first image, the second image, and the third image. - View Dependent Claims (18, 19)
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Specification