DIAGNOSING MULTIPATH INTERFERENCE AND ELIMINATING MULTIPATH INTERFERENCE IN 3D SCANNERS USING AUTOMATED REPOSITIONING

• US 20140267629A1
• Filed: 12/23/2013
• Published: 09/18/2014
• Est. Priority Date: 04/15/2011
• Status: Active Grant

• Current Assignee: Faro Technologies Incorporated
• Original Assignee: Faro Technologies Incorporated
• Inventors: Tohme, Yazid, Bridges, Robert E.
• Granted Patent: US 9,494,412 B2
• Time in Patent Office: Days
• US Class Current: 348/47
• CPC Class Codes: G01B 11/002 for measuring two or more coordinates
• CPC Class Codes: G01B 11/2513 with several lines being projected in more than one direction, e.g. grids, patterns
• CPC Class Codes: G01B 11/2531 using several gratings, projected with variable angle of incidence on the object, and one detection device
• CPC Class Codes: G01B 21/045 Correction of measurements G01B9/02055 takes precedence
• CPC Class Codes: G01B 5/004 for measuring coordinates of points
• CPC Class Codes: G01C 3/10 using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument
• CPC Class Codes: G01S 17/003 Bistatic lidar systems; Multistatic lidar systems
• CPC Class Codes: G01S 17/48 Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/66 Tracking systems using electromagnetic waves other than radio waves
• CPC Class Codes: G06T 2200/04 involving 3D image data
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 7/593 from stereo images
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: H04N 13/204 using stereoscopic image cameras stereoscopic photography G03B35/00
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 13/254 in combination with electromagnetic radiation sources for illuminating objects
• CPC Class Codes: H04N 13/275 from 3D object models, e.g. computer-generated stereoscopic image signals

Abstract

A method for determining 3D coordinates of points on a surface of the object by providing a 3D coordinate measurement device attached to a moveable apparatus that is coupled to a position sensing mechanism, all coupled to a processor, projecting a pattern of light onto the surface to determine a first set of 3D coordinates of points on the surface, determining susceptibility of the object to multipath interference by projecting and reflecting rays from the measured 3D coordinates of the points, moving the moveable apparatus under processor control to change the relative position of the device and the object, and projecting the a pattern of light onto the surface to determine a second set of 3D coordinates.

Claims

1-30. -30. (canceled)

31. A method of object measurement to determine three-dimensional (3D) coordinates of points on a surface of the object, the method comprising:

providing a 3D coordinate measurement device that includes a projector and a camera, wherein the projector and the camera are fixed in relation to one another, there being a baseline between the projector and the camera, the baseline being a line segment that has a distance equal to a baseline distance, the projector having a light source configured to emit projected light along a general direction of propagation given by a first axis, the 3D coordinate measurement device having a central plane that includes the first axis and the baseline, the projected light having any of a plurality of patterns in a first plane, the first plane being perpendicular to the first axis, the camera having a lens and a photosensitive array, the camera having a camera field of view, the lens configured to image a reflected portion of the projected light that is within the camera field of view onto the photosensitive array and to produce an electrical signal in response;

providing a moveable apparatus configured to cause relative movement between the object and the device;

providing a position sensing mechanism operably coupled to the moveable apparatus, the position sensing mechanism configured to determine a position of the moveable apparatus;

providing a processor electrically coupled to the projector, the camera, the moveable apparatus, and the position sensing mechanism;

selecting by the processor a first pattern from among the plurality of patterns;

emitting from the projector onto the surface, in a first instance, a first projected light having the first pattern;

reflecting into the camera a portion of the first projected light as a first reflected light;

forming with the lens a first image of the first reflected light on the photosensitive array and producing a first electrical signal in response;

determining with the processor a first position of the device relative to the object;

determining with the processor a first set of 3D coordinates of first points on the surface, the first set based at least in part on the first pattern, the first electrical signal and the baseline distance;

determining with the processor a first susceptibility of the object measurement to multipath interference, the first susceptibility based at least in part on a simulation in which the processor projects first rays from the projector to the first points and calculates an angle of reflection from each of the first points for each of the corresponding first rays, wherein the simulation is based on the device being in the first position;

moving the moveable apparatus to change the first position of the device relative to the object to a second position of the device relative to the object based at least in part on the first susceptibility;

selecting with the processor a second pattern from among the plurality of patterns;

with the projector in the second position, emitting from the projector onto the surface, in a second instance, a second projected light having the second pattern;

reflecting into the camera a portion of the second projected light as a second reflected light;

forming with the lens a second image of the second reflected light on the photosensitive array and producing a second electrical signal in response;

determining with the processor a second set of 3D coordinates of a second point on the surface, the second set based at least in part on the second pattern, the second electrical signal, and the baseline distance; and

storing the second set of 3D coordinates.

