公开(公告)号：EP1877726A4

公开(公告)日：2008-08-06

申请号：EP06705322

申请日：2006-03-13

申请人： CREAFORM INC

发明人： HEBERT PATRICK ,  SAINT-PIERRE ERIC ,  TUBIC DRAGAN

IPC分类号： G01B11/25 ,  G01C11/06 ,  G06K7/10

CPC分类号： G01B11/245 ,  G01B11/2513 ,  G06T7/521

摘要： A system, apparatus and method for three-dimensional scanning and digitization of the surface geometry of objects are claimed. The system comprises a hand-held apparatus that is auto-referenced. The system is auto-referenced since it does not need any positioning device to provide the 6 degree of freedom transformations that are necessary to integrate 3D measurements in a global coordinate system while the apparatus is manipulated to scan the surface. The system continuously calculates its own position and orientation from observation while scanning the surface geometry of an object. To do so, the system exploits a triangulation principle and integrates an apparatus that captures both surface points originating from the reflection of a projected laser pattern on an object's surface and 2D positioning features originating from the observation of target positioning features. Using the described system, it is possible to simultaneously build and match a 3D representation of the positioning features while accumulating the 3D surface points describing the surface geometry.

摘要翻译： 用于三维扫描和物体表面几何形状数字化的系统，装置和方法被阻止。 该系统包括自动参照的手持式装置。 该系统是自动参考的，因为它不需要任何定位装置来提供在操纵装置扫描表面时将3D测量集成在全局坐标系中所必需的6自由度变换。 系统在扫描对象的表面几何图形时，不断地从观察中计算出自己的位置和方向。 为了做到这一点，系统利用三角测量原理，并集成了一个装置，其捕获源自于物体表面上的投影激光图案的反射的两个表面点以及源于观察目标定位特征的2D定位特征。 使用所描述的系统，可以同时构建和匹配定位特征的3D表示，同时累积描述表面几何的3D表面点。

公开(公告)号：EP2718668A4

公开(公告)日：2015-03-18

申请号：EP12797037

申请日：2012-06-07

申请人： CREAFORM INC

发明人： HEBERT PATRICK ,  TUBIC DRAGAN ,  GIGNAC OLIVIER ,  SAINT-PIERRE ÉRIC ,  ROCHETTE FÉLIX ,  CARETTE ALEXANDRE

IPC分类号： G01B21/20 ,  G01B11/24 ,  G01S5/16 ,  G06T7/00 ,  H04N13/02

CPC分类号： H04N13/0275 ,  G01S5/163 ,  G06T7/80 ,  G06T2207/10028 ,  G06T2207/30204

摘要： 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.

摘要翻译： 一种用于获得3D传感器的精细姿态的方法，用于对象的表面几何形状的在线3D建模，所述姿势包括包括三个平移参数和三个取向参数的六个自由度（DOF），所述方法包括：提供所述3D传感器 所述3D传感器适于从视点捕获所述物体的表面的3D点测量; 提供表面的至少一部分的几何模型; 用3D传感器观察物体表面的一部分; 通过定位装置姿态测量，预测姿势跟踪和目标观察中的至少一个来测量3D传感器的初始化姿势; 使用初始化姿势在几何模型中找到3D点测量的最佳拟合布置; 使用最佳配合方式为3D传感器生成精致姿态。

