Transprojection of geometry data

• US 8,792,709 B2
• Filed: 06/21/2012
• Issued: 07/29/2014
• Est. Priority Date: 01/14/2004
• Status: Active Grant

• Current Assignee: Hexagon Metrology Incorporated (Hexagon AB)
• Original Assignee: Hexagon Metrology Incorporated (Hexagon AB)
• Inventors: Pulla, Sandeep, Eaton, Homer
• Primary Examiner(s): Bella, Matthew
• Assistant Examiner(s): TORRES, JOSE
• Application Number:
  US13/529,945
• Publication Number:
  US 20130063563A1
• Time in Patent Office: 768 Days
• Field of Search: 382/152, 382/153, 382/154, 348/46, 348/135, 345/419, 356/12, 356/138, 335/03
• US Class Current: 382/154
• CPC Class Codes: G01B 21/02 for measuring length, width, or thickness G01B21/10 takes precedence
• CPC Class Codes: G01B 21/04 by measuring coordinates of points
• CPC Class Codes: G01B 9/02023 Indirect probing of object, e.g. via influence on cavity or fibre
• CPC Class Codes: G01B 9/02029 Combination with non-interferometric systems, i.e. for measuring the object
• CPC Class Codes: G01B 9/0203 With imaging systems
• CPC Class Codes: G01B 9/02031 With non-optical systems, e.g. tactile
• CPC Class Codes: G01B 9/0205 of probe head
• CPC Class Codes: G06T 11/60 Editing figures and text; Combining figures or text
• CPC Class Codes: G06T 2207/20221 Image fusion; Image merging
• CPC Class Codes: G06T 7/73 using feature-based methods

Abstract

Systems and methods for transprojection of geometry data acquired by a coordinate measuring machine (CMM). The CMM acquires geometry data corresponding to 3D coordinate measurements collected by a measuring probe that are transformed into scaled 2D data that is transprojected upon various digital object image views captured by a camera. The transprojection process can utilize stored image and coordinate information or perform live transprojection viewing capabilities in both still image and video modes.

Claims

1. A method for displaying geometry and imaging information using a coordinate measuring machine, the method comprising:

acquiring at least one first image of at least a portion of a target area with an imaging device mounted on the coordinate measuring machine;

mapping points of the first image to corresponding points in the target area using a touch probe mounted on the coordinate measuring machine such that the probe is movable with the imaging device; and

processing the at least one first image and the mapped points of the first image to determine one or more calibration parameters that relates a target coordinate system associated with the target area to a first image coordinate system associated with the first image;

wherein the one or more calibration parameters are identified by;

designating at least one calibration target having a known positional relationship to the target area, wherein the at least one first image contains a representation of the at least one calibration target;

applying a target detection operation to discern the representation of the at least one calibration target within the at least one first image based on at least one target characteristic selected from the group consisting of;

shape, size, coloration, location, luminosity, brightness, and contrast, the at least one target characteristic being evaluated for at least one selected seed pixel of the first image and a search is performed to identify other pixels associated with the calibration target;

associating the target'"'"'s known positional relationship to the target area with the target coordinate system; and

wherein the one or more calibration parameters can be applied to other points on an object measured using the touch probe mounted on the coordinate measuring machine, such that said points can be mapped to a second image distinct from the first image.

2. The method for displaying geometry and imaging information of claim 1, wherein the second image can have a two dimensional coordinate system and the target coordinate system is three dimensional and the at least one calibration parameter relates three dimensional points of the target coordinate system to two dimensional points of the second image coordinate system.

3. The method for displaying geometry and imaging information of claim 1, wherein the second image can have a three dimensional coordinate system and the target coordinate system is three dimensional and the at least one calibration parameter relates three dimensional points of the target coordinate system to three dimensional points of the second image coordinate system.

4. The method for displaying geometry and imaging information of claim 1, wherein the pixel identification search comprises a recursive search performed in the vicinity of the at least one selected seed pixel.

5. The method for displaying geometry and imaging information of claim 1, wherein the coordinate measuring machine is an articulated arm coordinate measuring machine and the geometry information is acquired using the probe, wherein the probe is affixed to the articulated arm coordinate measuring machine, the articulated arm coordinate measuring machine being capable of being positioned about the target area.

