Method and apparatus for three-dimensional optical scanning of interior surfaces

• US 7,625,335 B2
• Filed: 08/24/2001
• Issued: 12/01/2009
• Est. Priority Date: 08/25/2000
• Status: Expired due to Term

• Current Assignee: 3SHAPE APS
• Original Assignee: 3SHAPE APS
• Inventors: Vasiljev Barthe, Christophe, Fisker, Rune, Deichmann, Nikolaj, Clausen, Tais
• Primary Examiner(s): Leubecker; John P
• Assistant Examiner(s): SMITH, PHILIP ROBERT
• Application Number:
  US10/344,703
• Publication Number:
  US 20030164952A1
• Time in Patent Office: 3,021 Days
• Field of Search: 600/103, 600/111, 600117-118, 600/129, 600/166, 600/170, 600/173, 600/407, 600/476, 3562411-2415
• US Class Current: 600/117
• CPC Class Codes: A61B 1/05 characterised by the image sensor, e.g. camera, being in the distal end portion
• CPC Class Codes: A61B 1/0605 for spatially modulated illumination
• CPC Class Codes: A61B 1/227 for ears, i.e. otoscopes
• CPC Class Codes: A61B 5/1076 for measuring dimensions inside body cavities, e.g. using catheters A61B3/1005 takes precedence
• CPC Class Codes: B33Y 50/00 Data acquisition or data processing for additive manufacturing
• CPC Class Codes: B33Y 80/00 Products made by additive manufacturing
• CPC Class Codes: G01B 11/24 for measuring contours or curvatures
• CPC Class Codes: G01B 11/25 by projecting a pattern, e.g. one or more lines, moiré fringes on the object G01B11/255 takes precedence ; image analysis for depth or shape recovery G06T7/50
• CPC Class Codes: G01B 3/30 Bars, blocks, or strips in which the distance between a pair of faces is fixed, although it may be preadjustable, e.g. end measure, feeler strip

Abstract

A scanner for three-dimensional scanning of interior surfaces or cavities of limited dimensions or with restricted accessibility. The scanner includes a probe having an axis and at least one light source and one camera adapted to perform a scan 360° around the axis of the probe. High precision three-dimensional replicas of real objects may be created using 3-D scan data obtainable with the scanner.

Claims

1. A scanner for three-dimensional scanning of interior surfaces to determine a shape thereof comprising:

at least one light source adapted to create and project structured light producing a pattern on the interior surface of an object;

at least one camera adapted to record 2-D images of the pattern;

a data processor adapted to convert information from said 2-D images into 3-D real world coordinates corresponding with a shape of said interior surface;

at least one position sensor having an emitter part and a receiver part, one of said emitter and receiver parts being provided on the scanner and the other of said emitter and receiver parts being provided on the object to be scanned, said position sensor being adapted to provide the relative position and orientation of the scanner relative to said surface being scanned to enable combining of the individual scans when the scanner and the object are moved relative to one another during successive scans;

the point of emission of light as well as the point of accumulation of reflected light for the camera being located on a probe having an axis;

the at least one light source and the at least one camera being adapted to perform a scan 360°

around the axis without rotation of said probe; and

the probe being adapted to be entered into a cavity.

2. The scanner according to claim 1 wherein the probe is rigid.

3. The scanner according to claim 1, wherein the probe is flexible.

4. The scanner according to claim 1, wherein the probe has a diameter or cross section of less than 30 mm.

5. The scanner according to claim 1, wherein the probe has a diameter or cross section of less than 20 mm.

6. The scanner according to claim 1, wherein the probe has a length of up to 500 mm.

7. The scanner according to claim 1, wherein the probe is made from a material selected from the group consisting of an alloy, aluminum, kevlar, a polymer, ceramics, and carbon.

8. The scanner according to claim 1, wherein the probe is made from a material selected from the group consisting of polymer.

9. The scanner according to claim 1, wherein the pattern of structured light comprises at least one ray of light forming at least one point on the surface.

10. The scanner according to claim 9, wherein the pattern includes at least 10 rays.

11. The scanner according to claim 1, wherein the at least one light source is adapted to create and project rectangular shaped rays forming a distorted checkerboard pattern on the interior surface.

12. The scanner according to claim 1, wherein the pattern of structured light includes at least one plane of light forming at least one contour on the surface.

13. The scanner according to claim 1, wherein the pattern of structured light comprises at least one cone of light.

14. The scanner according to claim 1, wherein the at least one light source includes a laser, variable output-powered laser, laser emitting diode (LED), a halogen spot or another spotlight.

15. The scanner according to claim 1, wherein the light source has a cross section perpendicular to the direction of emitted light of less than 5 mm.

16. The scanner according to claim 1, including at least two light sources.

17. The scanner according to claim 1, including at least five light sources.

18. The scanner according to claim 1, whereby the light source intensity is varied depending on the surface and/or colour of the object to be scanned.

19. The scanner according to claim 18, whereby the light source intensity is determined automatically using automatic light source intensity calibration.

