Method and system for obtaining high resolution 3-D images of moving objects by use of sensor fusion
First Claim
Patent Images
1. A scanner, comprising:
- a passive triangulation sensor; and
an active triangulation sensor coupled to the passive triangulation sensor in synchronicity to obtain a high resolution 3D surface model from an object undergoing arbitrary motion during image acquisition, wherein the active triangulation sensor and the passive triangulation sensor run at a predetermined frame rate and wherein corresponding image frames captured by the active triangulation sensor and the passive triangulation sensor are synchronously captured at approximately the same time.
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Abstract
A system to scan 3D images applies sensor fusion of a passive triangulation sensor in combination with an active triangulation sensor to obtain high resolution 3D surface models from objects undergoing arbitrary motion during the data acquisition time.
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Citations
18 Claims
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1. A scanner, comprising:
- a passive triangulation sensor; and
an active triangulation sensor coupled to the passive triangulation sensor in synchronicity to obtain a high resolution 3D surface model from an object undergoing arbitrary motion during image acquisition, wherein the active triangulation sensor and the passive triangulation sensor run at a predetermined frame rate and wherein corresponding image frames captured by the active triangulation sensor and the passive triangulation sensor are synchronously captured at approximately the same time. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
- a passive triangulation sensor; and
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10. A method for forming 3-D surface models of an object with arbitrary motion relative to an imaging system, comprising:
- capturing images of an object having a sparse set of arbitrarily distributed fiducials on its surface with a passive triangulation sensor;
acquiring surface range data using an active triangulation sensor in synchronicity with the passive triangulation sensor, wherein the active triangulation sensor and the passive triangulation sensor run at a predetermined frame rate and wherein corresponding image frames captured by the active triangulation sensor and the passive triangulation sensor are synchronously captured at approximately the same time; and
using frame-to-frame relative movement of the imaged fiducials from the passive triangulation sensor to determine a coordinate transformation that aligns the active triangulation sensor surface range data with a coordinate reference frame fixed to the object. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
- capturing images of an object having a sparse set of arbitrarily distributed fiducials on its surface with a passive triangulation sensor;
Specification