6. The method for displaying geometry and imaging information of claim 1, wherein the probe additionally comprises a coordinate acquisition device selected from the group consisting of:

a remote-scanning probe, a laser- scanning probe, and a probe that uses an infrared beam for positioning.

7. The method for displaying geometry and imaging information of claim 1, wherein the first image is acquired using an imaging member comprising a camera capable of generating still images or video images.

8. The method for displaying geometry and imaging information of claim 1, wherein the first image is acquired using an imaging device selected from the group consisting of:

X-ray imaging devices, ultrasonic imaging devices, laser imaging devices, infrared imaging devices, optical imaging devices, and digital imaging devices.

9. The method for displaying geometry and imaging information of claim 1, wherein the imaging device is mounted on the coordinate measuring machine near the probe.

10. The method for displaying geometry and imaging information of claim 1, wherein the probe comprises a coordinate acquisition device selected from the group consisting of:

a contact-sensitive probe, a probe that uses a strain gauge for contact detection, a probe that uses a pressure sensor for contact detection, and a probe configured to be electrostatically-responsive.

11. A method for displaying geometry and imaging information using a coordinate measuring machine, the method comprising:

acquiring at least one first image of at least a portion of a target area with an imaging device mounted on the coordinate measuring machine;

mapping points of the first image to corresponding points in the target area using a probe mounted on the coordinate measuring machine such that the probe is movable with the imaging device; and

processing the at least one first image and the mapped points of the first image to determine one or more calibration parameters that relates a target coordinate system associated with the target area to a first image coordinate system associated with the first image,

wherein, the one or more calibration parameters are identified by;

designating at least one calibration target having a known positional relationship to the target area, wherein the at least one first image contains a representation of the at least one calibration target;

applying a target detection operation to discern the representation of the at least one calibration target within the at least one first image based on at least one target characteristic selected from the group consisting of;

shape, size, coloration, location, luminosity, brightness, and contrast, the at least one target characteristic being evaluated for at least one selected seed pixel of the first image and a search being performed to identify other pixels associated with the calibration target; and

associating the target'"'"'s known positional relationship to the target area with the target coordinate system; and

wherein the one or more calibration parameters can be applied to points on an object measured using a probe mounted on the coordinate measuring machine, such that said points can be mapped to a second image distinct from the first image.

12. The method for displaying geometry and imaging information of claim 11 wherein, the pixel identification search comprises a recursive search performed in the vicinity of the at least one selected seed pixel.

13. The method for displaying geometry and imaging information of claim 11, wherein the second image can have a two dimensional coordinate system and the target coordinate system is three dimensional and the at least one calibration parameter relates three dimensional points of the target coordinate system to two dimensional points of the second image coordinate system.

14. The method for displaying geometry and imaging information of claim 11, wherein the second image can have a three dimensional coordinate system and the target coordinate system is three dimensional and the at least one calibration parameter relates three dimensional points of the target coordinate system to three dimensional points of the second image coordinate system.

15. The method for displaying geometry and imaging information of claim 11, wherein the imaging device is mounted on the coordinate measuring machine near the probe.

16. The method for displaying geometry and imaging information of claim 11, wherein the coordinate measuring machine is an articulated arm coordinate measuring machine and the geometry information is acquired using the probe, wherein the probe is affixed to the articulated arm coordinate measuring machine, the articulated arm coordinate measuring machine being capable of being positioned about the target area.

17. The method for displaying geometry and imaging information of claim 11, wherein the probe additionally comprises a coordinate acquisition device selected from the group consisting of:

a remote-scanning probe, a laser- scanning probe, and a probe that uses an infrared beam for positioning.

18. The method for displaying geometry and imaging information of claim 11, wherein the first image is acquired using an imaging member comprising a camera capable of generating still images or video images.

19. The method for displaying geometry and imaging information of claim 11, wherein the first image is acquired using an imaging device selected from the group consisting of:

X-ray imaging devices, ultrasonic imaging devices, laser imaging devices, infrared imaging devices, optical imaging devices, and digital imaging devices.