公开(公告)号：EP2875314A4

公开(公告)日：2016-04-06

申请号：EP13819844

申请日：2013-06-26

申请人： CREAFORM INC

发明人： HEBERT PATRICK ,  CARETTE ALEXANDRE ,  SAINT-PIERRE ÉRIC

IPC分类号： G01B11/25

CPC分类号： G01B11/002 ,  G01B11/24 ,  G01B11/25 ,  G01B2210/52 ,  G06T7/521 ,  G06T7/73 ,  G06T2200/04 ,  G06T2207/10028

公开(公告)号：EP2751521A4

公开(公告)日：2014-11-19

申请号：EP12852417

申请日：2012-11-02

申请人： CREAFORM INC

发明人： HEBERT PATRICK ,  ROCHETTE FÉLIX

IPC分类号： G01B11/25 ,  G01B11/245 ,  G06T7/00

CPC分类号： H04N13/0275 ,  G01B11/2504 ,  G01B11/2513 ,  G06T5/006 ,  G06T7/521

摘要： A method for preparing a spatial coded slide image in which a pattern of the spatial coded slide image is aligned along epipolar lines at an output of a projector in a system for 3D measurement, comprising: obtaining distortion vectors for projector coordinates, each vector representing a distortion from predicted coordinates caused by the projector; retrieving an ideal pattern image which is an ideal image of the spatial coded pattern aligned on ideal epipolar lines; creating a real slide image by, for each real pixel coordinates of the real slide image, retrieving a current distortion vector; removing distortion from the real pixel coordinates using the current distortion vector to obtain ideal pixel coordinates in the ideal pattern image; extracting a pixel value at the ideal pixel coordinates in the ideal pattern image; copying the pixel value at the real pixel coordinates in the real slide image.

公开(公告)号：EP2870428A4

公开(公告)日：2016-02-24

申请号：EP13813304

申请日：2013-06-26

申请人： CREAFORM INC

发明人： HEBERT PATRICK ,  ROCHETTE FÉLIX

IPC分类号： G01B11/25 ,  G01B11/245 ,  G02B27/18

CPC分类号： G01B11/25 ,  G01B11/002 ,  G01B11/2513 ,  H04N5/2256

摘要： A system for obtaining three-dimensional information about a surface, the system comprising: a sensing device having: a pattern projector for providing a projected pattern on the surface; and a camera for acquiring a 2D image of the surface from a viewpoint, wherein at least one target of a set of reference targets and at least a portion of the projected pattern is apparent on the 2D image; a storage for calibration data; an image processor for extracting 2D image coordinates of surface points of the projected pattern and target contours from the 2D image; a 3D surface point calculator for calculating 3D coordinates of the surface points from the 2D image coordinates of the surface points; a 3D target calculator for calculating a 3D position and/or an actual orientation for the reference target.

摘要翻译： 一种用于获得关于表面的三维信息的系统，所述系统包括：感测装置，具有：用于在所述表面上提供投射图案的图案投影仪; 以及用于从视点获取所述表面的2D图像的相机，其中，所述一组参考目标中的至少一个目标和所述投影图案的至少一部分在所述2D图像上是明显的; 用于校准数据的存储; 用于从2D图像提取投影图案的表面点的2D图像坐标和目标轮廓的图像处理器; 用于从所述表面点的2D图像坐标计算所述表面点的3D坐标的3D表面点计算器; 用于计算参考目标的3D位置和/或实际取向的3D目标计算器。

公开(公告)号：EP2313737A4

公开(公告)日：2014-10-15

申请号：EP09804428

申请日：2009-07-30

申请人： CREAFORM INC

发明人： SAINT-PIERRE ÉRIC ,  TUBIC DRAGAN ,  HEBERT PATRICK

IPC分类号： G01B11/25 ,  G01B11/245 ,  G06T7/00

CPC分类号： G01B11/03 ,  G01B11/25 ,  G01B11/30 ,  G06T7/521

摘要： There are provided systems and methods for obtaining a three-dimensional surface geometric characteristic and/or texture characteristic of an object. A pattern is projected on a surface of said object. A basic 2D image of said object is acquired; a characteristic 2D image of said object is acquired; 2D surface points are extracted from said basic 2D image, from a reflection of said projected pattern on said object; a set of 3D surface points is calculated in a sensor coordinate system using said 2D surface points; and a set of 2D surface geometric/texture characteristics is extracted.

摘要翻译： 提供了用于获得物体的三维表面几何特征和/或纹理特征的系统和方法。 在所述对象的表面上投影图案。 获取所述对象的基本2D图像; 获取所述对象的特征2D图像; 从所述基本2D图像中提取2D表面点，从所述对象上的所述投影图案的反射; 使用所述2D表面点在传感器坐标系中计算一组3D表面点; 并提取一组二维表面几何/纹理特征。