Portable 3-D scanning system and method for rapid shape digitizing and adaptive mesh generation

• US 5,870,220 A
• Filed: 07/12/1996
• Issued: 02/09/1999
• Est. Priority Date: 07/12/1996
• Status: Expired due to Term

• Current Assignee: Sizmek Technologies Inc (Sizmek, Inc.)
• Original Assignee: Real-Time Geometry Corporation
• Inventors: Petrov, Michael, Lebedev, Alexei, Migdal, Alexander
• Primary Examiner(s): Phan, James
• Assistant Examiner(s): Schuberg, Darren E.
• Application Number:
  US08/679,498
• Time in Patent Office: 942 Days
• Field of Search: 359/17, 359/18, 359/196, 359/197, 359/216, 359/217, 359/218, 359/219, 356/376, 250/559.22, 250/559.23
• US Class Current: 359/216.1
• CPC Class Codes: G01B 11/24 for measuring contours or curvatures
• CPC Class Codes: G02B 26/08 for controlling the direction of light in light guides G02B6/35
• CPC Class Codes: G02B 26/12 using multifaceted mirrors
• CPC Class Codes: G06T 9/001 Model-based coding, e.g. wire frame

Abstract

A portable 3D scanning system collects 2D-profile data of objects using a combination of a laser-stripe positioning device and a video camera which detects the images of the laser stripe reflected from the object. The scanning system includes a laser-stripe generator, a video camera, a scanning mirror attached to a continuously rotating motor, an encoder or a photodiode operationally coupled to the motor, and associated electronics. As the rotating, scanning mirror reflects the laser stripe and variably positions the laser stripe across the object, the encoder or the photodiode generates signals indicating the angular position of the mirror. The video images of the reflected laser stripes are stored on a storage medium, while data relating to the angular positions of the laser stripes recorded in the video images are simultaneously stored on a storage medium. A computer subsequently synchronizes and processes the recorded laser stripe data with the angular-position data to generate a 3D model of the object by applying triangulation calculation and other post-scanning methods, e.g., multi-resolution analysis and adaptive-mesh generation. The multi-resolution analysis, which applies more points to resolve fine details and fewer points for smooth regions of the objects, leads to significant data compression. The adaptive mesh, which include connected polygonal elements and which may have multiple resolutions and tolerances, is generated by the adaptive-mesh generating routine.

Claims

1. A portable system for determining a three-dimensional profile of an object comprising:

a light-source unit for projecting a stripe of light onto said object and creating a luminous contour line at an intersection of said stripe of light and said object, said light-source unit being adapted to variably position said stripe of light onto said object;

an image-detecting device for detecting a sequence of images each containing at least one image of luminous contour line, said image-detecting device producing for each image signals representative of said each image, including signals representative of two-dimensional coordinates of detected contour line, wherein said image-detecting device is one of a TV camera, a video camera and a CCD camera;

an angle indicator for generating a signal related to an angle of approach of said stripe of light onto said object for at least one position of said stripe of light on said object; and

at least one data storage for storing at least one of pulse signals, audio signals and video signals, wherein said signals representative of said each image are stored as video signals and one of said signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object and a signal derived from said signal related to said angle of approach of said stripe of light is stored as one of a pulse signal, an audio signal and a video signal.

2. The system according to claim 1 wherein said light-source unit comprises a light-stripe generator and a light-stripe positioner for variably deflecting said stripe of light onto said object, and wherein said signals representative of said each image are stored on a video storage medium, and one of said signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object and a signal derived from said signal related to said angle of approach of said stripe of light is stored on one of a digital storage medium, an audio storage medium and a video storage medium.

3. The system according to claim 2 wherein said light-stripe positioner comprises a mirror rotatingly driven by a motor.

4. The system according to claim 3 wherein said image-capturing device is located relative to said rotating mirror at a known position, and wherein depth coordinates corresponding to said two-dimensional coordinates of said detected contour line for each image are calculable by triangulation based on an angle of approach of said stripe of light onto said object corresponding to said detected contour line, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined.

