3-D scanning and positioning system
First Claim
1. A system for obtaining three-dimensional information about a surface having a set of at least one reference target, each reference target being provided at a fixed position one of on an environment of said surface and on said surface, said system comprising:
- a sensing device having;
a pattern projector for providing a projected pattern on said surface;
a camera for acquiring a 2D image of said surface from a viewpoint, said camera cooperating with said pattern projector, wherein at least one target of said set of reference targets and at least a portion of said projected pattern is apparent on said 2D image;
a storage for calibration data, said calibration data including extrinsic and intrinsic parameters of said camera and said pattern projector;
an image processor for extracting 2D image coordinates of surface points of the projected pattern and target contours from said 2D image;
a 3D surface point calculator for calculating 3D coordinates of the surface points from said 2D image coordinates of said surface points using said calibration data;
a 3D target calculator for calculating, from said 2D image coordinates of said target contours, using said 3D coordinates of the surface points and said calibration data, at least one of a 3D position and an actual orientation for said reference target;
said system being adapted to perform the steps of;
identifying neighboring surface points located around said target;
calculating 3D coordinates of the neighboring surface points;
fitting a surface section model on said 3D coordinates of said neighboring surface points; and
at least one of;
refining an estimated 3D position into the 3D position; and
identifying the actual orientation of said target.
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Accused Products
Abstract
A system for obtaining three-dimensional information about a surface, the system comprising: a sensing device having: a pattern projector for providing a projected pattern on the surface; and a camera for acquiring a 2D image of the surface from a viewpoint, wherein at least one target of a set of reference targets and at least a portion of the projected pattern is apparent on the 2D image; a storage for calibration data; an image processor for extracting 2D image coordinates of surface points of the projected pattern and target contours from the 2D image; a 3D surface point calculator for calculating 3D coordinates of the surface points from the 2D image coordinates of the surface points; a 3D target calculator for calculating a 3D position and/or an actual orientation for the reference target.
31 Citations
20 Claims
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1. A system for obtaining three-dimensional information about a surface having a set of at least one reference target, each reference target being provided at a fixed position one of on an environment of said surface and on said surface, said system comprising:
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a sensing device having; a pattern projector for providing a projected pattern on said surface; a camera for acquiring a 2D image of said surface from a viewpoint, said camera cooperating with said pattern projector, wherein at least one target of said set of reference targets and at least a portion of said projected pattern is apparent on said 2D image; a storage for calibration data, said calibration data including extrinsic and intrinsic parameters of said camera and said pattern projector; an image processor for extracting 2D image coordinates of surface points of the projected pattern and target contours from said 2D image; a 3D surface point calculator for calculating 3D coordinates of the surface points from said 2D image coordinates of said surface points using said calibration data; a 3D target calculator for calculating, from said 2D image coordinates of said target contours, using said 3D coordinates of the surface points and said calibration data, at least one of a 3D position and an actual orientation for said reference target; said system being adapted to perform the steps of; identifying neighboring surface points located around said target; calculating 3D coordinates of the neighboring surface points; fitting a surface section model on said 3D coordinates of said neighboring surface points; and at least one of;
refining an estimated 3D position into the 3D position; and
identifying the actual orientation of said target. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 20)
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18. A method for extracting a 3D position for a target affixed on a surface in a sensor coordinate system, a pattern being projected on said surface, comprising:
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retrieving target information, said target information including a target size; retrieving calibration data, said calibration data including extrinsic and intrinsic parameters; providing a 2D image of said surface, wherein said target and at least a portion of said projected pattern being apparent on said 2D image; extracting 2D image coordinates of target contours of said target from said 2D image; calculating at least one possible orientation for said target using said 2D image coordinates of target contours and said calibration data; estimating an estimated 3D position for said target in said sensor coordinate system using said 2D image coordinates of said target contours, said calibration data and said target size; extracting 2D image coordinates of surface points of the projected pattern from said 2D image; identifying neighboring surface points located around said target using said 2D image coordinates of said target contours; calculating 3D coordinates of the neighboring surface points in said sensor coordinate system from said 2D image coordinates of said surface points using said calibration data; fitting a surface section model on said 3D coordinates of said neighboring surface points in said sensor coordinate system; using said fitted surface section model and said at least one possible orientation, at least one of refining said estimated 3D position into a refined 3D position in said sensor coordinate system and identifying an actual orientation for said target. - View Dependent Claims (19)
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Specification