System and method for rapid shape digitizing and adaptive mesh generation

• US 6,044,170 A
• Filed: 03/21/1996
• Issued: 03/28/2000
• Est. Priority Date: 03/21/1996
• 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 A.
• Primary Examiner(s): MEHTA, BHAVESH M
• Application Number:
  US08/620,689
• Time in Patent Office: 1,468 Days
• Field of Search: 382/106, 382/154, 382/276, 382/285, 382/286, 348/42, 348/128, 356/376, 356/394, 345/425, 345/419, 250/559.23, 250/559.31
• US Class Current: 382/154
• CPC Class Codes: B33Y 50/00 Data acquisition or data processing for additive manufacturing
• CPC Class Codes: G01B 11/2518 Projection by scanning of the object
• CPC Class Codes: G01J 3/46 Measurement of colour; Colour measuring devices, e.g. colorimeters measuring colour temperature G01J5/60
• CPC Class Codes: G01J 3/51 using colour filters
• CPC Class Codes: G06F 18/00 Pattern recognition
• CPC Class Codes: G06T 2207/10024 Color image
• CPC Class Codes: G06T 7/521 from laser ranging, e.g. using interferometry; from the projection of structured light
• CPC Class Codes: G06T 9/001 Model-based coding, e.g. wire frame
• CPC Class Codes: H04N 13/15 for colour aspects of image signals
• 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 13/207 using a single 2D image sensor
• 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 13/257 Colour aspects
• CPC Class Codes: H04N 13/296 Synchronisation thereof; Control thereof
• CPC Class Codes: H04N 19/597 specially adapted for multi-view video sequence encoding
• CPC Class Codes: H04N 2013/0077 Colour aspects
• CPC Class Codes: H04N 2013/0081 : Depth or disparity estimation from stereoscopic image signals
• CPC Class Codes: H04N 2013/0096 : Synchronisation or controlling aspects

Abstract

System and method for rapid collection of data points and construction of a computer model based on a multi-resolution mesh to describe the surface contours and color of an object. The system collects data by projecting shapes of light against the object and collecting (from a position of triangulation relative to the light projector) images of the light as it reflects from the object. The system and method of the present invention are comprised of a multiple laser stripe generation process to project a number of light shapes against the object, the collection of one or more reflected laser stripes in a single image of an images collector to gather sufficient information to reproduce points on the surface of the object. The system compresses the data associated with collected points, which allows for accurate values for the contours of the object to subpixel accuracy. A multi-resolution analysis, which maintains more points to resolve fine details and removes points to further smooth regions of the objects, leads to significant data compression. The adaptive mesh, consisting of the connection of polygonal finite elements, is automatically generated by the system and is comprised to create multi-resolution meshes at different tolerances. The system and method of the present invention is portable, processes rapidly enough to take 3-D images of animate objects, can be implemented using commercially available equipment, and produces accurate models of objects.

Claims

1. An apparatus for replicating a 3-dimensional profile of an object, said apparatus comprising:

an image-detecting device capturing a sequence of images, each image being captured during a time interval, each of said captured images being contained in an image frame having a left boundary and a right boundary, said image-detecting device generating signals representative of said captured image in said corresponding image frame;

a light-source unit for projecting a stripe of light onto a plurality of locations on said object and creating a luminous contour line at each intersection of said stripe of light and said object, said light-source unit positioning said stripe of light relative to said object to create at least one luminous contour line during said time interval; and

a processor coupled to said image detecting device and said light-source unit, said processor controlling said positioning of said stripe of light by said light-source unit on said surface, said processor receiving from said image-detecting device signals representative of two-dimensional coordinate points of detected contour lines, said processor synchronizing operation of said light-source unit with operation of said image-detecting device, whereby said image-detecting device detects a first sequence of image frames in which an n^th image frame of said first sequence has images of contour lines each of which is uniquely positioned on said object between a first contour line detected in an (n-1)^th image frame of said first sequence and one of a second contour line detected in said (n-1)^th image frame which is adjacent to said first contour line detected in said (n-1)^th image frame, said left boundary and said right boundary, where n is an integer;

wherein said processor processes, for said n^th image frame, said signals representative of two-dimensional coordinate points of contour lines contained in said n^th image frame to assign an angle value for angle of approach of said stripe of light on said object for each two-dimensional coordinate point of said contour lines contained in said n^th image frame, said angle value corresponding to a range of lateral-dimension points for a given vertical-dimension point, said range of lateral-dimension points for said given vertical-dimension point being defined by lateral-dimension point of an image of a contour line detected in said (n-1)^th image frame and one of lateral-dimension point of an image of an adjacent contour line detected in said (n-1)^th image frame, said left boundary and said right boundary.