5. The system according to claim 4 wherein said stored signals are subsequently processed by a data-processing apparatus to determine said plurality of three-dimensional coordinates representative of said three-dimensional profile of said object.

6. The system according to claim 5 wherein said rotating mirror comprises a multi-faceted mirror rotatingly driven by said motor at a known angular velocity, and wherein said angle of approach of said stripe of light onto said object corresponding to each detected contour line is calculable based on said known angular velocity of said motor and said stored signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object.

7. The system according to claim 6 wherein said angle indicator comprises a pulse-generator for providing at least one pulse per one rotation of said motor, said at least one pulse corresponding to a known angular position of said motor, and wherein an angle of approach of said stripe of light onto said object at any given time is calculable based on said known angular position of said motor and time of occurrence of said at least one pulse corresponding to said known angular position of said motor.

8. The system according to claim 7 further comprising:

an audio-signal generator operationally coupled to said at least one pulse corresponding to said known angular position of said motor, said audio-signal generator generating an audio signal indicative of time of occurrence of said at least one pulse corresponding to said known angular position of said motor;

wherein said time of occurrence of said at least one pulse corresponding to said known angular position of said motor is ascertainable based on said audio signal.

9. The system according to claim 8 wherein said audio-signal generator comprises a telephone tone generator.

10. The system according to claim 8 wherein said audio-signal generator comprises a modem encoder chip.

11. The system according to claim 6 wherein said angle indicator comprises an optical encoder for providing a plurality of signals per one rotation of said motor, said plurality of signals corresponding to known angular positions of said motor, and wherein an angle of approach of said stripe of light onto said object at any given time is calculable based on said known angular positions of said motor and respective times of occurrence of said plurality of signals corresponding to said known angular positions of said motor.

12. The system according to claim 11 further comprising:

an audio-signal generator operationally coupled to said plurality of signals corresponding to said known angular positions of said motor, said audio-signal generator generating a plurality of audio signals corresponding to said plurality of signals corresponding to said known angular positions of said motor;

wherein respective times of occurrence of said plurality of signals corresponding to said known angular positions of said motor are ascertainable based on said audio signals.

13. The system according to claim 12 wherein said audio-signal generator comprises a telephone tone generator.

14. The system according to claim 12 wherein said audio-signal generator comprises a digital encoder.

15. The system according to claim 6 wherein said angle indicator comprises a photodiode for providing at least one signal per one rotation of said motor, said at least one signal corresponding to a known angular position of said motor, and wherein an angle of approach of said stripe of light onto said object at any given time is calculable based on said known angular position of said motor and time of occurrence of said at least one signal corresponding to said known angular position of said motor.

16. The system according to claim 2 wherein said light-stripe positioner comprises a holographic disc rotatingly driven by a motor.

17. The system according to claim 16 wherein said image-capturing device is located relative to said rotating holographic disc at a known position, and wherein depth coordinates corresponding to said two-dimensional coordinates of said detected contour line for each image are calculable by triangulation based on an angle of approach of said stripe of light onto said object corresponding to said detected contour line, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined.

18. The system according to claim 17 wherein said stored signals are subsequently processed by a data-processing apparatus to determine said plurality of three-dimensional coordinates representative of said three-dimensional profile of said object.

19. The system according to claim 18 wherein said holographic disc is rotatingly driven by said motor at a known angular velocity, and wherein said angle of approach of said stripe of light onto said object corresponding to each detected contour line is calculable based on said known angular velocity of said motor and said stored signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object.

20. The system according to claim 19 wherein said angle indicator comprises a pulse-generator for providing at least one pulse per one rotation of said motor, said at least one pulse corresponding to a known angular position of said motor, and wherein an angle of approach of said stripe of light onto said object at any given time is calculable based on said known angular position of said motor and time of occurrence of said at least one pulse corresponding to said known angular position of said motor.

21. The system according to claim 20 further comprising:

an audio-signal generator operationally coupled to said at least one pulse corresponding to said known angular position of said motor, said audio-signal generator generating an audio signal indicative of time of occurrence of said at least one pulse corresponding to said known angular position of said motor;

wherein said time of occurrence of said at least one pulse corresponding to said known angular position of said motor is ascertainable based on said audio signal.

