OBJECT INSPECTION WITH REFERENCED VOLUMETRIC ANALYSIS SENSOR
First Claim
1. A positioning method for non-destructive inspection of an object, comprising:
- providing at least one volumetric analysis sensor for said inspection, said volumetric analysis sensor having sensor reference targets;
providing a sensor model of a pattern of 3D positions of at least some of said sensor reference targets of said volumetric analysis sensor;
providing object reference targets on at least one of said object and an environment of said object;
providing an object model of a pattern of 3D positions of at least some of said object reference targets;
providing a photogrammetric system including at least one camera to capture at least one image in a field of view;
capturing an image in said field of view using said photogrammetric system, at least a portion of said sensor reference targets and said object reference targets being apparent on said image;
determining a sensor spatial relationship between the photogrammetric system and said sensor reference targets using said sensor model and said captured image;
determining an object spatial relationship between the photogrammetric system and said object reference targets using said object model and said captured image;
determining a sensor-to-object spatial relationship of said at least one volumetric analysis sensor with respect to said object using said object spatial relationship and said sensor spatial relationship;
repeating said capturing, said determining said sensor-to-object spatial relationship and at least one of said determining said sensor spatial relationship and said determining said object spatial relationship;
tracking a displacement of said at least one of said volumetric analysis sensor and said object using said sensor-to-object spatial relationship.
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Accused Products
Abstract
A positioning method and system for non-destructive inspection of an object include providing at least one volumetric analysis sensor having sensor reference targets; providing a sensor model of a pattern of at least some of the sensor reference targets; providing object reference targets on at least one of the object and an environment of the object; providing an object model of a pattern of at least some of the object reference targets; providing a photogrammetric system including at least one camera and capturing at least one image in a field of view, at least a portion of the sensor reference and the object reference targets being apparent on the image; determining a sensor spatial relationship and an object spatial relationship; determining a sensor-to-object spatial relationship of the at I act one volumetric analysis sensor with respect to the object; repeating the steps and tracking a displacement of the volumetric analysis sensor and the object.
40 Citations
15 Claims
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1. A positioning method for non-destructive inspection of an object, comprising:
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providing at least one volumetric analysis sensor for said inspection, said volumetric analysis sensor having sensor reference targets; providing a sensor model of a pattern of 3D positions of at least some of said sensor reference targets of said volumetric analysis sensor; providing object reference targets on at least one of said object and an environment of said object; providing an object model of a pattern of 3D positions of at least some of said object reference targets; providing a photogrammetric system including at least one camera to capture at least one image in a field of view; capturing an image in said field of view using said photogrammetric system, at least a portion of said sensor reference targets and said object reference targets being apparent on said image; determining a sensor spatial relationship between the photogrammetric system and said sensor reference targets using said sensor model and said captured image; determining an object spatial relationship between the photogrammetric system and said object reference targets using said object model and said captured image; determining a sensor-to-object spatial relationship of said at least one volumetric analysis sensor with respect to said object using said object spatial relationship and said sensor spatial relationship; repeating said capturing, said determining said sensor-to-object spatial relationship and at least one of said determining said sensor spatial relationship and said determining said object spatial relationship; tracking a displacement of said at least one of said volumetric analysis sensor and said object using said sensor-to-object spatial relationship. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A positioning system for non-destructive inspection of an object, comprising:
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at least one volumetric analysis sensor for said inspection, said volumetric analysis sensor having sensor reference targets and being adapted to be displaced; object reference targets provided on at least one of said object and an environment of said object; a photogrammetric system including at least one camera to capture at least one image in a field of view, at least a portion of said sensor reference targets and said object reference targets being apparent on said image; a position tracker for obtaining a sensor model of a pattern of 3D positions of at least some of said sensor reference targets of said volumetric analysis sensor; obtaining an object model of a pattern of 3D positions of at least some of said object reference targets; determining an object spatial relationship between the photogrammetric system and said object reference targets using said object model pattern and said captured image; determining a sensor spatial relationship between the photogrammetric system and said sensor reference targets using said sensor model and said captured image; determining a sensor-to-object spatial relationship of said at least one volumetric analysis sensor with respect to said object using said object spatial relationship and said sensor spatial relationship; tracking a displacement of said volumetric analysis sensor using sensor-to-object spatial relationship. - View Dependent Claims (12, 13, 14, 15)
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Specification