2. The apparatus according to claim 1, wherein said signals representative of said captured image in said corresponding image frame generated by said image-detecting device comprise light intensity signals for a matrix of two-dimensional coordinate points, and wherein said processor processes said signals representative of two-dimensional coordinate points of contour lines contained in said n^th image frame to generate, for each set of signals for two-dimensional coordinate points corresponding to a particular contour line, additional signals for two-dimensional coordinate points corresponding to said particular contour line, whereby a predetermined range of vertical-dimension points of said particular contour line is defined by at least a predetermined number of signals for two-dimensional coordinate points.

3. A method of replicating a 3-dimensional profile of an object using an image-detecting device for capturing a sequence of images, each image being captured during a corresponding image-capturing time interval, each of said captured images being contained in an image frame having a left boundary and a right boundary, said image-detecting device generating signals representative of said captured image in said corresponding image frame, a light-stripe projection unit for projecting a stripe of light onto said object, and a data processing apparatus coupled to said image-detecting device and said light-stripe projection unit, said data processing apparatus synchronizing operation of said light-stripe projection unit with operation of said image-detecting device, said method comprising:

sequentially projecting said stripe of light onto a plurality of locations on said object to create a corresponding first sequence of luminous contour lines at intersections of said stripe of light and said object, said light stripe being positioned relative to said object to create at least one luminous contour line during said image-capturing time interval;

capturing said first sequence of images by means of said image-detecting device, an n^th image frame of said first sequence capturing images of contour lines each of which is uniquely positioned on said object between a first contour line detected in an (n-1)^th image frame of said first sequence and one of a second contour line detected in said (n-1)^th image frame which is adjacent to said first contour line detected in said (n-1)^th image frame, said left boundary and said right boundary, where n is an integer;

transmitting from said image-detecting device to said data processing apparatus signals representative of two-dimensional coordinate points of detected contour lines in each image frame; and

for said n^th image frame, processing by means of said data processing apparatus said signals representative of two-dimensional coordinate points of contour lines contained in said n^th image frame to assign an angle value for angle of approach of said stripe of light on said object for each two-dimensional coordinate point of said contour lines contained in said n^th image frame, said angle value corresponding to a range of lateral-dimension points for a given vertical-dimension point, said range of lateral-dimension points for said given vertical-dimension point being defined by lateral-dimension point of an image of a contour line detected in said (n-1)^th image frame and one of lateral-dimension point of an image of an adjacent contour line detected in said (n-1)^th image frame, said left boundary and said right boundary.

4. The method according to claim 3, further comprising the step of:

processing said signals representative of two-dimensional coordinate points of contour lines contained in said n^th image frame to generate, for each set of signals for two-dimensional coordinate points corresponding to a particular contour line, signals for additional two-dimensional coordinate points corresponding to said particular contour line, whereby a predetermined range of vertical-dimension points of said particular contour line is defined by at least a predetermined number of signals for two-dimensional coordinate points.

5. An apparatus for replicating a 3-dimensional profile of an object, said apparatus comprising:

an image-detecting device capturing a sequence of images, each image being captured during a time interval, each of said captured images being contained in an image frame having a left boundary and a right boundary, said image-detecting device generating signals representative of said captured image in said corresponding image frame;

a light-source unit for projecting a stripe of light onto a plurality of locations on said object and creating a luminous contour line at each intersection of said stripe of light and said object, said light-source unit positioning said stripe of light relative to said object to create at least one luminous contour line during said time interval; and

a processor coupled to said image detecting device and said light-source unit, said processor controlling said positioning of said stripe of light by said light-source unit on said surface, said processor receiving from said image-detecting device signals representative of two-dimensional coordinate points of detected contour lines, said processor synchronizing operation of said light-source unit with operation of said image-detecting device, whereby said image-detecting device detects a first sequence of image frames in which an n^th image frame of said first sequence has images of contour lines each of which is uniquely positioned on said object at one of a first predetermined distance to the left of a left-most contour line recorded in an (n-1)^th image frame of said first sequence and a second predetermined distance to the right of a right-most contour line recorded in said (n-1)^th image frame, where n is an integer;

wherein said processor processes, for said n^th image frame, said signals representative of two-dimensional coordinate points of contour lines recorded in said n^th image frame to assign an angle value for angle of approach of said stripe of light on said object for each two-dimensional coordinate point of said contour lines recorded in said n^th image frame, said angle value corresponding to a range of lateral-dimension points for a given vertical-dimension point, said range of lateral-dimension points for said given vertical-dimension point being defined by one of a first pair of lateral-dimension points, said first pair comprising lateral-dimension point of said left-most contour line detected in said (n-1)^th image frame and a lateral-dimension point at a third predetermined distance to the left of said left-most contour line, and a second pair of lateral-dimension points, said second pair comprising lateral-dimension point of said right-most contour line detected in said (n-1)^th image frame and a lateral-dimension point at a fourth predetermined distance to the right of said right-most contour line.