20. The scanner according to claim 1, wherein the at least one light source is arranged such that structured light is emitted in different directions covering 360°

around the probe.

21. The scanner according to claim 1, wherein the at least one camera comprises a sensor array.

22. The scanner according to claim 1, wherein the at least one camera comprises a CCD.

23. The scanner according to claim 1, wherein the at least one camera comprises a CMOS.

24. The scanner according to claim 1, wherein the light detecting component of the camera has a cross section in a direction perpendicular to the direction of incident light of less than 10 mm.

25. The scanner according to claim 1, wherein the camera comprises an array of at least 125*125pixels.

26. The scanner according to claim 25, wherein a cross section of a pixel is less than 100 μ

m.

27. The scanner according to claim 1, wherein the at least one camera is colour sensitive.

28. The scanner according to claim 1, further comprising a filter in the light path between the object surface and the camera being adapted to filter light from other light sources than the individual light sources of the scanner.

29. The scanner according to claim 1, including at least two cameras.

30. The scanner according to claim 1 further comprising a plurality of light sources and a plurality of cameras adapted to perform said scan 360°

around the axis without rotation of said probe.

31. The scanner according to claim 1, wherein said position sensor includes a receiver located on said scanner and a transmitter located on the object being scanned.

32. A method for scanning interior surfaces to determine a shape thereof comprising the steps of;

i) entering a probe shaped scanner having an axis into a cavity;

ii) creating and projecting structured light from a first point on the probe producing a pattern on an interior surface of an object and, at a second point of the probe, recording 2D images of the pattern reflected from the interior surface to perform a scan 360°

around the axis of the probe without rotation of said probe;

iii) determining 2D coordinates of the 2D images of the pattern;

iv) determining the relative position and orientation of the scanner relative to said surface being scanned for enabling combining of the individual scans when the scanner and the object are moved relative to one another during successive scans with at least one position sensor having a receiver part and an emitter part, one of said receiver and emitter parts being provided on the scanner and the other of said receiver and emitter parts being provided on the object to be scanned; and

v) converting a series of said 2D images into 3D real world coordinates of the interior surface corresponding with the shape thereof.

33. The method according to claim 32, wherein step ii) is performed using

at least one light source and at least one camera that are adapted to perform the scan 360°

around the axis.

34. The method according to claim 32, further comprising, before steps i) through v), calibrating the scanner by adjusting calibration parameters thereof, said step of calibrating including:

scanning a three dimensional calibration object having at least one plane of symmetry and whereby at least part of at least one 3D object feature curve of each symmetric part is a continuous curve;

determining image feature coordinates being representations of at least one pair of 3D object feature curves for each of a discrete number of values of an angle of rotation and/or a translation, a pair consisting of one 3D object feature curve in each symmetric part of the calibration object; and

adjusting the calibration parameters based on the image feature coordinates to fit the calibration object.

35. The method according to claim 34, whereby a light pattern is projected onto the calibration object producing 2D image feature curves.

36. The method according to claim 35, whereby the 2D image feature curves are determined using the Hough transformation.

37. A method for 3D modelling and production including obtaining 3D real world coordinates of an interior surface of a cavity to determine a shape thereof comprising the steps of:

i) entering a probe shaped scanner having an axis into a cavity;

ii) creating and projecting structured light from a first point on the probe producing a pattern on an interior surface of an object and, at a second point of the probe, recording 2D images of the pattern reflected from the interior surface to perform a plurality of successive scans 360°

around the axis of the probe without rotation of said probe;

iii) determining 2D coordinates of the images of the pattern;

iv) determining the relative position and orientation of the scanner relative to said surface during said plurality of successive scans with at least one position sensor having a receiver part and an emitter part, one of said receiver and emitter parts being provided on the scanner and the other of said receiver and emitter parts being provided on the object to be scanned;

v) converting a series of said 2D images into a plurality of 3D real world coordinates of the interior surface;

vi) combining said plurality of 3D coordinates from images taken during said successive scans with respect to relative position of said scans as determined by said position sensor to create a 3D model corresponding with the shape of said cavity; and

vii) creating a piece adapted to fit into the cavity.

38. The method according to claim 37, wherein production includes at least one of milling, 3-dimensional printing, stereo lithography, selective laser sintering, laminated object modelling, inkjet modelling, fused deposition modelling, and nano-printing.

39. The method according to claim 37, wherein 3D modelling includes computer assisted modelling of the scan data prior to production.

40. The method according to claim 37, wherein said cavity is an ear canal and step vii) includes producing a hearing aid shell adapted to house a device.

41. The method according to claim 40, wherein step vi) includes superimposing multiple scans of a same portion of said ear canal using data from said position sensor.

42. The method according to claim 41, wherein step ii) includes performing said plurality of successive scans while a size of said ear canal is varied by physical movements of the person whose ear canal is being scanned, said physical movements including at least one yawning, swallowing, eating and drinking.