SYSTEM FOR ADAPTIVE THREE-DIMENSIONAL SCANNING OF SURFACE CHARACTERISTICS
First Claim
1. A system for obtaining data representing surface points of an object, said system comprising:
- a sensing device having a pattern projector for providing a projected pattern on a surface of said object, at least one basic camera for acquiring basic 2D image data representing a basic 2D image of at least a portion of said object at a basic resolution, and a characteristic camera for acquiring characteristic image data representing a characteristic image of at least a portion of said object, said characteristic camera being at least one of a texture camera and a high resolution camera, said texture camera being a camera adapted to capture characteristic texture information about said portion of said object, said high resolution camera being a camera adapted to capture high resolution information about said portion of said object at a high resolution, said high resolution being higher than said basic resolution, said projected pattern being apparent on said basic image, a spatial relationship of said basic camera, said pattern projector and said characteristic camera in a sensor coordinate system being known;
a basic image processor for extracting, from said basic 2D image data, 2D point data representing at least one set of 2D surface points provided from a reflection of said projected pattern on said surface;
a 3D surface point calculator for calculating a set of 3D surface points in said sensor coordinate system using said 2D point data representing set of 2D surface points;
a characteristic image processor for mathematically projecting said set of 3D surface points onto said characteristic image data to obtain a location of said 3D surface points in said characteristic image data and for extracting characteristic data for said set of 3D surface points at a short distance from said projected 3D surface points in said characteristic image data.
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Abstract
There are provided systems and methods for obtaining a three-dimensional surface geometric characteristic and/or texture characteristic of an object. A pattern is projected on a surface of said object. A basic 2D image of said object is acquired; a characteristic 2D image of said object is acquired; 2D surface points are extracted from said basic 2D image, from a reflection of said projected pattern on said object; a set of 3D surface points is calculated in a sensor coordinate system using said 2D surface points; and a set of 2D surface geometric/texture characteristics is extracted.
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Citations
17 Claims
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1. A system for obtaining data representing surface points of an object, said system comprising:
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a sensing device having a pattern projector for providing a projected pattern on a surface of said object, at least one basic camera for acquiring basic 2D image data representing a basic 2D image of at least a portion of said object at a basic resolution, and a characteristic camera for acquiring characteristic image data representing a characteristic image of at least a portion of said object, said characteristic camera being at least one of a texture camera and a high resolution camera, said texture camera being a camera adapted to capture characteristic texture information about said portion of said object, said high resolution camera being a camera adapted to capture high resolution information about said portion of said object at a high resolution, said high resolution being higher than said basic resolution, said projected pattern being apparent on said basic image, a spatial relationship of said basic camera, said pattern projector and said characteristic camera in a sensor coordinate system being known; a basic image processor for extracting, from said basic 2D image data, 2D point data representing at least one set of 2D surface points provided from a reflection of said projected pattern on said surface; a 3D surface point calculator for calculating a set of 3D surface points in said sensor coordinate system using said 2D point data representing set of 2D surface points; a characteristic image processor for mathematically projecting said set of 3D surface points onto said characteristic image data to obtain a location of said 3D surface points in said characteristic image data and for extracting characteristic data for said set of 3D surface points at a short distance from said projected 3D surface points in said characteristic image data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for obtaining data representing surface points of an object, said method comprising:
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obtaining basic 2D image data representing a basic 2D image of at least a portion of said object using at least one basic camera at a basic resolution, a projected pattern projected on a surface of said object being apparent on said basic image; obtaining characteristic image data representing a characteristic image of at least a portion of said object using a characteristic camera, said characteristic camera being at least one of a texture camera and a high resolution camera, said texture camera being a camera adapted to capture characteristic texture information about said portion of said object, said high resolution camera being a camera adapted to capture high resolution information about said portion of said object at a high resolution, said high resolution being higher than said basic resolution; extracting, from said basic 2D image data, 2D point data representing at least one set of 2D surface points provided from a reflection of said projected pattern on said surface; calculating a set of 3D surface points in said sensor coordinate system using said 2D point data representing set of 2D surface points; and mathematically projecting said set of 3D surface points onto said characteristic image data to obtain a location of said 3D surface points in said characteristic image data; extracting characteristic data for said set of 3D surface points at a short distance from said projected 3D surface points in said characteristic image data. - View Dependent Claims (14, 15, 16, 17)
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Specification