Scanning system and calibration method for capturing precise three-dimensional information of objects
First Claim
1. A scanner system for capturing three-dimensional information of an object, comprising:
- a projection system projecting a pattern onto said object along a first axis;
an electronic imaging device comprising an array of pixels, said electronic imaging device oriented along a second axis different from said first axis, said electronic imaging device forming an image of said pattern after reflection of said pattern off of said object;
a memory storing a three-axis (X, Y and Z) coordinate system calibration relationship for said scanner, said calibration relationship identifying;
(1) pixel coordinates for said electronic imaging device for numerous portions of said pattern, said pixel coordinates associated with distance information from said projection system in a Z direction at at least two different Z distances, and (2) distance information in X and Y directions, for said numerous portions of said pattern, at said at least two different Z distances; and
at least one processing unit processing said image of said pattern and comparing data from said image to said calibration relationship to thereby derive spatial information in three dimensions of points on said object reflecting said projected pattern onto said electronic imaging device.
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Accused Products
Abstract
A scanning system includes a hand-held scanning device that generates two-dimensional images of a pattern reflected off an object. The system also includes a memory and processing unit. The memory stores a calibration table for the scanner and received scanned bitmap images. The processing unit generates three-dimensional information as to a scanned object.
The scanning can be performed without knowledge or even precise control of the position of the object relative to the scanner. Random movement of the object during scanning is also possible. For example, the scanner is simply swept over the surface of the object by hand. Three-dimensional information of the object is obtained from the captured images using a calibration table for the scanner. A method of calibration of the scanner in X, Y and Z directions is also described. The scanner can be used for a variety of purposes, including medical and industrial purposes. The illustrated embodiment is in-vivo scanning of human teeth for purposes of orthodontic treatment planning and diagnosis.
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Citations
82 Claims
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1. A scanner system for capturing three-dimensional information of an object, comprising:
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a projection system projecting a pattern onto said object along a first axis;
an electronic imaging device comprising an array of pixels, said electronic imaging device oriented along a second axis different from said first axis, said electronic imaging device forming an image of said pattern after reflection of said pattern off of said object;
a memory storing a three-axis (X, Y and Z) coordinate system calibration relationship for said scanner, said calibration relationship identifying;
(1) pixel coordinates for said electronic imaging device for numerous portions of said pattern, said pixel coordinates associated with distance information from said projection system in a Z direction at at least two different Z distances, and (2) distance information in X and Y directions, for said numerous portions of said pattern, at said at least two different Z distances; and
at least one processing unit processing said image of said pattern and comparing data from said image to said calibration relationship to thereby derive spatial information in three dimensions of points on said object reflecting said projected pattern onto said electronic imaging device. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 81)
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26. A method of obtaining three-dimensional surface information of an object, comprising the steps of:
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positioning a scanner proximate to said object, said scanner having a projection system for projecting a pattern onto said object and an electronic imaging device generating two dimensional images of the reflection of said pattern off of said surface;
moving said scanner and object relative to each other;
capturing, with said electronic imaging device, a series of two dimensional images of said projection pattern after reflection of said pattern off of said object as said scanner and said surface move relative to each other;
processing said series of images to obtain a series of frames of said object, each frame comprising spatial coordinates for a portion of the surface of said object in three dimensions, and registration overlapping areas of said frames to each other to generate a three-dimensional virtual model of said object. - View Dependent Claims (27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 82)
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43. A method of calibration of a scanner, said scanner comprising a projection system for projecting a pattern and an electronic imaging device for generating an image of said pattern after reflection of said pattern from an object, comprising the steps of:
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projecting said pattern onto at least one surface at two different distances from said scanner and generating first and second images with said electronic imaging device of said pattern at said two distances;
imaging a set of objects of known spatial X-Y relationship at said two different differences;
generating a three-axis (X, Y and Z) coordinate system calibration relationship for said scanner, said calibration relationship indicating;
(1) pixel coordinates for numerous portions of said pattern when said pattern is projected onto said surface at said two different distances, and (2) distance information in X and Y directions for said portions of said pattern for said two different distances; and
storing said calibration relationship in a memory associated with said scanner. - View Dependent Claims (44, 45, 46, 47, 48, 49, 64)
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50. A calibration apparatus for a scanner, said scanner having a projection system for projecting a pattern and a electronic imaging device for capturing images of said pattern after reflection of said pattern off an object, comprising:
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at least one calibration surface comprising a Z calibration surface and an X-Y calibration surface, and wherein the calibration station further comprises;
a carrier system holding said Z calibration surface and said X-Y calibration surface and moving said Z calibration surface and said X-Y calibration surface relative to said scanner between two different distances from said scanner;
said carrier system further comprising a drive mechanism for moving either said Z calibration surface or said X-Y calibration surface into the optical path of said scanner. - View Dependent Claims (51, 52, 53)
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54. A machine-readable memory for a scanner used to calculate three dimensional information of an object scanned by said scanner, said scanner having a projection system for projecting a pattern onto an object and a electronic imaging device for imaging said pattern after reflection of said pattern from said object, said memory comprising:
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an array of data storage locations containing a three-axis (X, Y and Z) coordinate system calibration relationship for said scanner, said calibration relationship identifying;
(1) pixel coordinates for said electronic imaging device for numerous portions of said pattern, said pixel coordinates associated with distance information from said projection system in a Z direction at at least two different Z distances, and (2) distance information in X and Y directions, for said numerous portions of said pattern, at said at least two different Z distances. - View Dependent Claims (55, 56, 57, 58)
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- 59. A machine-readable memory accessible by a computing device, said memory comprising data storage regions storing surface information in three dimensions of at least a portion of a work of art, said surface information obtained by scanning said work of art with a scanner and calculating said surface information in three dimensions from a series of images obtained by said scanner.
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62. The machine-readable memory of clam 59, wherein said
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65. A calibration device for a scanner, wherein said scanner has a projection system for projecting a pattern and an electronic imaging device for capturing images of said pattern after reflection of said pattern off an object, the calibration device comprising:
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a Z calibration surface receiving said projected pattern moveable relative to said scanner between at least two Z distances separated by a known amount; and
a plurality of detectable features of known X-Y spatial relationship positioned with respect to said scanner at a known Z distance relative to said Z calibration surface. - View Dependent Claims (67, 68, 69, 70, 71, 72, 73, 74, 76, 77, 78, 79, 80)
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66. A calibration device for a scanner, wherein said scanner has a projection system for projecting a pattern and an electronic imaging device for capturing images of said pattern after reflection of said pattern off an object, the calibration device comprising:
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a Z calibration surface receiving said projected pattern and having a spatial extent reflecting said pattern at at least two Z distances separated by a known amount; and
a plurality of detectable features of known X-Y spatial relationship positioned at at least two known Z distances relative to said Z calibration surface. - View Dependent Claims (75)
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Specification