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Three-dimensional sensor system and three-dimensional data acquisition method

  • US 10,309,770 B2
  • Filed: 05/27/2017
  • Issued: 06/04/2019
  • Est. Priority Date: 09/14/2016
  • Status: Active Grant
First Claim
Patent Images

1. A three-dimensional sensor system comprising at least one pattern projector, at least three cameras, and a processor, whereinthe pattern projector is used for projecting at least two linear patterns simultaneously;

  • the at least three cameras are used for synchronously capturing a two-dimensional image of a scanned object;

    the processor extracts a two-dimensional line set of the at least two linear patterns of a surface of the scanned object on the two-dimensional image;

    the processor generates a candidate three-dimensional point set from the two-dimensional line set, comprising;

    respectively extracting two-dimensional point data from a two-dimensional line set of two synchronous two-dimensional images, andcalculating the candidate three-dimensional point set using a spatial position relationship of two cameras corresponding to the two synchronous two-dimensional images and according to a trigonometry principle and an epipolar constraint principle; and

    the processor selects out an authentic three-dimensional point set that that correctly matches a projection contour line of the object surface from the candidate three-dimensional point set, comprising;

    performing data verification on the candidate three-dimensional point set using a two-dimensional image photographed by a third camera or more cameras, andfiltering same to obtain an authentic three-dimensional point set,wherein the processor performing data verification on the candidate three-dimensional point set using a two-dimensional image photographed by a third camera or more cameras and filtering same to obtain an authentic three-dimensional point set comprise;

    the candidate three-dimensional point set comprising a plurality of subsets, there being an intersection point set between a line connecting the subsets to an optical center of the third camera and the two-dimensional image photographed by the third camera, andthe processor selecting out, a subset corresponding to the minimum distance value, the authentic three-dimensional point set , taking a distance from the intersection point set to a two-dimensional line on the two-dimensional image photographed by the third camera as a basis, andwherein the processor extracting a two-dimensional line set of the at least two linear patterns of a surface of the scanned object on the two-dimensional image comprises;

    performing distortion correction on the two-dimensional image according to an internal reference of a camera corresponding to the two-dimensional image,extracting a connected region of line contour in the corrected image according to a pixel gray-scale difference, andcalculating and obtaining a highlight center two-dimensional line set with a sub-pixel level according to a gray-level centroid of the connected region.

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