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Using two-dimensional camera images to speed registration of three-dimensional scans

  • US 10,739,458 B2
  • Filed: 08/10/2017
  • Issued: 08/11/2020
  • Est. Priority Date: 10/05/2012
  • Status: Active Grant
First Claim
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1. A three-dimensional (3D) measuring device comprising:

  • one or more processors;

    a movable 3D scanner operably coupled to the one or more processors and operable to determine 3D coordinates of a first object point;

    a camera operably coupled to move in conjunction with the 3D scanner;

    wherein the one or more processors are responsive to executable instructions which when executed by the one or more processors cause the one or more processors to perform a method comprising;

    determining 3D coordinates of a first collection of points on an object surface with the 3D Scanner from a first fixed position;

    obtaining with the 3D scanner a plurality of 2D camera image sets as the 3D scanner is moved from the first fixed position to a second position;

    determining a first translation value in a first translation direction, a second translation value in to a second translation direction, and a first rotation value about a first orientational axis, wherein the first translation value, the second translation value, and the first rotation value are based at least in part on the plurality of 2D camera image sets;

    determining 3D coordinates of a second collection of points on an object surface with the 3D Scanner from the second position;

    identifying a correspondence among registration targets in both the first collection of points and the second collection of points, the correspondence based at least in part on the first translation value, the second translation value, and the first rotation value; and

    determining 3D coordinates of a registered 3D collection of points based at least in part on the determined correspondence among the registration targets, the 3D coordinates of the first collection of points, and the 3D coordinates of the second collection of points.

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