Sensor positioning for 3D scanning

• US 9,325,974 B2
• Filed: 06/07/2012
• Issued: 04/26/2016
• Est. Priority Date: 06/07/2011
• Status: Active Grant

• Current Assignee: Creaform, Inc. (Ametek Incorporated)
• Original Assignee: Creaform, Inc. (Ametek Incorporated)
• Inventors: Tubic, Dragan, Gignac, Olivier, Rochette, Flix, Hbert, Patrick, Saint-Pierre, ric, Carette, Alexandre
• Primary Examiner(s): Bailey, Frederick
• Assistant Examiner(s): Nawaz, Talha M
• Application Number:
  US14/122,702
• Publication Number:
  US 20140085429A1
• Time in Patent Office: 1,419 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: G01S 5/163 Determination of attitude using inertial means G01C9/00; control of attitude G05D1/49
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 7/75 involving models
• CPC Class Codes: G06T 7/80 Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
• CPC Class Codes: H04N 13/275 from 3D object models, e.g. computer-generated stereoscopic image signals

Abstract

A method for obtaining a refined pose for a 3D sensor for online 3D modeling of a surface geometry of an object, the pose encompassing six degrees of freedom (DOF) including three translation parameters and three orientation parameters, the method comprising: providing the 3D sensor, the 3D sensor being adapted to capture 3D point measurements of the surface of the object from a viewpoint; providing a geometry model of at least part of the surface; observing a portion of the surface of the object with the 3D sensor; measuring an initialization pose for the 3D sensor by at least one of positioning device pose measurement, predicted pose tracking and target observation; finding a best fit arrangement of the 3D point measurements in the geometry model using the initialization pose; generating the refined pose for the 3D sensor using the best fit arrangement.

Claims

1. A method for obtaining a refined pose for a 3D sensor for online 3D modeling of a surface geometry of a surface of an object, said pose encompassing six degrees of freedom (DOF) including three translation parameters and three orientation parameters, the method comprising:

providing said 3D sensor, said 3D sensor being adapted to capture 3D point measurements of said surface of said object from a viewpoint;

providing a geometry model of at least part of said surface;

providing at least one target on said object;

providing a target model for said object, said target model including previously observed targets among said at least one target provided on said object;

observing a portion of said surface of said object with said 3D sensor including observing less than three currently observed targets and capturing currently captured 3D point measurements;

matching said currently observed targets with a corresponding matched target of said previously observed targets using said target model to obtain partial positioning constraints, said partial positioning constraints defining less than said six degrees of freedom and defining said three translation parameters;

generating at least one missing initialization parameter from said previously observed targets, each said at least one missing initialization parameter being one of said three orientation parameters;

obtaining an initialization pose from said partial positioning constraints and said missing initialization parameter, said initialization pose encompassing said six degrees of freedom;

finding a best fit arrangement of said currently captured 3D point measurements in said geometry model using said initialization pose, said finding said best fit arrangement being constrained for at least said three translation parameters by said partial positioning constraints;

generating said refined pose for said 3D sensor using said best fit arrangement.

2. The method for obtaining a refined pose as claimed in claim 1, wherein obtaining said initialization pose from said partial positioning constraints and said missing initialization parameter includes obtaining a surface normal for said currently observed targets.

3. The method for obtaining a refined pose as claimed in claim 1, wherein said generating at least one missing initialization parameter includes sampling a parameter space of said initialization pose and said finding said best fit arrangement includes using each sampled initialization parameters and selecting a converging best fit arrangement.

4. The method for obtaining a refined pose as claimed in claim 1, wherein said less than three currently observed targets is two currently observed targets, said matching further comprising comparing a distance between said two currently observed targets to distances between previously observed targets in said target model to eliminate candidate sites for said match.

5. The method for obtaining a refined pose as claimed in claim 1, wherein said finding said best fit arrangement includes weighting said currently captured 3D point measurements and said partial positioning constraints to find said best fit arrangement.

6. The method for obtaining a refined pose as claimed in claim 1, further comprising:

providing a positioning device, wherein said positioning device is at least one of a referenced mechanical device, an optical tracking device, an electromagnetic system, an acoustic system and an inertial system;

measuring sensor location information indicating a device pose of said 3D sensor relative to the geometry model using said positioning device;

wherein said obtaining said initialization pose includes using said sensor location information in addition to said partial positioning constraints and said missing initialization parameter.

7. The method for obtaining a refined pose as claimed in claim 1, wherein said target is at least one of affixed to said surface of said object, affixed to a solidary environment of said object, created on said surface of said object, created on said solidary environment of said object, part of a distinctive shape feature of said object and part of a distinctive shape feature of said solidary environment of said object.

8. The method for obtaining a refined pose as claimed in claim 1, wherein said target is at least one of a photogrammetric target, a retro-reflective target, a coded target, a circular target, a simply reflective target, a drawn mark and a distinctive shape feature.

9. The method for obtaining a refined pose as claimed in claim 1, further comprising

retrieving a previous tracked pose from a previous instance of said capture of said 3D point measurements;

wherein said obtaining said initialization pose includes using said previous tracked pose in addition to said partial positioning constraints and said missing initialization parameter.

10. The method for obtaining a refined pose as claimed in claim 1, wherein said matching further comprises selecting a candidate site for said match in said target model based on a quantity of said currently observed targets;

wherein said matching includes sequentially testing, at each said candidate site, said currently observed targets for said match with a same number of previously observed targets in said target model and said finding said best fit arrangement includes using each tested match and selecting a converging best fit arrangement.