Optical measurement method and measurement system for determining 3D coordinates on a measurement object surface
First Claim
1. An optical measurement method for determining 3D coordinates of a multiplicity of measurement points of a measurement object surface, comprising the steps of:
- illuminating the measurement object surface with a pattern sequence of different patterns using a projector;
recording an image sequence of a plurality of individual images of the measurement object surface, which is illuminated with the pattern sequence, using a camera system; and
determining the 3D coordinates of the measurement points by evaluating the image sequence including ascertaining a succession of brightness values for identical measurement points of the measurement object surface in the respective images of the image sequence, wherein;
during the recording of the image sequence at least during the exposure times of individual images of the image sequence, translational and/or rotational accelerations;
of the projector,of the camera system, and/orof the measurement object,are measured for each image with at least such a measurement rate that during the exposure time of each image of the image sequence for each image a plurality of values for the accelerations related to one particular direction of acceleration are captured so that movements of the projector, of the camera system and/or of the measurement object, which provoke camera shake and/or motion blur in the respective individual images of the image sequence and occur during the exposure times of the respective individual images of the image sequence, are algorithmically taken into consideration in the determination of the 3D coordinates on the basis of the measured accelerations.
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Abstract
A measurement object surface is illuminated with a pattern sequence of various patterns using a projector, which is recorded with a camera system, and the 3D coordinates for the measurement points are determined by evaluation of the image sequence. While the image sequence is being recorded translational and/or rotational accelerations of the projector, the camera system and/or the measurement object are measured at least at a measurement rate such that in each case a plurality of values for the accelerations are acquired. It is thus possible, on the basis of the measured accelerations, to take into account algorithmically, when determining the 3D coordinates, movements of the projector, the camera system and/or the measurement object, which movements occur during the illumination times of the respective individual images of the image sequence and provoke unsteadiness and/or motion blur in the respective individual images of the image sequence.
21 Citations
27 Claims
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1. An optical measurement method for determining 3D coordinates of a multiplicity of measurement points of a measurement object surface, comprising the steps of:
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illuminating the measurement object surface with a pattern sequence of different patterns using a projector; recording an image sequence of a plurality of individual images of the measurement object surface, which is illuminated with the pattern sequence, using a camera system; and determining the 3D coordinates of the measurement points by evaluating the image sequence including ascertaining a succession of brightness values for identical measurement points of the measurement object surface in the respective images of the image sequence, wherein; during the recording of the image sequence at least during the exposure times of individual images of the image sequence, translational and/or rotational accelerations; of the projector, of the camera system, and/or of the measurement object, are measured for each image with at least such a measurement rate that during the exposure time of each image of the image sequence for each image a plurality of values for the accelerations related to one particular direction of acceleration are captured so that movements of the projector, of the camera system and/or of the measurement object, which provoke camera shake and/or motion blur in the respective individual images of the image sequence and occur during the exposure times of the respective individual images of the image sequence, are algorithmically taken into consideration in the determination of the 3D coordinates on the basis of the measured accelerations. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. An optical measurement system for determining 3D coordinates of a multiplicity of measurement points of a measurement object surface, comprising:
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a projector for illuminating the measurement object surface with a pattern sequence of different optical patterns; a camera system for recording an image sequence of a plurality of individual images of the measurement object surface that is illuminated with the pattern sequence; and an evaluation unit for determining the 3D coordinates of the measurement points from the image sequence, wherein the evaluation unit determines the 3D coordinates of the measurement points from the image sequence while ascertaining a succession of brightness values for identical measurement points of the measurement object surface in the respective images of the image sequence, wherein inertial sensors are arranged; on the projector, on the camera system, and/or on the measurement object for measuring the translational and rotational accelerations of the projector, of the camera system, and/or of the measurement object with at least such a measurement rate that during the exposure time of each individual image of the image sequence in each case a plurality of values for the accelerations related to one particular direction of acceleration can be captured, and in that the evaluation unit is configured; for synchronized controlling of the inertial sensors and of the camera system such that during the recording of the image sequence for each image a plurality of values for the accelerations related to one particular direction of acceleration are captured at least during the exposure time of each individual image of the image sequence, and for algorithmically taking into consideration movements of the projector, of the camera system and/or of the measurement object, which provoke camera shake and/or motion blur in the respective individual images of the image sequence, on the basis of the accelerations measured by the inertial sensors for the determination of the 3D coordinates. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25, 26)
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27. An optical measurement system for determining 3D coordinates of a multiplicity of measurement points of a measurement object surface, comprising:
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a projector for illuminating the measurement object surface with a pattern sequence of different optical patterns; a camera system for recording an image sequence of a plurality of individual images of the measurement object surface that is illuminated with the pattern sequence; and an evaluation unit for determining the 3D coordinates of the measurement points from the image sequence, wherein the evaluation unit determines the 3D coordinates of the measurement points from the image sequence while ascertaining a succession of brightness values for identical measurement points of the measurement object surface in the respective images of the image sequence, wherein inertial sensors are arranged; on the projector, on the camera system, and/or on the measurement object for measuring the translational and rotational accelerations of the projector, of the camera system, and/or of the measurement object with at least such a measurement rate that during the exposure time of each individual image of the image sequence in each case a plurality of values for the accelerations related to one particular direction of acceleration can be captured, and in that the evaluation unit is configured; for synchronized controlling of the inertial sensors and of the camera system such that during the recording of the image sequence for each image a plurality of values for the accelerations related to one particular direction of acceleration are captured at least during the exposure time of each individual image of the image sequence; for algorithmically taking into consideration movements of the projector, of the camera system and/or of the measurement object, which provoke camera shake and/or motion blur in the respective individual images of the image sequence, on the basis of the accelerations measured by the inertial sensors for the determination of the 3D coordinates.
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Specification