22. The system according to claim 21 wherein said audio-signal generator comprises a telephone tone generator.

23. The system according to claim 21 wherein said audio-signal generator comprises a digital encoder.

24. The system according to claim 19 wherein said angle indicator comprises an optical encoder for providing a plurality of signals per one rotation of said motor, said plurality of signals corresponding to known angular positions of said motor, and wherein an angle of approach of said stripe of light onto said object at any given time is calculable based on said known angular positions of said motor and respective times of occurrence of said plurality of signals corresponding to said known angular positions of said motor.

25. The system according to claim 24 further comprising:

an audio-signal generator operationally coupled to said plurality of signals corresponding to said known angular positions of said motor, said audio-signal generator generating a plurality of audio signals corresponding to said plurality of signals corresponding to said known angular positions of said motor;

wherein respective times of occurrence of said plurality of signals corresponding to said known angular positions of said motor are ascertainable based on said audio signals.

26. The system according to claim 25 wherein said audio-signal generator comprises a telephone tone generator.

27. The system according to claim 25 wherein said audio-signal generator comprises a digital encoder.

28. The system according to claim 19 wherein said angle indicator comprises a photodiode for providing at least one signal per one rotation of said motor, said at least one signal corresponding to a known angular position of said motor, and wherein an angle of approach of said stripe of light onto said object at any given time is calculable based on said known angular position of said motor and time of occurrence of said at least one signal corresponding to said known angular position of said motor.

29. The system according to claim 28 further comprising:

an audio-signal generator operationally coupled to said at least one signal corresponding to said known angular position of said motor, said audio-signal generator generating an audio signal indicative of time of occurrence of said at least one signal corresponding to said known angular position of said motor;

wherein said time of occurrence of said at least one signal corresponding to said known angular position of said motor is ascertainable based on said audio signal.

30. The system according to claim 29 wherein said audio-signal generator comprises a telephone tone generator.

31. The system according to claim 29 wherein said audio-signal generator comprises a digital encoder.

32. A system for determining a three-dimensional profile of an object comprising:

a light-source unit for projecting a stripe of light onto said object and creating a luminous contour line at an intersection of said stripe of light and said object, said light-source unit being adapted to variably position said stripe of light onto said object, wherein said light-source unit has a light-stripe generator and a multi-faceted mirror rotatingly driven by a motor at a known angular velocity for variably deflecting said stripe of light onto said object;

an image-detecting device for detecting a sequence of images each containing at least one image of luminous contour line, said image-detecting device producing for each image signals representative of said each image, including signals representative of two-dimensional coordinates of detected contour line, wherein said image-detecting device is located relative to said multi-faceted rotating mirror at a known position, and wherein depth coordinates corresponding to said two-dimensional coordinates of said detected contour line for each image are calculable by triangulation based on an angle of approach of said stripe of light onto said object corresponding to said detected contour line, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined, and wherein said signals representative of said each image and said signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object are each stored on a data storage medium, and wherein said stored signals are subsequently processed by a data-processing apparatus to determine said plurality of three-dimensional coordinates representative of said three-dimensional profile of said object;

an angle indicator for generating a signal related to an angle of approach of said stripe of light onto said object for at least one position of said stripe of light on said object, wherein said angle indicator is a pulse-generator for providing at least one pulse per one rotation of said motor, said at least one pulse corresponding to a known angular position of said motor, and wherein an angle of approach of said stripe of light onto said object at any given time is calculable based on said known angular position of said motor and time of occurrence of said at least one pulse corresponding to said known angular position of said motor; and

a lamp operationally coupled to said at least one pulse corresponding to said known angular position of said motor, said lamp being turned on during a finite period of time corresponding to said occurrence of said at least one pulse corresponding to said known angular position of said motor;

wherein said angle of approach of said stripe of light onto said object corresponding to each detected contour line is calculable based on said known angular velocity of said motor and said stored signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object;

and wherein time of occurrence of said at least one pulse corresponding to said known angular position of said motor is ascertainable based on relative brightness of said detected sequence of images as indicated by said stored signals representative of said detected sequence of images.

