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SENSOR POSITIONING FOR 3D SCANNING

  • US 20140085429A1
  • Filed: 06/07/2012
  • Published: 03/27/2014
  • Est. Priority Date: 06/07/2011
  • Status: Active Grant
First Claim
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1. A method for obtaining a refined pose for a 3D sensor for online 3D modeling of a surface geometry of an object, said pose encompassing six degrees of freedom (DOF) including three translation parameters and three orientation parameters, the method comprising:

  • providing said 3d sensor, said 3d sensor being adapted to capture 3d point measurements of said surface of said object from a viewpoint;

    providing a geometry model of at least part of said surface;

    observing a portion of said surface of said object with said 3d sensor;

    measuring an initialization pose for said 3d sensor by at least one of positioning device pose measurement, predicted pose tracking and target observation;

    finding a best fit arrangement of said 3d point measurements in said geometry model using said initialization pose;

    generating said refined pose for said 3d sensor using said best fit arrangement;

    wherein said positioning device pose measurement includes;

    providing a positioning device;

    measuring sensor location information indicating a device pose of said 3d sensor relative to the geometry model using said positioning device;

    wherein said predicted pose tracking includes;

    retrieving a previous tracked pose from a previous instance of said capture of said 3d point measurements;

    assigning a predicted pose to said initialization pose, said predicted pose being predicted using said previous tracked pose;

    wherein said target observation includes;

    providing at least one target on said object;

    providing a target model for said object, said target model including previously observed targets;

    said observing said surface including observing at least one currently observed targets;

    matching said currently observed target with a corresponding previously observed target using said target model;

    generating at least one additional initialization parameter for said initialization pose by attributing a value for said additional initialization parameter;

    obtaining said initialization pose from said matched target, said additional initialization parameter and said target model.

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