Dual-resolution 3D scanner

• US 9,625,258 B2
• Filed: 06/06/2012
• Issued: 04/18/2017
• Est. Priority Date: 06/06/2011
• Status: Active Grant

• Current Assignee: 3shape A/S
• Original Assignee: 3shape A/S
• Inventors: Deichmann, Nikolaj, Van Der Poel, Mike, Hollenbeck, Karl-Josef, Fisker, Rune
• Primary Examiner(s): Dulaney, Kathleen Y
• Application Number:
  US14/124,175
• Publication Number:
  US 20140172363A1
• Time in Patent Office: 1,777 Days
• Field of Search: 382154, 382284
• CPC Class Codes: G01B 11/24 for measuring contours or curvatures
• CPC Class Codes: G01B 11/245 using a plurality of fixed, simultaneously operating transducers G01B11/2408 - G01B11/2425, G01B11/255 take precedence
• 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 11/2513 with several lines being projected in more than one direction, e.g. grids, patterns
• CPC Class Codes: G01B 11/2518 Projection by scanning of the object
• CPC Class Codes: G01B 21/18 for measuring depth
• CPC Class Codes: G01S 17/894 3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
• CPC Class Codes: G06T 17/00 Three dimensional [3D] modelling, e.g. data description of 3D objects
• CPC Class Codes: H04N 1/00827 Arrangements for reading an image from an unusual original, e.g. 3-dimensional objects
• CPC Class Codes: H04N 13/25 using two or more image sensors with different characteristics other than in their location or field of view, e.g. having different resolutions or colour pickup characteristics; using image signals from one sensor to control the characteristics of another sensor

Abstract

An integrated 3D scanner for scanning a surface of an object, the integrated 3D scanner including a scanning device capable of operating in a first configuration and in a second configuration, where in the first configuration the scanning device is capable of acquiring a first data set relating to the surface of the object; and in the second configuration the scanning device is capable of acquiring a second data set relating to the surface of the object; and a data processing unit configured for combining one or more first data sets and one or more second data sets to provide a combined data set; where the first and second configurations of the scanning device are such that the second data set represents data with a higher spatial resolution than the first data set.

Claims

1. A 3D scanner for scanning a surface of an object by recording data sets for overlapping sections for the surface and stitching the recorded data sets together to provide a virtual 3D model of the surface, said 3D scanner comprising:

a scanning device capable of recording first and second data sets of the surface when operating in a first configuration and in a second configuration, respectively, where at least some of the first data sets provide geometrical information for a lamer area of the surface than the second data sets and where the second data sets have a higher spatial resolution than the first data sets,

a data processing unit configured for aligning and stitching together the first and second data sets to create a combined virtual 3D model of the surface, where the large-area first data sets provide a link between the small-area second data sets in the aligning such that accumulated stitching errors caused by inaccurate alignment of second data sets are avoided.

2. The 3D scanner according to claim 1, wherein the scanning device comprises a first scanning unit which at least in part realizes the first configuration of the scanning device and a second scanning unit which at least in part realizes the second configuration.

3. The 3D scanner according to claim 1, wherein the 3D scanner comprises a control unit configured for controlling the scanning device.

4. The 3D scanner according to claim 3, wherein the control unit is capable of automatically changing the operation of the scanning device between the first configuration and the second configuration.

5. The 3D scanner according to claim 1, wherein the scanning device is capable of operating simultaneously in the first and second configurations.

6. The 3D scanner according to claim 3, wherein the control unit is capable of automatically changing between operating the scanning device in the first and second configurations simultaneously and operating the scanning device in only one of the first and second configurations.

7. The 3D scanner according to claim 3, where the control unit is capable of controlling the operation of the scanner device based on a value of a first parameter derived from the first data set.

8. The 3D scanner according to claim 7, where the control unit is capable of monitoring the first parameter.

9. The 3D scanner according to claim 7, wherein the data processing unit is capable of forming a first virtual 3D representation of the surface from an acquired first data set and wherein the first parameter is derived from said first virtual 3D representation.

10. The 3D scanner according to claim 1, where the scanning device when operating in the first configuration is capable of acquiring first data sets from surfaces which are arranged in a first range of distances from the 3D scanner and where the scanning device when operating in the second configuration is capable of acquiring second data sets from surfaces which are arranged in a second range of distances from the 3D scanner, where the first and second range of distances have an overlapping range of distances and the first range of distances extend further away from the scanning device than the second range of distances.

11. The 3D scanner according to claim 10, where the scanning device is configured for simultaneously acquiring first data sets and second data sets when the 3D scanner is at positions relative to the surface where the distance to the surface is in said overlapping range.

12. The 3D scanner according to claim 2, where the first scanning unit and/or the second scanning unit comprises a 3D focus scanning unit adapted for 3D focus scanning of a surface.

13. The 3D scanner according to claim 1, wherein the higher spatial resolution relates at least to a higher lateral spatial resolution in a plane perpendicular to an optical axis of the scanning device.

14. The 3D scanner according to claim 2, wherein the first and second scanning units are integrated parts of a handheld 3D scanner.

15. The 3D scanner according to claim 1, where the 3D scanner comprises an additional measuring device configured for performing at least one additional measurement.

16. The 3D scanner according to claim 15, where the control unit is adapted to provide that acquiring of the first data sets and/or the second data sets is controlled based on the value of a parameter derived from the at least one additional measurement.

17. The 3D scanner according to claim 15, where the additional measuring device comprises a distance measurement unit configured for measuring a distance from the 3D scanner to the surface of an object.

18. The 3D scanner according to claim 1, wherein the scanning device in the first configuration is capable of receiving data relating to a first portion of the surface when the 3D scanner is arranged in a first position relative to the surface and of receiving data relating to a second portion of the surface when the 3D scanner is arranged in a second position relative to the surface, wherein the first portion is larger than the second portion and the second portion is at least partly embedded in the first portion.

19. The 3D scanner according to claim 1, wherein the first and second scanning units share a number of optical components.

20. The 3D scanner according to claim 1, wherein at least one of said first and/or second data sets comprises a point cloud expressing a shape of a portion of the surface.

21. The 3D scanner according to claim 1, wherein the data processing unit is configured for:

generating a first virtual 3D representation from the first data sets;

generating a second virtual 3D representation from the second data sets; and

merging the first and second virtual 3D representations to obtain a combined virtual 3D model of the surface.

22. The 3D scanner according to claim 1, wherein the data processing unit is configured for:

generating a first virtual 3D representation by combining first data sets; and

generating the combined virtual 3D model by registration of the second data sets into the generated first virtual 3D representation.