Integrated system for quickly and accurately imaging and modeling three dimensional objects

• US 5,988,862 A
• Filed: 04/24/1996
• Issued: 11/23/1999
• Est. Priority Date: 04/24/1996
• Status: Expired due to Term

• Current Assignee: Leica Geosystems AG (Hexagon AB)
• Original Assignee: Cyra Technologies, Inc. (Hexagon AB)
• Inventors: Kacyra, Ben, Dimsdale, Jerry, Brunkhart, Mark
• Primary Examiner(s): Teska, Kevin J.
• Assistant Examiner(s): FREJD, RUSSELL WARREN
• Application Number:
  US08/638,961
• Time in Patent Office: 1,308 Days
• Field of Search: 364/560, 324/309, 344/578, 382/195
• US Class Current: 703/6
• CPC Class Codes: G01B 11/002 for measuring two or more coordinates
• CPC Class Codes: G01B 11/24 for measuring contours or curvatures
• CPC Class Codes: G01C 11/00 Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
• CPC Class Codes: G01C 15/002 Active optical surveying means optical plumbing G01C15/105
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/4817 relating to scanning
• CPC Class Codes: G01S 7/4818 using optical fibres

Abstract

An integrated system generates a model of a three-dimensional object. A scanning laser device scans the three-dimensional object and generates a point cloud. The points of the point cloud each indicate a location of a corresponding point on a surface of the object. A first model is generated, responsive to the point cloud which represents constituent geometric shapes of the object. A data file is generated, responsive to the first model, that can be inputted to a computer-aided design system.

Claims

1. An apparatus for imaging and modeling three dimensional objects comprising:

an imaging module for emitting a laser beam for scanning the surface of a remote object and recording data points corresponding to the points on the surface of the object;

a modeling module for converting the data points into a three dimensional image of the object;

a user interface for inputting commands, said commands including an identification of a region of the surface of the object and specifications for the level of resolution desired for that region; and

a processor for controlling the operation of the imaging module, the modeling module and the user interface and being arranged to generate an overall scan of the object and a scan of the selected region within the object and wherein said modeling module functions to integrate data points from the scans into a composite image.

2. An apparatus as recited in claim 1 wherein said scan of the region has a resolution different from the scan of the overall object.

3. An apparatus as recited in claim 2 wherein said scan of the region has a higher resolution than the scan of the object.

4. An apparatus as recited in claim 1 further including a camera for obtaining a video image of the object and wherein said user interface includes a display for displaying the video image of the object and wherein the user can identify the region of the object to be scanned from the video image.

5. An apparatus as recited in claim 4 wherein said three dimensional image generated by said modeling module is also displayed on said display.

6. An apparatus as recited in claim 1 wherein the three dimensional image generated by said modeling module includes geometric shapes corresponding to portions of the remote object.

7. An apparatus for imaging and modeling three dimensional objects comprising:

a video module for capturing and displaying a video image of the object;

an imaging module for emitting a laser beam for scanning the surface of a remote object and recording data points corresponding to the points on the surface of the object;

a modeling module for converting the data points into a three dimensional image of the object;

a user interface for inputting commands, said commands including an identification of a region of the surface of the object and specifications for the level of resolution desired for that region, said user interface being connected to said video module such that user can select the region to be scanned utilizing the video image of the object as a reference; and

a processor for controlling the operation of the imaging module, the modeling module and the user interface and being arranged to generate an overall scan of the object at a low resolution and a scan of the selected region within the object at a higher resolution and wherein said modeling module functions to integrate data points from the scans into a composite image.

8. An apparatus as recited in claim 7 wherein the three dimensional image generated by said modeling module includes geometric shapes corresponding to portions of the remote object.

9. A method of imaging and modeling three dimensional objects comprising the steps of:

a) scanning the surface of a remote object with a laser beam and recording data points corresponding to points on the surface of the object;

b) modeling the data points into a three dimensional image of the object;

c) scanning a region of the surface of the remote object and recording additional data points corresponding to points on the surface of the object within that region; and

d) integrating the data points from the scans into the three dimensional image.

10. A method as recited in claim 9 wherein the scanning of the region of the object performed in step c is performed at a higher resolution than the scan performed in step a.

11. A method as recited in claim 9 wherein the scanning of step a is performed before the scanning of the region in step c.

12. A method as recited in claim 9 wherein the three dimensional image generated during said modeling step includes geometric shapes corresponding to portions of the remote object.

13. A method of imaging and modeling three dimensional objects comprising the steps of:

a) capturing a video image of the object;

b) displaying the video image;

c) scanning the surface of a remote object with a laser beam and recording data points corresponding to points on the surface of the object;

d) modeling the data points into a three dimensional image of the object;

e) scanning a region of the surface of the remote object and recording additional data points corresponding to points on the surface of the object within that region, said region being selected by the user utilizing the video image of the object as a reference; and

g) integrating the data points from the scans into the three dimensional image.

14. A method as recited in claim 13 wherein the user indicates the density of the scanning operation by defining the number of samples to be taken in the region.

15. A method as recited in claim 13 wherein the user indicates the density of the scanning operation by defining the angular separation between adjacent data points.

16. A method as recited in claim 13 further including the step of generating a data file from the three dimensional image which can be inputted into a computer-aided design system.

17. A method as recited in claim 13 wherein the scanning of the region of the object performed in step e is performed at a higher resolution than the scan performed in step c.

18. A method as recited in claim 13 wherein the scanning of step c is performed before the scanning of the region in step e.

19. A method as recited in claim 13 wherein the three dimensional image generated during said modeling step includes geometric shapes corresponding to portions of the remote object.

20. A method as recited in claim 19 wherein the region selected for scanning in step e includes a portion of the object corresponding to a geometric shape and wherein the additional data points are used to refine the geometric shape during step g.