Method and apparatus for measuring three-dimensional shape of object

• US 6,341,016 B1
• Filed: 08/04/2000
• Issued: 01/22/2002
• Est. Priority Date: 08/06/1999
• Status: Expired due to Fees

• Current Assignee: Michael Malione
• Original Assignee: Michael Malione
• Inventors: Malione, Michael
• Primary Examiner(s): Pham, Hoa Q.
• Application Number:
  US09/633,522
• Time in Patent Office: 536 Days
• Field of Search: 356/601, 356/602, 356/603, 356/606, 356/607, 356/608, 356/614, 356/622, 356/623, 356/609, 354/76, 354/77, 354/113, 250/559.22, 250/559.23, 348/42, 348/47, 345/426, 345/427, 345/425, 345/419
• US Class Current: 356/603
• CPC Class Codes: G01B 11/2509 Color coding
• CPC Class Codes: G01B 11/2536 using several gratings with variable grating pitch, projected on the object with the same angle of incidence
• CPC Class Codes: G06T 7/521 from laser ranging, e.g. using interferometry; from the projection of structured light

Abstract

A method for determining the three-dimensional characteristics of an object, comprising the steps of illuminating at least a surface portion of the object with radiant energy, the radiant energy being directed through a color pattern to provide a first color image, the color pattern including a plurality of substantially vertical color strips, each of the color strips having varying hue; obtaining at least one first two-dimensional image of the illuminated surface portion of the object at a first position, the illuminated surface portion including the first color image; illuminating the surface portion of the object with a second light, the second light comprising substantially white light, the second light providing a second light image; obtaining at least one second two-dimensional image of the surface portion of the object illuminated by the second light, the two-dimensional image being obtained at the first position; determining the originated hue in the color pattern at a plurality of points in the first color image; determining a tag for each of the points in the color image; determining the position of each of the points on a respective one of the tags, and triangulating the point positions to generate a three-dimensional model of the surface portion of said object.

Claims

1. A method for determining the three-dimensional characteristics of an object, comprising the steps of:

illuminating at least a surface portion of said object with radiant energy, said radiant energy being directed through a color pattern to provide a first color image, said color pattern including a plurality of substantially vertical color strips, each of said color strips having varying hue;

obtaining at least one first two-dimensional image of said illuminated surface portion of said object at a first position, said illuminated surface portion including said first color image;

illuminating said surface portion of said object with a second light, said second light comprising substantially white light, said second light providing a second light image;

obtaining at least one second two-dimensional image of said surface portion of said object illuminated by said second light, said two-dimensional image being obtained at said first position;

determining the originated hue in said color pattern at a plurality of points in said first color image;

determining a tag for each of said points in said color image;

determining the position of each of said points on a respective one of said tags, and

triangulating said point positions to generate a three-dimensional model of said surface portion of said object.

2. The method of claim 1, wherein each of said vertical color strips comprises a plurality of different colors.

3. The method of claim 1, wherein said varying hue varies substantially linearly.

4. The method of claim 3, wherein said varying hue cycles substantially linearly.

5. The method of claim 1, wherein said first and second images are obtained with a digital camera.

6. The method of claim 1, wherein said second light comprises substantially infrared light.

7. The method of claim 1, wherein said second light is multi-spectral.

8. The method of claim 1, including the step of re-mapping said second light image onto said three-dimensional model.

9. An apparatus for determining the three-dimensional characteristics of an object;

comprising;

at least one projector means for illuminating at least a surface portion of said object with radiant energy to provide a first surface image;

a first color pattern, said first color pattern including a plurality of substantially vertical strips, each of said color strips having varying hue;

at least one light projection means for illuminating said surface portion of said object to provide a second surface image;

at least one two-dimensional image sensor means for obtaining said first and second surface images;

means for determining the originated hue in said color pattern at a plurality of points in said first surface image;

means for determining a tag for each of said points in said first surface image;

means for determining the position of each of said points on a respective one of said tags; and

means for triangulating said point positions to generate a three-dimensional model of said surface position of said object.