33. A system for determining a three-dimensional profile of an object comprising:

a light-source unit for projecting a stripe of light onto said object and creating a luminous contour line at an intersection of said stripe of light and said object, said light-source unit being adapted to variably position said stripe of light onto said object, wherein said light-source unit has a light-stripe generator and a multi-faceted mirror rotatingly driven by a motor at a known angular velocity for variably deflecting said stripe of light onto said object;

an image-detecting device for detecting a sequence of images each containing at least one image of luminous contour line, said image-detecting device producing for each image signals representative of said each image, including signals representative of two-dimensional coordinates of detected contour line, wherein said image-detecting device is located relative to said multi-faceted rotating mirror at a known position, and wherein depth coordinates corresponding to said two-dimensional coordinates of said detected contour line for each image are calculable by triangulation based on an angle of approach of said stripe of light onto said object corresponding to said detected contour line, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined, and wherein said signals representative of said each image and said signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object are each stored on a data storage medium, and wherein said stored signals are subsequently processed by a data-processing apparatus to determine said plurality of three-dimensional coordinates representative of said three-dimensional profile of said object;

an angle indicator for generating a signal related to an angle of approach of said stripe of light onto said object for at least one position of said stripe of light on said object, wherein said angle indicator is an optical encoder for providing a plurality of signals per one rotation of said motor, said plurality of signals corresponding to known angular positions of said motor, and wherein an angle of approach of said stripe of light onto said object at any given time is calculable based on said known angular positions of said motor and respective times of occurrence of said plurality of signals corresponding to said known angular positions of said motor; and

a lamp operationally coupled to said plurality of signals corresponding to said known angular positions of said motor, said lamp being turned on during a finite period of time corresponding to each occurrence of said plurality of signals corresponding to said known angular positions of said motor;

wherein said angle of approach of said stripe of light onto said object corresponding to each detected contour line is calculable based on said known angular velocity of said motor and said stored signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object;

and wherein respective times of occurrence of said plurality of signals corresponding to said known angular positions of said motor are ascertainable based on relative brightness of said detected sequence of images as indicated by said stored signals representative of said detected sequence of images.

34. A system for determining a three-dimensional profile of an object comprising:

a light-source unit for projecting a stripe of light onto said object and creating a luminous contour line at an intersection of said stripe of light and said object, said light-source unit being adapted to variably position said stripe of light onto said object, wherein said light-source unit has a light-stripe generator and a holographic disc rotatingly driven by a motor at a known angular velocity for variably deflecting said stripe of light onto said object;

an image-detecting device for detecting a sequence of images each containing at least one image of luminous contour line, said image-detecting device producing for each image signals representative of said each image, including signals representative of two-dimensional coordinates of detected contour line, wherein said image-detecting device is located relative to said rotating holographic disc at a known position, and wherein depth coordinates corresponding to said two-dimensional coordinates of said detected contour line for each image are calculable by triangulation based on an angle of approach of said stripe of light onto said object corresponding to said detected contour line, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined, and wherein said signals representative of said each image and said signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object are each stored on a data storage medium, and wherein said stored signals are subsequently processed by a data-processing apparatus to determine said plurality of three-dimensional coordinates representative of said three-dimensional profile of said object;

an angle indicator for generating a signal related to an angle of approach of said stripe of light onto said object for at least one position of said stripe of light on said object, wherein said angle indicator is a pulse-generator for providing at least one pulse per one rotation of said motor, said at least one pulse corresponding to a known angular position of said motor, and wherein an angle of approach of said stripe of light onto said object at any given time is calculable based on said known angular position of said motor and time of occurrence of said at least one pulse corresponding to said known angular position of said motor; and

a lamp operationally coupled to said at least one pulse corresponding to said known angular position of said motor, said lamp being turned on during a finite period of time corresponding to said occurrence of said at least one pulse corresponding to said known angular position of said motor;

wherein said angle of approach of said stripe of light onto said object corresponding to each detected contour line is calculable based on said known angular velocity of said motor and said stored signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object;

and wherein time of occurrence of said at least one pulse corresponding to said known angular position of said motor is ascertainable based on relative brightness of said detected sequence of images as indicated by said stored signals representative of said detected sequence of images.

