Sensor positioning for 3D scanning
First Claim
1. A method for obtaining a refined pose for a 3D sensor for online 3D modeling of a surface geometry of a surface of an object, said pose encompassing six degrees of freedom (DOF) including three translation parameters and three orientation parameters, the method comprising:
- providing said 3D sensor, said 3D sensor being adapted to capture 3D point measurements of said surface of said object from a viewpoint;
providing a geometry model of at least part of said surface;
providing at least one target on said object;
providing a target model for said object, said target model including previously observed targets among said at least one target provided on said object;
observing a portion of said surface of said object with said 3D sensor including observing less than three currently observed targets and capturing currently captured 3D point measurements;
matching said currently observed targets with a corresponding matched target of said previously observed targets using said target model to obtain partial positioning constraints, said partial positioning constraints defining less than said six degrees of freedom and defining said three translation parameters;
generating at least one missing initialization parameter from said previously observed targets, each said at least one missing initialization parameter being one of said three orientation parameters;
obtaining an initialization pose from said partial positioning constraints and said missing initialization parameter, said initialization pose encompassing said six degrees of freedom;
finding a best fit arrangement of said currently captured 3D point measurements in said geometry model using said initialization pose, said finding said best fit arrangement being constrained for at least said three translation parameters by said partial positioning constraints;
generating said refined pose for said 3D sensor using said best fit arrangement.
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Abstract
A method for obtaining a refined pose for a 3D sensor for online 3D modeling of a surface geometry of an object, the pose encompassing six degrees of freedom (DOF) including three translation parameters and three orientation parameters, the method comprising: providing the 3D sensor, the 3D sensor being adapted to capture 3D point measurements of the surface of the object from a viewpoint; providing a geometry model of at least part of the surface; observing a portion of the surface of the object with the 3D sensor; measuring an initialization pose for the 3D sensor by at least one of positioning device pose measurement, predicted pose tracking and target observation; finding a best fit arrangement of the 3D point measurements in the geometry model using the initialization pose; generating the refined pose for the 3D sensor using the best fit arrangement.
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Citations
10 Claims
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1. A method for obtaining a refined pose for a 3D sensor for online 3D modeling of a surface geometry of a surface of an object, said pose encompassing six degrees of freedom (DOF) including three translation parameters and three orientation parameters, the method comprising:
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providing said 3D sensor, said 3D sensor being adapted to capture 3D point measurements of said surface of said object from a viewpoint; providing a geometry model of at least part of said surface; providing at least one target on said object; providing a target model for said object, said target model including previously observed targets among said at least one target provided on said object; observing a portion of said surface of said object with said 3D sensor including observing less than three currently observed targets and capturing currently captured 3D point measurements; matching said currently observed targets with a corresponding matched target of said previously observed targets using said target model to obtain partial positioning constraints, said partial positioning constraints defining less than said six degrees of freedom and defining said three translation parameters; generating at least one missing initialization parameter from said previously observed targets, each said at least one missing initialization parameter being one of said three orientation parameters; obtaining an initialization pose from said partial positioning constraints and said missing initialization parameter, said initialization pose encompassing said six degrees of freedom; finding a best fit arrangement of said currently captured 3D point measurements in said geometry model using said initialization pose, said finding said best fit arrangement being constrained for at least said three translation parameters by said partial positioning constraints; generating said refined pose for said 3D sensor using said best fit arrangement. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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Specification