Auto-referenced system and apparatus for three-dimensional scanning

Auto-referenced system and apparatus for three-dimensional scanning

  • CN 101,189,487 B
  • Filed: 03/13/2006
  • Issued: 08/11/2010
  • Est. Priority Date: 03/11/2005
  • Status: Active Grant
First Claim
Patent Images

1. the system of an acquisition object dimensional surface point in object coordinates system comprises:

  • Target location feature set on described object, each described target location feature is placed in the fixed position on the described object, uses the described object coordinates of described target location characterizing definition system;

    Has the sensing equipment that the graphic pattern projection device of projection pattern can be provided on described body surface, at least one pair of camera, each camera all can obtain the 2D image of described object, described projection pattern and on described image the 2D image of the part of tangible described target location feature set, each described 2D image is to obtain from the reference view in the sensing equipment coordinate system;

    Image processor, described image processor be used for from described 2D image extract at least one from described projection pattern in described lip-deep reflection and the 2D surface point and at least two from the reflection of described lip-deep described target location feature and must 2D position feature collection;

    Use described 2D surface point to calculate the 3D surface point counter of the 3D surface point in described sensing equipment coordinate system;

    Use the position feature counter that calculate 3D position feature collection of described 2D position feature collection calculating in described sensing equipment coordinate system;

    Be used to calculate the position feature adaptation of the conversion parameter of describing the current spatial relationship between described sensing equipment coordinate system and the described object coordinates system, be complementary by the character pair that described in described sensing equipment coordinate system has been calculated 3D position feature collection and reference 3D position feature collection in described object coordinates system, describedly from previous observed reading, accumulated with reference to the 3D position feature;

    Use described conversion parameter that the described 3D position feature collection that calculated is converted to the 3D position feature converter of changing 3D position feature collection in described object coordinates system;

    Use described conversion parameter that described 3D surface point is transformed into the 3D surface point converter of changing the 3D surface point in described object coordinates system;

    Be used to accumulate the described 3D position feature collection of having changed to provide and to increase described 3D reference position characteristic model constructor with reference to 3D position feature collection.

View all claims
    ×
    ×

    Thank you for your feedback

    ×
    ×