Device for optically scanning and measuring an environment
First Claim
1. A system for optically scanning and measuring an object in an environment, the system comprising:
- a scanner device that includes a projector, a first camera, and a second camera positioned in a predetermined geometrical arrangement;
the projector projecting during operation a first pattern of light that is comprised of a first regular pattern of identical light points in a grid, the projector having a projector optical axis;
the first camera records in operation, in a first time instance, a first image of the first pattern of light projected on the object, the first camera having a first camera optical axis;
the second camera records in operation, in the first time instance, a second image of the first pattern of light projected onto the object, the second camera having a second camera optical axis;
each of the illuminated light points corresponding to and lying on an epipolar lines in each of two of an image or a projector plane associated with the first camera, the second camera and the projector, the correspondence among epipolar lines and the illuminated light points on the image or projector planes being based on geometrical epipolar relations between the image or projector planes; and
a processor operably coupled to the projector, the first camera and the second camera, the processor determines in operation a correspondence among each of the illuminated light points on the image or projector planes based at least in part by the epipolar relations, the processor further determining in operation three-dimensional coordinates of each of the illuminated light points on the object based at least in part on a density of the illuminated light points in the first pattern of light, the first image of the first pattern of light on the object, the second image of the first pattern of light on the object, and the geometrical arrangement of the projector, the first camera, and the second camera.
1 Assignment
0 Petitions
Accused Products
Abstract
A device for optically scanning and measuring an environment is provided. The device includes at least one projector for producing at least one uncoded pattern on an object in the environment. A first camera is provided for recording at least one first image of the object provided with the pattern, the first camera having a first image plane. A second camera is provided for recording at least one second image of the object provided with the uncoded pattern, the second camera being spaced apart from the first camera in order to acquire the uncoded pattern on a second image plane. A controller is provided having a processor configured to determine the three-dimensional coordinates of points on the surface of the object based at least in part on the uncoded pattern, the at least one first image and the at least one second image.
62 Citations
18 Claims
-
1. A system for optically scanning and measuring an object in an environment, the system comprising:
-
a scanner device that includes a projector, a first camera, and a second camera positioned in a predetermined geometrical arrangement; the projector projecting during operation a first pattern of light that is comprised of a first regular pattern of identical light points in a grid, the projector having a projector optical axis; the first camera records in operation, in a first time instance, a first image of the first pattern of light projected on the object, the first camera having a first camera optical axis; the second camera records in operation, in the first time instance, a second image of the first pattern of light projected onto the object, the second camera having a second camera optical axis; each of the illuminated light points corresponding to and lying on an epipolar lines in each of two of an image or a projector plane associated with the first camera, the second camera and the projector, the correspondence among epipolar lines and the illuminated light points on the image or projector planes being based on geometrical epipolar relations between the image or projector planes; and a processor operably coupled to the projector, the first camera and the second camera, the processor determines in operation a correspondence among each of the illuminated light points on the image or projector planes based at least in part by the epipolar relations, the processor further determining in operation three-dimensional coordinates of each of the illuminated light points on the object based at least in part on a density of the illuminated light points in the first pattern of light, the first image of the first pattern of light on the object, the second image of the first pattern of light on the object, and the geometrical arrangement of the projector, the first camera, and the second camera. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
-
Specification