35. A system for determining a three-dimensional profile of an object comprising:

a light-source unit for projecting a stripe of light onto said object and creating a luminous contour line at an intersection of said stripe of light and said object, said light-source unit being adapted to variably position said stripe of light onto said object, wherein said light-source unit has a light-stripe generator and a holographic disc rotatingly driven by a motor at a known angular velocity for variably deflecting said stripe of light onto said object;

an image-detecting device for detecting a sequence of images each containing at least one image of luminous contour line, said image-detecting device producing for each image signals representative of said each image, including signals representative of two-dimensional coordinates of detected contour line, wherein said image-detecting device is located relative to said rotating holographic disc at a known position, and wherein depth coordinates corresponding to said two-dimensional coordinates of said detected contour line for each image are calculable by triangulation based on an angle of approach of said stripe of light onto said object corresponding to said detected contour line, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined, and wherein said signals representative of said each image and said signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object are each stored on a data storage medium, and wherein said stored signals are subsequently processed by a data-processing apparatus to determine said plurality of three-dimensional coordinates representative of said three-dimensional profile of said object;

an angle indicator for generating a signal related to an angle of approach of said stripe of light onto said object for at least one position of said stripe of light on said object, wherein said angle indicator is an optical encoder for providing a plurality of signals per one rotation of said motor, said plurality of signals corresponding to known angular positions of said motor, and wherein an angle of approach of said stripe of light onto said object at any given time is calculable based on said known angular positions of said motor and time of occurrence of said plurality of signals corresponding to said known angular positions of said motor; and

a lamp operationally coupled to said plurality of signals corresponding to said known angular positions of said motor, said lamp being turned on during a finite period of time corresponding to each occurrence of said plurality of signals corresponding to said known angular positions of said motor;

wherein said angle of approach of said stripe of light onto said object corresponding to each detected contour line is calculable based on said known angular velocity of said motor and said stored signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object;

and wherein respective times of occurrence of said plurality of signals corresponding to said known angular positions of said motor are ascertainable based on relative brightness of said detected sequence of images as indicated by said stored signals representative of said detected sequence of images.

36. A system for determining a three-dimensional profile of an object comprising:

a light-source unit for projecting a stripe of light onto said object and creating a luminous contour line at an intersection of said stripe of light and said object, said light-source unit being adapted to variably position said stripe of light onto said object, wherein said light-source unit has a light-stripe generator and a multi-faceted mirror rotatingly driven by a motor at a known angular velocity for variably deflecting said stripe of light onto said object;

an image-detecting device for detecting a sequence of images each containing at least one image of luminous contour line, said image-detecting device producing for each image signals representative of said each image, including signals representative of two-dimensional coordinates of detected contour line, wherein said image-detecting device is located relative to said multi-faceted rotating mirror at a known position, and wherein depth coordinates corresponding to said two-dimensional coordinates of said detected contour line for each image are calculable by triangulation based on an angle of approach of said stripe of light onto said object corresponding to said detected contour line, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined, and wherein said signals representative of said each image and said signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object are each stored on a data storage medium, and wherein said stored signals are subsequently processed by a data-processing apparatus to determine said plurality of three-dimensional coordinates representative of said three-dimensional profile of said object;

an angle indicator for generating a signal related to an angle of approach of said stripe of light onto said object for at least one position of said stripe of light on said object, wherein said angle indicator is a photodiode for providing at least one signal per one rotation of said motor, said at least one signal corresponding to a known angular position of said motor, and wherein an angle of approach of said stripe of light onto said object at any given time is calculable based on said known angular position of said motor and time of occurrence of said at least one signal corresponding to said known angular position of said motor; and

a lamp operationally coupled to said at least one signal corresponding to said known angular position of said motor, said lamp being turned on during a finite period of time corresponding to said occurrence of said at least one signal corresponding to said known angular position of said motor;

wherein said angle of approach of said stripe of light onto said object corresponding to each detected contour line is calculable based on said known angular velocity of said motor and said stored signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object;

and wherein time of occurrence of said at least one signal corresponding to said known angular position of said motor is ascertainable based on relative brightness of said detected sequence of images as indicated by said stored signals representative of said detected sequence of images.

