Device for optically scanning and measuring an environment
First Claim
1. A method for optically scanning and measuring an environment by means of a hand-held scanner for producing 3D-scans, the method comprising:
- providing a hand-held scanner having at least one projector and at least one camera;
projecting at least one pattern onto an object in the environment with the at least one projector;
circumnavigating the object with the hand-held scanner and recording with the at least one camera images of the object which has the pattern projected thereon with a plurality of frames;
determining three-dimensional coordinates of points on the surface of the object from each frame in the plurality of frames; and
determining a ring closure in the plurality of frames following the circumnavigation of the object, the determination comprising the steps of;
forming a frustum for each frame;
comparing a last frustum of the last frame with a plurality of frusta to form an intersection;
selecting a frustum having the largest intersection.
1 Assignment
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Accused Products
Abstract
A method for optically scanning and measuring an environment by means of a hand-held scanner for producing 3D-scans is provided. The method including providing a hand-held scanner having at least one projector and at least one camera. At least one pattern is projected onto an object in the environment with the at least one projector. At least one camera images of the object which has the pattern projected thereon is recorded with a plurality of frames. Three-dimensional coordinates of points on the surface of the object are determined from each frame in the plurality of frames. A ring closure is determined in the plurality of frames. The determination comprising the steps of forming a frustum for each frame, comparing a last frustum of the last frame with a plurality of frusta to form an intersection, and selecting a frustum having the largest intersection.
30 Citations
14 Claims
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1. A method for optically scanning and measuring an environment by means of a hand-held scanner for producing 3D-scans, the method comprising:
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providing a hand-held scanner having at least one projector and at least one camera; projecting at least one pattern onto an object in the environment with the at least one projector; circumnavigating the object with the hand-held scanner and recording with the at least one camera images of the object which has the pattern projected thereon with a plurality of frames; determining three-dimensional coordinates of points on the surface of the object from each frame in the plurality of frames; and determining a ring closure in the plurality of frames following the circumnavigation of the object, the determination comprising the steps of; forming a frustum for each frame; comparing a last frustum of the last frame with a plurality of frusta to form an intersection; selecting a frustum having the largest intersection. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for optically scanning and measuring an environment by means of a hand-held scanner for producing 3D-scans, the method comprising:
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providing a hand-held scanner having at least one projector and at least one camera; projecting at least one pattern onto an object in the environment with the at least one projector; recording with the at least one camera images of the object which has the pattern projected thereon with a plurality of frames; determining three-dimensional coordinates of points on the surface of the object from each frame in the plurality of frames; and determining a ring closure in the plurality of frames, the determination comprising the steps of; forming a frustum for each frame; comparing a last frustum of the last frame with a plurality of frusta to form an intersection; and selecting a frustum having the largest intersection; wherein; each of the images includes geometric features of the object; and the step of selecting the frustum with the largest intersection includes comparing geometric features in the last frustum of the last frame with the selected frustum; and further comprising; comparing the geometric features in the last frustum of the last frame with the selected frustum; identifying coinciding geometric features in the last frustum of the last frame with the selected frustum; determining the ring closure based at least in part on the degree of correspondence between geometric features in the last frustum of the last frame with the selected frustum; determining an error of measurement from the correspondence of the geometric features in the last frustum of the last frame with the selected frustum; and correcting the error of measurement in the last frustum of the last frame with the selected frustum to a predetermined penetration depth.
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14. A method for optically scanning and measuring an environment by means of a hand-held scanner for producing 3D-scans, the method comprising:
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providing a hand-held scanner having at least one projector and at least one camera; projecting at least one pattern onto an object in the environment with the at least one projector; recording with the at least one camera images of the object which has the pattern projected thereon with a plurality of frames; determining three-dimensional coordinates of points on the surface of the object from each frame in the plurality of frames; and determining a ring closure in the plurality of frames, the determination comprising the steps of; forming a frustum for each frame; comparing a last frustum of the last frame with a plurality of frusta to form an intersection; selecting a frustum having the largest intersection; and further comprising; performing an averaging via adjacent frames wherein the averaging includes a first averaging step wherein the frames are divided into groups and are saved within each group as a vector in a common two-dimensional data structure.
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Specification