Eliminating routine alignment calibrations in perspective dimensional measurements

• US 6,121,999 A
• Filed: 06/09/1997
• Issued: 09/19/2000
• Est. Priority Date: 06/09/1997
• Status: Expired due to Fees

• Current Assignee: David F. Schaack
• Original Assignee: David F. Schaack
• Inventors: Schaack, David F.
• Primary Examiner(s): Le, Vu
• Assistant Examiner(s): VO, TUNG T
• Application Number:
  US08/871,289
• Time in Patent Office: 1,198 Days
• Field of Search: 348/45, 348/46, 348/47, 348/48, 348/49, 348/61, 348/62, 348/65, 348/348, 348/357, 348/82, 348/83, 348/84, 348/85, 348/135, 348/142, 600/167, 600/117, 385/117, 356/241, 359/691, 128/4, 128/107, 358/98, 702/127, 702/155, 702/156, 702/159, 702/151-153
• US Class Current: 348/45
• CPC Class Codes: A61B 1/00147 Holding or positioning arrangements
• CPC Class Codes: A61B 1/00183 for variable viewing angles
• CPC Class Codes: A61B 1/05 characterised by the image sensor, e.g. camera, being in the distal end portion
• CPC Class Codes: A61B 5/065 Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
• CPC Class Codes: A61B 5/1076 for measuring dimensions inside body cavities, e.g. using catheters A61B3/1005 takes precedence
• CPC Class Codes: G01B 11/02 for measuring length, width or thickness G01B11/08 takes precedence
• CPC Class Codes: G02B 23/24 Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
• CPC Class Codes: G02B 23/2423 of the distal end

Abstract

An improved system of perspective dimensional measurement uses complementary reference surfaces on a camera and on a camera translating unit to provide a repeatable relative orientation between the perspective displacement and the camera'"'"'s measurement coordinate system while still allowing a rotational and an optional translational degree of freedom for alignment of the camera with an object of interest. In one set of embodiments the rotational axis is accurately aligned with the translation axis. In a second set of embodiments, the geometry of the system is determined in an expanded alignment calibration procedure, the rotation of the camera about the rotational axis is measured, and these additional data are incorporated into the perspective measurement procedure.

Claims

1. An apparatus for determining the locations of points on an object in three dimensions, said apparatus including a camera having an optical axis, and a support means, said support means providing a substantially straight axis of translation whereby said camera can be moved from a first viewing position to a second viewing position, said camera forming images of said points in an image plane, said optical axis being so arranged with respect to said axis of translation that there are created substantial shifts of said images in said image plane when said camera is moved between said first and second viewing positions, said apparatus also including image measurement means for measuring said shifts of said images and computing means which is adapted to compute said locations of said points using said shifts said images, wherein said support means also provides an axis of rotation, whereby said camera can also be rotated about said axis of rotation for alignment with objects of interest, said axis of rotation having an orientation with respect to said axis of translation, wherein the improvement comprises:

(a) means for measurement of an angle of rotation of said camera about said axis of rotation; and

(b) means for incorporating said measurement of said angle of rotation into said determination of said locations of said points.

2. The apparatus of claim 1 wherein said means for measurement of an angle of rotation has a first portion which rotates with said camera and also has a second portion which is fixed to said support means.

3. The apparatus of claim 2 wherein said camera is a substantially side-looking rigid borescope.

4. The apparatus of claim 3 wherein said support means comprises a borescope positioning assembly and wherein said axis of rotation is defined by the engagement of a first reference surface attached to said borescope with a second reference surface attached to said borescope positioning assembly.

5. The apparatus of claim 4 wherein said first reference surface is a cylinder and said second reference surface is a V groove.

6. The apparatus of claim 5 wherein said borescope has a lens tube envelope and wherein said lens tube envelope has an outer surface and wherein said cylindrical first reference surface is said outer surface of said lens tube envelope.

7. The apparatus of claim 5 wherein said cylindrical first reference surface is a calibration sleeve attached to said borescope.

8. The apparatus of claim 1 wherein said means for incorporating said measurement of said angle of rotation into said determination of said locations includes calibration means for determining said orientation of said axis of rotation with respect to said axis of translation.

9. An apparatus for determining three-dimensional distances between points on an object, the determination of said distances having a maximum allowable error, said apparatus including a substantially side-looking rigid borescope, said borescope having an optical system containing a nodal point, said nodal point being located at a range from said object, wherein said borescope can be moved along a substantially straight translational axis from a first viewing position to a second viewing position, and wherein said borescope can also be rotated about a rotational axis for alignment with objects of interest, wherein the improvement comprises the arrangement of said rotational axis to be aligned parallel to said translational axis, the alignment having an allowable error, as expressed in radians, smaller than said allowable error in said determination of said three-dimensional distances, as expressed as a fraction of the range between said object and said nodal point.

10. The apparatus of claim 9 wherein said borescope is moved along said translational axis by a borescope positioning assembly and wherein said rotational axis is defined by the engagement of a first reference surface attached to said borescope with a second reference surface attached to said borescope positioning assembly.

11. The apparatus of claim 9 wherein said first reference surface is a cylinder and said second reference surface is a V groove.

12. The apparatus of claim 11 wherein said borescope has a lens tube envelope and wherein said lens tube envelope has an outer surface and wherein said cylindrical first reference surface is said outer surface of said lens tube envelope.

13. The apparatus of claim 11 wherein said cylindrical first reference surface is a calibration sleeve attached to said borescope.

14. A method of calibrating a perspective measurement system, wherein said system includes a camera which can be translated along a translational axis between a first viewing position and a second viewing position, thereby creating a perspective displacement, and wherein said camera can also be rotated about a rotational axis, and wherein an angle of rotation about said rotational axis is measured, and wherein said camera also includes a visual coordinate system, comprising the steps of:

(a) performing a first alignment calibration procedure with said camera rotated to a first angle of rotation, thereby determining the orientation of said perspective displacement in a first temporary visual coordinate system;

(b) performing a second alignment calibration procedure with said camera rotated to a second angle of rotation, thereby determining the orientation of said perspective displacement in a second temporary visual coordinate system; and

(c) using said orientations of said perspective displacement in said first and second temporary visual coordinate systems, together with said first and second angles of rotation, to determine two angles of alignment of said rotational axis with respect to said translational axis and two angles of alignment of said visual coordinate system with respect to said rotational axis.

15. The method of claim 14 in which the angular difference between said first angle of rotation and said second angle of rotation is approximately 180 degrees.