Triangulation-based 3D imaging and processing method and system
First Claim
1. A triangulation-based 3D processing method for generating transformed height and gray scale values, the method comprising the steps of:
- generating a first pair of data values represented by height data and intensity data obtained from a first direction with respect to an object;
generating a second pair of data values represented by height data and intensity data obtained from a second direction with respect to the object;
controllably selecting at least one control algorithm adapted to process the height and intensity data;
processing the intensity data from the first and second directions to obtain transformed intensity data;
processing the height data from the first and second directions and the intensity data from the first and second directions with the at least one control algorithm to obtain transformed height data; and
transmitting the transformed height and intensity data which are adapted to be processed by an image processing computer, the transformed height data representing at least one transformed height value and the transformed intensity data representing at least one transformed gray scale value.
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Abstract
A triangulation-based method and system for high speed 3D and gray scale imaging and associated pre-processing of digitized information allows for estimation or filtering of height and gray scale values based upon the confidence level of the information obtained from a pair of sensors and also based upon knowledge of the object structure and its reflectance characteristics. A modulated laser beam is scanned across the object to create a plurality of spots which are viewed by a pair of well-matched receivers. Each receiver includes a light collection and delivery system, a position sensitive detector, and an associated ratio-metric signal processor, or similar means for extraction of height and intensity information or data by triangulation. An optional automatic light control sub-system provides greatly extended dynamic range with control inputs derived from an amplifying detector included in each receiver to maximize occurrences of valid data points. Prior to image processing, each point in the digitized 3D and gray scale data is transformed based upon the digital values of the gray scale and height values. The multi-channel pointwise transformation produces an improved estimate of intensity and height at a point of interest, or is used to filter the data for improvements in the 3D and gray scale contrast prior to image processing and measurement analysis. Either linear or non-linear transformations are utilized, based on the match between 3D and gray values, and other conditions which determine the confidence level of the information.
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Citations
33 Claims
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1. A triangulation-based 3D processing method for generating transformed height and gray scale values, the method comprising the steps of:
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generating a first pair of data values represented by height data and intensity data obtained from a first direction with respect to an object; generating a second pair of data values represented by height data and intensity data obtained from a second direction with respect to the object; controllably selecting at least one control algorithm adapted to process the height and intensity data; processing the intensity data from the first and second directions to obtain transformed intensity data; processing the height data from the first and second directions and the intensity data from the first and second directions with the at least one control algorithm to obtain transformed height data; and transmitting the transformed height and intensity data which are adapted to be processed by an image processing computer, the transformed height data representing at least one transformed height value and the transformed intensity data representing at least one transformed gray scale value.
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2. A triangulation-based 3D imaging and processing method for generating transformed height and gray scale values regarding an object located at an inspection station, the method comprising the steps of:
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positioning the object at the inspection station; transmitting a beam of controlled radiant energy to a surface of the object to obtain first and second reflected beams of radiant energy; receiving and focusing the first reflected beam to obtain a first focused spot of radiant energy at a first imaging area and receiving and focusing the second reflected beam to obtain a second focused spot of radiant energy at a second imaging area; detecting the position and intensity of the first focused spot of radiant energy at the first imaging area to provide a first signal; processing the first signal to generate a first set of height data and a first set of intensity data; detecting the position and intensity of the second focused spot of radiant energy at the second imaging area to obtain a second signal; processing the second signal to generate a second set of height data and a second set of intensity data; controllably selecting at least one control algorithm adapted to process the sets of height and intensity data; processing the first and second sets of intensity data to obtain a transformed set of intensity data; processing the first and second sets of height data and the first and second sets of intensity data with the at least one control algorithm to obtain a transformed set of height data; and transmitting the transformed sets of height and intensity data which are adapted to be processed by an image processing computer, the transformed set of intensity data representing at least one transformed gray scale value and the transformed set of height data representing at least one transformed height value. - View Dependent Claims (3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
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22. A triangulation-based 3D processing system for generating transformed height and gray scale values, the system comprising:
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means for generating a first pair of data values represented by height data and intensity data obtained from a first direction with respect to an object; means for generating a second pair of data values represented by height data and intensity data obtained from a second direction with respect to the object; means for controllably selecting at least one control algorithm adapted to process the height and intensity data; means for processing the intensity data from the first and second directions to obtain transformed intensity data; means for processing the height data from the first and second directions and the intensity data from the first and second directions with the at least one control algorithm to obtain transformed height data; and means for transmitting the transformed height and intensity data which are adapted to be processed by an image processing computer, the transformed height data representing at least one transformed height value and the transformed intensity data representing at least one transformed gray scale value.
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23. A triangulation-based 3D imaging and processing system for generating transformed height and gray scale values regarding an object located at an inspection station, the system comprising:
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means for transmitting a beam of controlled radiant energy to a surface of the object to obtain first and second reflected beams of radiant energy; means for receiving and focusing the first reflected beam to obtain a first focused spot of radiant energy at a first imaging area and means for receiving and focusing the second reflected beam to obtain a second focused spot of radiant energy at a second imaging area; means for detecting the position and intensity of the first focused spot of radiant energy at the first imaging area to provide a first signal; means for processing the first signal to generate a first set of height data and a first set of intensity data; means for detecting the position and intensity of the second focused spot of radiant energy at the second imaging area to provide a second signal; means for processing the second signal to generate a second set of height data and a second set of intensity data; means for selecting at least one control algorithm; means for processing the first and second sets of intensity data to obtain a transformed set of intensity data; means for processing the first and second sets of height data and the first and second sets of intensity data with the at least one control algorithm to obtain a transformed set of height data; and means for transmitting the transformed sets of height and intensity data which are adapted to be processed by an image processing computer, the transformed set of intensity data representing at least one transformed gray scale value and the transformed set of height data representing at least one transformed height value. - View Dependent Claims (24, 25, 26, 27, 28, 29, 30, 31, 32, 33)
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Specification