37. A system for determining a three-dimensional profile of an object comprising:

a light-source unit for projecting a stripe of light onto said object and creating a luminous contour line at an intersection of said stripe of light and said object, said light-source unit being adapted to variably position said stripe of light onto said object, wherein said light-source unit has a light-stripe generator and a multi-faceted mirror rotatingly driven by a motor at a known angular velocity for variably deflecting said stripe of light onto said object;

an image-detecting device for detecting a sequence of images each containing at least one image of luminous contour line, said image-detecting device producing for each image signals representative of said each image, including signals representative of two-dimensional coordinates of detected contour line, wherein said image-detecting device is located relative to said multi-faceted rotating mirror at a known position, and wherein depth coordinates corresponding to said two-dimensional coordinates of said detected contour line for each image are calculable by triangulation based on an angle of approach of said stripe of light onto said object corresponding to said detected contour line, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined, and wherein said signals representative of said each image and said signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object are each stored on a data storage medium, and wherein said stored signals are subsequently processed by a data-processing apparatus to determine said plurality of three-dimensional coordinates representative of said three-dimensional profile of said object;

an angle indicator for generating a signal related to an angle of approach of said stripe of light onto said object for at least one position of said stripe of light on said object, wherein said angle indicator is a photodiode for providing at least one signal per one rotation of said motor, said at least one signal corresponding to a known angular position of said motor, and wherein an angle of approach of said stripe of light onto said object at any given time is calculable based on said known angular position of said motor and time of occurrence of said at least one signal corresponding to said known angular position of said motor; and

an audio-signal generator operationally coupled to said at least one signal corresponding to said known angular position of said motor, said audio-signal generator generating an audio signal indicative of time of occurrence of said at least one signal corresponding to said known angular position of said motor;

wherein said angle of approach of said stripe of light onto said object corresponding to each detected contour line is calculable based on said known angular velocity of said motor and said stored signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object;

and wherein said time of occurrence of said at least one signal corresponding to said known angular position of said motor is ascertainable based on said audio signal.

38. The system according to claim 37 wherein said audio-signal generator comprises a telephone tone generator.

39. The system according to claim 37 wherein said audio-signal generator comprises a digital encoder.

40. A system for determining a three-dimensional profile of an object comprising:

a light-source unit for projecting a stripe of light onto said object and creating a luminous contour line at an intersection of said stripe of light and said object, said light-source unit being adapted to variably position said stripe of light onto said object, wherein said light-source unit has a light-stripe generator and a holographic disc rotatingly driven by a motor at a known angular velocity for variably deflecting said stripe of light onto said object;

an image-detecting device for detecting a sequence of images each containing at least one image of luminous contour line, said image-detecting device producing for each image signals representative of said each image, including signals representative of two-dimensional coordinates of detected contour line, wherein said image-detecting device is located relative to said rotating holographic disc at a known position, and wherein depth coordinates corresponding to said two-dimensional coordinates of said detected contour line for each image are calculable by triangulation based on an angle of approach of said stripe of light onto said object corresponding to said detected contour line, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined, and wherein said signals representative of said each image and said signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object are each stored on a data storage medium, and wherein said stored signals are subsequently processed by a data-processing apparatus to determine said plurality of three-dimensional coordinates representative of said three-dimensional profile of said object;

an angle indicator for generating a signal related to an angle of approach of said stripe of light onto said object for at least one position of said stripe of light on said object, wherein said angle indicator is a photodiode for providing at least one signal per one rotation of said motor, said at least one signal corresponding to a known angular position of said motor, and wherein an angle of approach of said stripe of light onto said object at any given time is calculable based on said known angular position of said motor and time of occurrence of said at least one signal corresponding to said known angular position of said motor; and

a lamp operationally coupled to said at least one signal corresponding to said known angular position of said motor, said lamp being turned on during a finite period of time corresponding to said occurrence of said at least one signal corresponding to said known angular position of said motor;

wherein said angle of approach of said stripe of light onto said object corresponding to each detected contour line is calculable based on said known angular velocity of said motor and said stored signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object;

and wherein time of occurrence of said at least one signal corresponding to said known angular position of said motor is ascertainable based on relative brightness of said detected sequence of images as indicated by said stored signals representative of said detected sequence of images.