32. The method of claim 31 wherein the step of determining with the processor the first susceptibility of the object measurement to multipath interference further includes determining that at least one of the first rays intersects a first portion of the surface, the first portion of the surface being that portion of the surface that is within the camera field of view.

33. The method of claim 31 further including steps of:

combining the first set of 3D coordinates and the second set of 3D coordinates into a third set of 3D coordinates;

eliminating a portion of the third set of 3D coordinates to obtain a fourth set of 3D coordinates based at least in part on the multipath susceptibility; and

storing the fourth set of 3D coordinates.

34. The method of claim 31 wherein:

the step of determining with the processor the first susceptibility of the object measurement to multipath interference further includes steps of emitting from the projector onto the surface a first collection of epipolar lines, reflecting into the camera a portion of the first collection of epipolar lines;

reflecting into the camera a portion of the first collection of epipolar lines as a first diagnostic reflected light;

forming with the lens a first diagnostic image of the first diagnostic reflected light on the photosensitive array and producing a first diagnostic electrical signal in response;

determining with the processor whether the first diagnostic image includes a collection of straight lines; and

determining with the processor a second susceptibility of the object measurement to multipath interference, the second susceptibility based at least in part on whether the first diagnostic image includes lines that are not straight lines; and

in the step of selecting by the processor the second pattern, the second pattern is further based on the second susceptibility.

35. The method of claim 31 wherein, in the step of selecting with the processor the second pattern, the second pattern is in the first plane, the second pattern being a single line stripe or a single spot, the second pattern being based at least in part on the first susceptibility of the object measurement to multipath interference.

36. A method of object measurement to determine three-dimensional (3D) coordinates of points on a surface of the object, the method comprising:

providing a 3D coordinate measurement device that includes a projector and a camera, wherein the projector and the camera are fixed in relation to one another, there being a baseline between the projector and the camera, the baseline being a line segment that has a distance equal to a baseline distance, the projector having a light source configured to emit projected light along a general direction of propagation given by a first axis, the 3D coordinate measurement device having a central plane that includes the first axis and the baseline, the projected light having any of a plurality of patterns in a first plane, the first plane being perpendicular to the first axis, the camera having a lens and a photosensitive array, the camera having a camera field of view, the lens configured to image a reflected portion of the projected light that is within the camera field of view onto the photosensitive array and to produce an electrical signal in response;

providing a moveable apparatus configured to cause relative movement between the object and the device;

providing a position sensing mechanism operably coupled to the moveable apparatus, the position sensing mechanism configured to determine a position of the moveable apparatus;

providing a processor electrically coupled to the projector, the camera, the moveable apparatus, and the position sensing mechanism;

providing a CAD model of the object, the CAD model configured to provide computer-readable information for determining a 3D representation of the surface of the object;

providing computer readable media having computer readable instructions which when executed by the processor calculates 3D coordinates of points on the surface based at least in part on the CAD model;

determining with the processor a first set of 3D coordinates of first points on the surface, the first set based at least in part on the computer-readable information in the CAD model;

determining with the processor a first susceptibility of the object measurement to multipath interference, the first susceptibility based at least in part on a simulation in which the processor projects first rays from the projector to the first points and calculates an angle of reflection from each of the first points for each of the corresponding first rays;

moving the movable apparatus to a first location based at least in part on the first susceptibility;

selecting with the processor a first pattern from among the plurality of patterns;

with the projector in the first location, emitting from the projector onto the surface a first projected light having the first pattern;

reflecting into the camera a portion of the first projected light as a first reflected light;

forming with the lens a first image of the first reflected light on the photosensitive array and producing a first electrical signal in response;

determining with the processor a second set of 3D coordinates of at least one second point on the surface, the second set based at least in part on the first pattern, the first electrical signal, and the baseline distance; and

storing the second set of 3D coordinates.