公开(公告)号：WO1998002764A1

公开(公告)日：1998-01-22

申请号：PCT/US1997011764

申请日：1997-07-02

Applicant: REAL-TIME GEOMETRY CORPORATION

Inventor： REAL-TIME GEOMETRY CORPORATION ,  MIGDAL, Alexander, A. ,  LEBEDEV, Alexei ,  PETROV, Michael

IPC: G02B05/32

CPC classification number: G02B26/08 ,  G01B11/24 ,  G02B26/12 ,  G06T9/001

Abstract: A portable 3-D scanning system collects 2-D profile data of objects (101) using a combination of a laser stripe positioning device and a video camera which detects the images of the laser stripe reflected from the object. The scanning system includes a laser stripe generator (1602), a video camera (1604), a scanning mirror (1601) attached to a continuously rotating motor (1603), an encoder or photodiode (1701, 1801, 1901) operationally coupled to the motor and associated electronics. As the scanning mirror reflects the laser stripe and positions it across the object, the encoder or photodiode generates signals indicating the angular position of the mirror. The video images of the reflected laser stripes and the angular positions of the laser stripes are synchronized by a computer to generate a 3-D model of the object.

Abstract translation: 便携式三维扫描系统使用激光条纹定位装置和摄像机的组合来收集物体（101）的二维轮廓数据，该组合检测从物体反射的激光条纹的图像。 扫描系统包括激光条纹发生器（1602），摄像机（1604），连接到连续旋转电动机（1603）的扫描镜（1601），编码器或光电二极管（1701,1801,1901），可操作地耦合到 电机和相关电子产品。 当扫描镜反射激光条纹并将其定位在物体上时，编码器或光电二极管产生指示反射镜角度位置的信号。 反射激光条纹的视频图像和激光条纹的角度位置由计算机同步，以产生该物体的3-D模型。

公开(公告)号：WO1998005157A2

公开(公告)日：1998-02-05

申请号：PCT/US1997011766

申请日：1997-07-02

Applicant: REAL-TIME GEOMETRY CORPORATION

Inventor： REAL-TIME GEOMETRY CORPORATION ,  MIGDAL, Alexander, A. ,  LEBEDEV, Alexei ,  PETROV, Michael ,  ZHILYAEV, Alexander

IPC: H04N00/00

CPC classification number: G01B11/2504 ,  G01B11/245

Abstract: A system for high accuracy calibration of a scanning system, which provides an object for calibration of a known geometry, such as a plane or a sphere. Upon that object is marked a pattern of points or geometric shapes, such as set of equilateral triangles or their vertices. A set of computer programmed elements process photographic images of the object (containing a depiction of the pattern of geometric objects) and scanned images of the object to calibrate high precision parameters, including a focal point relationship value for scanning systems which use a camera as an image collector (which describes the relationships between the focal point of the lens and the light/image collection device of the camera), a set of values to correct for distortion of the lens, the relative distance between the image collector and the scanner light source and also an initial angle to determine light position scanning. The known geometric constraints of the object allow the location of the object to be determined by photographic images. By scanning the object and computing 3D X, Y, Z coordinates for those points against a constraint that the X, Y, Z coordinates fit onto the surface of the object, the system calibrates parameters pertaining to the relative distances between the image collector and light source, an initial angle of rotation for systems which employ movable light sources and other parameters. The system is applied to multiple camera scanning systems to calibrate rotation matrices and translation vectors which facilitate the joining of the scanned data. The system further facilitates the design of flexible and movable scanning systems, such as portable scanners.

Abstract translation: 用于扫描系统的高精度校准的系统，其提供用于校准已知几何形状（例如平面或球体）的对象。 在该对象被标记为点或几何形状的图案，例如一组等边三角形或其顶点。 一组计算机编程元件处理对象的摄影图像（包含几何对象图案的图示）和对象的扫描图像，以校准高精度参数，包括用于将相机用作扫描系统的扫描系统的焦点关系值 图像收集器（其描述了透镜的焦点与照相机的光/图像采集装置之间的关系），用于校正透镜失真的一组值，图像采集器和扫描仪光源之间的相对距离 并且还具有用于确定光位置扫描的初始角度。 对象的已知几何约束允许由摄影图像确定对象的位置。 通过扫描对象并针对X，Y，Z坐标拟合到对象表面上的约束来计算这些点的3D X，Y，Z坐标，系统校准与图像采集器和光线之间的相对距离有关的参数 源，采用可移动光源的系统的初始旋转角度和其他参数。 该系统应用于多个摄像机扫描系统以校准旋转矩阵和平移向量，这有助于扫描数据的连接。 该系统进一步促进了柔性和可移动扫描系统的设计，例如便携式扫描仪。

公开(公告)号：WO1997035439A1

公开(公告)日：1997-09-25

申请号：PCT/US1997005174

申请日：1997-03-20

Applicant: REAL-TIME GEOMETRY CORPORATION

Inventor： REAL-TIME GEOMETRY CORPORATION ,  MIGDAL, Alexander, A. ,  LEBEDEV, Alexei, L. ,  PETROV, Michael

IPC: H04N13/00

CPC classification number: H04N19/597 ,  B33Y50/00 ,  G01B11/2518 ,  G01J3/46 ,  G01J3/51 ,  G06K9/62 ,  G06T7/521 ,  G06T9/001 ,  G06T2207/10024 ,  H04N13/15 ,  H04N13/189 ,  H04N13/194 ,  H04N13/207 ,  H04N13/239 ,  H04N13/243 ,  H04N13/246 ,  H04N13/254 ,  H04N13/257 ,  H04N13/296 ,  H04N2013/0077 ,  H04N2013/0081 ,  H04N2013/0096

Abstract: System and method for rapid collection of data points and construction of a computer model based on a multi-resolution mesh to describe the surface contours and color of an object (101). The system collects data by projecting shapes of light (121-125) against the object (101) and collecting (from a position of triangulation relative to the light projector) images of the light as it reflects from the object. The system and method are comprised of a multiple laser stripe generation process to project a number of light shapes against the object, the collection of one or more reflected laser stripes in a single image of an images collector (120) to gather sufficient information to reproduce points on the surface of the object.

Abstract translation: 用于快速收集数据点的系统和方法以及基于多分辨率网格的计算机模型的构造来描述对象的表面轮廓和颜色（101）。 该系统通过将光的形状（121-125）投射到物体（101）上，并且从物体反射的光线（相对于光投影仪的三角测量位置）图像收集数据。 该系统和方法包括多个激光条纹生成过程，用于将多个光形状投射到物体上，在图像收集器（120）的单个图像中收集一个或多个反射激光条，以收集足够的信息以再现 点对象的表面。