41. A method of determining a three-dimensional profile of an object using a portable scanning system, comprising:

sequentially positioning a stripe of light at a plurality of locations on said object to create a corresponding sequence of positions of a luminous contour line, said luminous contour line being generated at an intersection of said stripe of light and said object;

detecting by means of an image-detecting device a sequence of images of said luminous contour line corresponding to said sequence of positions of said luminous contour line, wherein said image-detecting device is one of a TV camera, a video camera and a CCD camera;

for each of said sequence of images of said luminous contour line, generating signals representative of said each image;

storing said signals representative of said sequence of images of said luminous contour line as video signals;

generating a signal related to an angle of approach of said stripe of light onto said object for at least one position of said luminous contour line on said object;

storing said signal related to said angle of approach of said stripe of light onto said object for said at least one position of said luminous contour line, as one of an audio signal, a video signal and a pulse signal;

calculating a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object based on said stored signals representative of said sequence of images of said luminous contour line and said stored signal related to said angle of approach of said stripe of light onto said object for said at least one position of said luminous contour line.

42. The method according to claim 41, wherein said step of calculating said plurality of three-dimensional coordinates representative of said three-dimensional profile of said object comprises:

determining, based on said angle of approach of said stripe of light onto said object for said at least one position of said luminous contour line, an angle of approach of said stripe of light onto said object for each of said sequence of positions of said luminous contour line as indicated by said stored signals representative of said sequence of images of said luminous contour line; and

for each of said sequence of positions of said luminous contour line, calculating by triangulation depth coordinates corresponding to two-dimensional coordinates of said luminous contour line as indicated by said stored signals representative of said image of said luminous contour line.

43. The method according to claim 42 wherein said signal related to said angle of approach of said stripe of light onto said object for said at least one position of said luminous contour line is derived from an electrical pulse.

44. The method according to claim 42, wherein said signal related to said angle of approach of said stripe of light onto said object for said at least one position of said luminous contour line comprises an audio signal.

45. A method of determining a three-dimensional profile of an object comprising:

sequentially positioning a stripe of light at a plurality of locations on said object to create a corresponding sequence of positions of a luminous contour line, said luminous contour line being generated at an intersection of said stripe of light and said object;

detecting by means of an image-detecting device a sequence of images of said luminous contour line corresponding to said sequence of positions of said luminous contour line;

for each of said sequence of images of said luminous contour line, generating signals representative of said each image;

storing said signals representative of said sequence of images of said luminous contour line;

generating a signal related to an angle of approach of said stripe of light onto said object for at least one position of said luminous contour line on said object, wherein said signal related to said angle of approach of said stripe of light is an intensity level of ambient light illuminating said object;

storing said signal related to said angle of approach of said stripe of light onto said object for said at least one position of said luminous contour line; and

calculating a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object based on said stored signals representative of said sequence of images of said luminous contour line and said stored signal related to said angle of approach of said stripe of light onto said object for said at least one position of said luminous contour line, wherein said step of calculating said plurality of three-dimensional coordinates comprises;

determining, based on said angle of approach of said stripe of light onto said object for said at least one position of said luminous contour line, an angle of approach of said stripe of light onto said object for each of said sequence of positions of said luminous contour line as indicated by said stored signals representative of said sequence of images of said luminous contour line; and

for each of said sequence of positions of said luminous contour line, calculating by triangulation depth coordinates corresponding to two-dimensional coordinates of said luminous contour line as indicated by said stored signals representative of said image of said luminous contour line.

