Three dimensional imaging method and device
First Claim
1. A method of determining spatial relationships of sets of range measurements obtained from a target surface, comprising:
- (a) producing a set of profiles, each profile being a series of range co-ordinates collected along a single line extending across the target surface using a ranging sensor with at least a subset of the set of profiles crossing each other;
(b) detecting at the location of a crossing of two profiles the shortest distance between these profiles, such distance being a measure of an energy contribution between this pair of profiles;
(c) summing the energy contributions of a plurality of such crossing locations to generate an energy function; and
(d) reorienting the profiles relative to each other to minimise the energy function.
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Abstract
A three dimensional imaging method and device including a ranging sensor that is used to produce a series of profiles of a target surface. The profiles comprise one set of profiles nearly parallel to each other and a further such set of nearly parallel profiles, with the profiles of one set extending at an angle to those of the other set to generate a large number of profile crossings. At the location of each crossing the shortest distance between the profiles is detected and represents an energy contribution between this pair of profiles. An energy function is defined as the sum of the energy contributions of all the crossings. Using a known mathematical model, the profiles are then reoriented relative to each other in such a manner as to minimise this total energy. This process can be repeated for higher precision. The finally reoriented profiles can be used to define the desired three-dimensional shape of the target surface.
62 Citations
21 Claims
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1. A method of determining spatial relationships of sets of range measurements obtained from a target surface, comprising:
- (a) producing a set of profiles, each profile being a series of range co-ordinates collected along a single line extending across the target surface using a ranging sensor with at least a subset of the set of profiles crossing each other;
(b) detecting at the location of a crossing of two profiles the shortest distance between these profiles, such distance being a measure of an energy contribution between this pair of profiles; (c) summing the energy contributions of a plurality of such crossing locations to generate an energy function; and (d) reorienting the profiles relative to each other to minimise the energy function. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
- (a) producing a set of profiles, each profile being a series of range co-ordinates collected along a single line extending across the target surface using a ranging sensor with at least a subset of the set of profiles crossing each other;
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10. A method of ascertaining the three-dimensional shape of a target surface, comprising:
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(a) using a ranging sensor to produce a series of profiles, each profile being a series of range co-ordinates collected along a single line extending across the surface with some of the profiles crossing over others of the profiles; (b) detecting at the location of a crossing of two profiles the shortest distance between these profiles, such distance being a measure of an energy contribution between this pair of profiles; (c) summing the energy contributions of a plurality of such crossing locations to generate an energy function; and (d) reorienting the profiles relative to each other to minimise the energy function, the reoriented profiles together defining the three-dimensional shape of the target surface. - View Dependent Claims (11, 12, 13, 14, 15, 16)
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17. Apparatus for ascertaining characteristics of a target surface, comprising:
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(a) at least one ranging sensor for producing a series of profiles of the target surface, each profile being a series of range co-ordinates collected along a single line extending across the target surface; and (b) means for; (i) detecting at the location of a crossing of two said profiles the shortest distance between these profiles, (ii) determining from this distance an energy contribution between this pair of profiles, (iii) summing the energy contributions of a plurality of such crossing locations to generate an energy function, and (iv) reorienting the profiles relative to each other to minimise the energy function. - View Dependent Claims (18, 19, 20, 21)
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Specification