6. The apparatus according to claim 5, wherein n is an integer, and wherein each image frame in a second sequence of image frames beginning with a predetermined image frame of said first sequence of image frames has uniform number of contour lines, and wherein angle assignment for each contour line recorded in each of said second sequence of image frames corresponds to a range of lateral-dimension points for a given vertical-dimension point, said range of lateral-dimension points for said given vertical-dimension point being defined by lateral-dimension point of an image of a contour line detected in an immediately preceding image frame of said second sequence of image frames and one of lateral-dimension point of an image of an adjacent contour line detected in said immediately preceding image frame of said second sequence of image frames, said left boundary and said right boundary.

7. The apparatus according to claim 5, wherein said signals representative of said captured image in said corresponding image frame generated by said image-detecting device comprise light intensity signals for a matrix of two-dimensional coordinate points, and wherein said processor processes said signals representative of two-dimensional coordinate points of contour lines contained in said n^th image frame to generate, for each set of signals for two-dimensional coordinate points corresponding to a particular contour line, signals for additional two-dimensional coordinate points corresponding to said particular contour line, whereby a predetermined range of vertical-dimension points of said particular contour line is defined by at least a predetermined number of signals for two-dimensional coordinate points.

8. A method of replicating a 3-dimensional profile of an object using an image-detecting device for capturing a sequence of images, each image being captured during a corresponding image-capturing time interval, each of said captured images being contained in an image frame having a left boundary and a right boundary, said image-detecting device generating signals representative of said captured image in said corresponding image frame, a light-stripe projection unit for projecting a stripe of light onto said object, and a data processing apparatus coupled to said image-detecting device and said light-stripe projection unit, said data processing apparatus synchronizing operation of said light-stripe projection unit with operation of said image-detecting device, said method comprising:

sequentially projecting said stripe of light onto a plurality of locations on said object to create a corresponding sequence of luminous contour lines at intersections of said stripe of light and said object, said light stripe being positioned relative to said object to create at least one luminous contour line during said image-capturing time interval;

capturing a first sequence of image frames by means of said image-detecting device, an n^th image frame of said first sequence capturing images of contour lines each of which is uniquely positioned on said object at one of a first predetermined distance to the left of a left-most contour line recorded in an (n-1)^th image frame of said first sequence and a second predetermined distance to the right of a right-most contour line recorded in said (n-1)^th image frame, where n is an integer;

transmitting from said image-detecting device to said data processing apparatus signals representative of two-dimensional coordinate points of recorded contour lines in each image frame; and

for said n^th image frame, processing by means of said data processing apparatus said signals representative of two-dimensional coordinate points of contour lines contained in said n^th image frame to assign an angle value for angle of approach of said stripe of light on said object for each two-dimensional coordinate point of said contour lines contained in said n^th image frame, said angle value corresponding to a range of lateral-dimension points for a given vertical-dimension point, said range of lateral-dimension points for said given vertical-dimension point being defined by one of a first pair of lateral-dimension points, said first pair comprising lateral-dimension point of said left-most contour line detected in said (n-1)^th image frame and a lateral-dimension point at a third predetermined distance to the left of said left-most contour line, and a second pair of lateral-dimension points, said second pair comprising lateral-dimension point of said right-most contour line detected in said (n-1)^th image frame and a lateral-dimension point at a fourth predetermined distance to the right of said right-most contour line.

9. The method according to claim 8, further comprising the steps of:

capturing a second sequence of image frames by means of said image-detecting device, said second sequence beginning with a predetermined image frame of said first sequence of image frames, each of said second sequence of image frames having uniform number of contour lines; and

for each of said second sequence of image frames, processing by means of said data processing apparatus said signals representative of two-dimensional coordinate points of contour lines contained in said image frame to assign an angle value for angle of approach of said stripe of light on said object for each two-dimensional coordinate point of said contour lines contained in said image frame, said angle value corresponding to a range of lateral-dimension points for a given vertical-dimension point, said range of lateral-dimension points for said given vertical-dimension point being defined by lateral-dimension point of an image of a contour line detected in an immediately preceding image frame of said second sequence of image frames and one of lateral-dimension point of an image of an adjacent contour line detected in said immediately preceding image frame of said second sequence of image frames, said left boundary and said right boundary.

10. The method according to claim 8, further comprising the step of:

processing said signals representative of two-dimensional coordinate points of contour lines contained in said n^th image frame to generate, for each set of signals for two-dimensional coordinate points corresponding to a particular contour line, signals for additional two-dimensional coordinate points corresponding to said particular contour line, whereby a predetermined range of vertical-dimension points of said particular contour line is defined by at least a predetermined number of signals for two-dimensional coordinate points.