46. A method of obtaining data representative of a 3-D shape of an object using a portable scanning system, which method comprises:

generating a plurality of luminous contour lines of said object by projecting a beam of light onto said object at a corresponding plurality of angles of approach relative to said object;

detecting a sequence of images of said object using an image-detecting device of said portable scanning system, said image-detecting device being one of a TV camera, a video camera and a CCD camera, each image containing a luminous contour line of said object associated with a corresponding one of the plurality of angles of approach of said beam of light relative to said object;

recording said sequence of images of said object as video signals; and

recording at least one signal related to the one of the plurality of angles of approach of said beam of light relative to said object as one of an audio signal, a video signal and a pulse signal.

47. The method according to claim 46, wherein said step of recording at least one signal related to the one of the plurality of angles of approach of said beam of light relative to said object occurs during said recording of a sequence of images of said object.

48. The method according to claim 47, wherein time of said recording of said at least one signal related to the one of the plurality of angles of approach of said beam of light is calculable relative to time of recording of at least one image recorded during said recording of said sequence of images of said object.

49. The method according to claim 48, wherein each recorded image of said object is in the form of recorded signals comprising pixel information representative of the recorded image, the pixel information for each recorded image comprising information for each of a plurality of individual pixels.

50. The method according to claim 49, wherein said at least one signal related to the one of the plurality of angles of approach of said beam of light relative to said object comprises an audio signal.

51. A portable system for obtaining data representative of a 3-D shape of an object, which comprises:

an illumination source for projecting a beam of light onto said object at a plurality of angles of approach relative to said object;

a photographic detecting device for detecting a sequence of images of said object, each image containing a luminous contour line of said object associated with a corresponding angle of approach of said beam of light relative to said object, wherein said photographic detecting device is one of a TV camera, video camera and a CCD camera;

an angle indicator for generating a signal related to one of the plurality of angles of approach of said beam of light relative to said object; and

at least one data storage for storing at least one of pulse signals, audio signals and video signals, wherein data representative of said sequence of images of said object are stored as video signals and one of said signal related to one of the plurality of angles of approach of said beam of light relative to said object and a signal derived from said signal related to said one of the plurality of angles of approach of said beam of light relative to said object is stored as one of a pulse signal, an audio signal and a video signal.

52. The system according to claim 51, wherein said photographic detecting device generates electrical signals comprising pixel information representative of the detected image of said object and said luminous contour line, the pixel information for each image comprising information for each of a plurality of individual pixels, and wherein said storage device stores said electrical signals comprising pixel information.

53. The system according to claim 52 further comprising a mechanical holder, wherein said illumination source and said photographic detecting device are coupled to said mechanical holder, and wherein relative spacing between said illumination source and said photographic detecting device is adjustable.

54. The system according to claim 53, wherein said angle indicator is an audio-signal generator.

55. The system according to claim 54, wherein said photographic detecting device is adjustably and detachably coupled to said mechanical holder.

56. A method of using a portable scanning system for measuring 3-D shape of an object, said portable system comprising an illumination source, a photographic detecting device, an angle indicator and a data storage device, which method comprises:

generating a plurality of luminous contour lines of said object by using said illumination source to project a beam of light onto said object at a corresponding plurality of angles of approach relative to said object;

detecting a sequence of images of said object using an image-detecting device of said portable scanning system, said image-detecting device being one of a TV camera, a video camera and a CCD camera, each image containing a luminous contour line of said object associated with a corresponding angle of approach of said beam of light relative to said object;

recording said sequence of images of said object as video signals; and

recording a signal related to one of the plurality of angles of approach of said beam of light relative to said object as one of an audio signal, a video signal and a pulse signal;

wherein time of said recording of said signal related to one of the plurality of angles of approach of said beam of light is calculable relative to time of recording of at least one of said sequence of images of said object, and wherein each recorded image of said object is in the form of recorded signals comprising pixel information representative of the recorded image, the pixel information for each recorded image comprising information for each of a plurality of individual pixels.

57. The method according to claim 56, further comprising the steps of:

for each recorded images of said object, associating pixel information representative of recorded luminous contour line of said object with a corresponding angle of approach of said beam of light relative to said object based on said signal related to one of the plurality of angles of approach of said beam of light; and

using the associated angle information and pixel information to determine three dimensional X, Y, Z coordinates representative of the 3-D shape of said object.