Method and apparatus for optically scanning three dimensional objects using color information in trackable patches

• US 5,864,640 A
• Filed: 10/25/1996
• Issued: 01/26/1999
• Est. Priority Date: 10/25/1996
• Status: Expired due to Fees

• Current Assignee: Waveworks, Inc.
• Original Assignee: Wavework Incorporated (Multilot AS)
• Inventors: Miramonti, John L., Mueller, Frederick E.
• Primary Examiner(s): Boudreau, Leo H.
• Assistant Examiner(s): SHERALI, ISHRAT I
• Application Number:
  US08/738,437
• Time in Patent Office: 823 Days
• Field of Search: 382/154, 382/285, 382/312, 382/162, 382/167, 382/108, 345/419, 345/425, 345/431, 345/430, 345/426
• US Class Current: 382/312
• CPC Class Codes: G01B 11/00 Measuring arrangements characterised by the use of optical techniques
• CPC Class Codes: G06T 1/0007 Image acquisition
• CPC Class Codes: G06T 2200/08 involving all processing steps from image acquisition to 3D model generation
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 7/55 from multiple images
• CPC Class Codes: G06T 7/579 from motion
• CPC Class Codes: G06T 7/80 Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
• CPC Class Codes: H04N 13/189 Recording image signals; Reproducing recorded image signals
• CPC Class Codes: H04N 13/194 Transmission of image signals
• CPC Class Codes: H04N 13/221 using the relative movement between cameras and objects
• 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 13/243 using three or more 2D image sensors
• CPC Class Codes: H04N 13/246 Calibration of cameras
• CPC Class Codes: H04N 13/254 in combination with electromagnetic radiation sources for illuminating objects
• CPC Class Codes: H04N 2013/0081 Depth or disparity estimation from stereoscopic image signals

Abstract

The invention provides a three dimensional digital scanner which includes a multiple view detector which is responsive to a broad spectrum of visible light. The multiple view detector is operative to develop a plurality of images of a three dimensional object which is being scanned. The plurality of images are taken from a plurality of relative angles with respect to the object, and the plurality of images depict a plurality of surface portions of the object. A digital processor including a computational unit is coupled to the detector and is responsive to the plurality of images so that it develops 3-D coordinate positions and related image information for the plurality of surface portions of the object. A three dimensional image of the object to be scanned is thus developed by the digital processor. The data developed includes both shape and surface image color information.

Claims

1. A three dimensional digital scanner comprising:

multiple view detector means including a color detector responsive to a broad spectrum of visible light and means for rotating an arbitrary three dimensional object to be scanned, said multiple view detector means being operative to develop a plurality of images of said three dimensional object, said plurality of images being taken from a plurality of relative angles with respect to said object due to the rotation of said object, said plurality of images depicting a plurality of surface portions of said object to be scanned; and

a digital processor including a computational unit, said digital processor being coupled to said detector means, said digital processor being responsive to said plurality of images and operative to develop with said computational unit 3-D coordinate positions and related image information including color information of said plurality of surface portions of said objects, said digital processor being operative to identify a trackable surface feature using color information within at least one of said plurality of images and to derive both surface geometry and surface coloration from said color information;

whereby a three dimensional image of said object to be scanned can be developed by said digital processor that includes both shape and surface image.

2. The apparatus of claim 1 further comprising a light source to provide light with contrasting values on said object.

3. The apparatus of claim 1 wherein said digital processor is operative to determine the boundary of the object in at least one of said plurality of images using a mathematical function comprising function of said image information with a predetermined kernel.

4. The apparatus of claim 1 wherein said digital processor is operative to determine two-dimensional positions of said trackable surface features within at least two of said plurality of images.

5. The apparatus of claim 4 wherein said digital processor is operative to determine a three dimensional position of said trackable surface feature from a difference between said two dimensional positions.

6. The apparatus of claim 1 wherein said digital processor is operative to determine a radius from a trackable surface feature to an axis of rotation.

7. A three dimensional color digital scanner comprising:

a color detector responsive to a broad spectrum of visible light to develop a plurality of images of an arbitrary three dimensional object to be scanned;

a rotary object support having an axis of rotation, said object support allowing said detector to develop a plurality of images of a three dimensional object supported and rotated by said object support, where said plurality of images depict a plurality of surface portions of said object;

a digital computer coupled to said detector and responsive to said plurality of images, said digital computer tracking patches of said surface portions of said object by using color information derived from said patches to determine coordinates of said patches as a function of the rotation of said rotary object support, said digital computer further determining radii of said patches from said axis of rotation, such that said color information is used both to determine the shape of said object and to determine surface coloration of said object.

8. The three dimensional color digital scanner of claim 7 wherein said digital computer is operative to determine the two dimensional boundary of said object within at least one of said plurality of images.

9. The three dimensional color digital scanner of claim 7 wherein determining the radii of said patches includes determining a first derivative.

10. A method for determining three dimensional coordinates of a surface portion of an object comprising:

rotating an arbitrary three dimensional object;

obtaining a plurality of color images of said surface portion of said object;

identifying a trackable patch of said surface portion using color information from an initial color image of said plurality of color images;

determining an initial set of two dimensional coordinates of said trackable patch in said initial color image;

analyzing said plurality of color images to determine at least one additional set of two dimensional coordinates of said trackable patch in at least one other of said plurality of color images;

determining a radial coordinate of said trackable patch based on said sets of two dimensional coordinates; and

determining a set of three dimensional coordinates of said trackable patch from said radial coordinate of said trackable patch, such that both the shape and surface coloration of said object are determined using said color information derived from said trackable patch.

11. The method of claim 10 wherein determining a set of three dimensional coordinates includes determining a tracking limit for the tracking of said trackable patch.

12. The method of claim 10 wherein determining a set of three dimensional coordinates includes correlating a kernel representing an image of at least one trackable patch.

13. The method of claim 10 wherein analyzing said plurality of images to determine at least one additional set of two dimensional coordinates of said trackable patch in at least one other of said plurality of images includes a correlation.

14. The method of claim 10 wherein determining a radial coordinate of said trackable patch based on said sets of two dimensional coordinates includes determining a radial speed of said trackable patch across said plurality of images.

15. The method of claim 10 further including correlating an image of said trackable patch with portions of an image of said object.

16. The method of claim 10 wherein determining a radial coordinate of said trackable patch includes determining a radial speed of said trackable patch.

17. The method of claim 10 further comprising illuminating said object with a light providing contrasting values on a surface portion of said object.