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公开(公告)号：US10928183B2
公开(公告)日：2021-02-23
申请号：US16555726
申请日：2019-08-29
申请人： CREAFORM INC.
摘要： A system and a method for providing an indication about positioning unreliability are described. The system comprises a scanner for scanning a surface geometry of an object and accumulating 3D points for each frame using shape-based positioning; a pose estimator for estimating an estimated pose for the scanner using the 3D points; an unreliable pose detector for determining if the estimated pose has an underconstrained positioning and an indication generator for generating an indication that the unreliable pose estimation is detected. In one embodiment, a degree of freedom identifier identifies a problematic degree of freedom in the estimated pose. In one embodiment, a feature point detector detects a reobservable feature point and the pose estimator uses the feature point with the 3D points to estimate the estimated pose and the unreliable pose detector uses the feature point to identify the estimated pose as an unreliable pose estimation.
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2.发明授权Method and system for alignment of a pattern on a spatial coded slide image 有权用于在空间编码的幻灯片图像上对齐图案的方法和系统公开(公告)号：US08836766B1
公开(公告)日：2014-09-16
申请号：US13699773
申请日：2012-11-02
申请人： Creaform Inc.
发明人： Patrick Hebert , Félix Rochette
CPC分类号： H04N13/275 , 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.
摘要翻译： 一种用于制作空间编码的幻灯片图像的方法，其中所述空间编码的幻灯片图像的图案在用于3D测量的系统中的投影仪的输出处沿着支线对齐，包括：获得投影仪坐标的失真向量，每个矢量表示 由投影机引起的预测坐标变形; 获取作为在理想核线上对准的空间编码图案的理想图像的理想图案图像; 通过对于真实幻灯片图像的每个真实像素坐标创建真正的幻灯片图像，检索当前失真向量; 使用当前失真向量从真实像素坐标去除失真，以获得理想图案图像中的理想像素坐标; 提取理想图案图像中的理想像素坐标处的像素值; 复制实际幻灯片图像中的实际像素坐标处的像素值。
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公开(公告)号：US10271039B2
公开(公告)日：2019-04-23
申请号：US15114563
申请日：2015-02-04
申请人： CREAFORM INC.
IPC分类号： G06K9/00 , H04N13/246 , G01B11/25 , G06K9/46 , G06T7/521 , G06T7/593 , H04N13/239
摘要： A method for matching points between two images of a scene acquired by two cameras, the method including: extracting blobs from the reflection in the images and individually labelling the blobs with a unique identifier; selecting a selected epipolar plane and defining a conjugate epipolar line on each of the images; identifying plausible combinations including a light sheet label of the projected pattern and the unique identifier for a plausible blob selected from the blobs in each of the images; calculating a matching error for each of the plausible combinations; repeating the steps of selecting, identifying and calculating for at least some epipolar planes; determining a most probable combination by computing a figure of merit for the plausible combinations; identifying matching points in the frame from the most probable combination.
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公开(公告)号：US20160350929A1
公开(公告)日：2016-12-01
申请号：US15114563
申请日：2015-02-04
申请人： CREAFORM INC.
CPC分类号： H04N13/246 , G01B11/25 , G06K9/4609 , G06T7/521 , G06T7/593 , G06T2207/10021 , G06T2207/10028 , G06T2207/10152 , G06T2207/20068 , G06T2207/30204 , G06T2207/30244 , H04N13/239
摘要： A method for matching points between two images of a scene acquired by two cameras, the method including: extracting blobs from the reflection in the images and individually labelling the blobs with a unique identifier; selecting a selected epipolar plane and defining a conjugate epipolar line on each of the images; identifying plausible combinations including a light sheet label of the projected pattern and the unique identifier for a plausible blob selected from the blobs in each of the images; calculating a matching error for each of the plausible combinations; repeating the steps of selecting, identifying and calculating for at least some epipolar planes; determining a most probable combination by computing a figure of merit for the plausible combinations; identifying matching points in the frame from the most probable combination.
摘要翻译： 一种用于匹配由两个摄像机获取的场景的两个图像之间的点的方法，所述方法包括：从图像中的反射中提取斑点并用唯一标识符单独标记斑点; 选择所选择的对极平面并在每个图像上限定共轭核线; 识别合适的组合，包括投影图案的光照标签和从每个图像中的斑点中选择的合理斑块的唯一标识符; 计算每个合理组合的匹配误差; 重复选择，识别和计算至少一些对极平面的步骤; 通过计算可信组合的品质因数来确定最可能的组合; 从最可能的组合中识别帧中的匹配点。
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公开(公告)号：US20150138349A1
公开(公告)日：2015-05-21
申请号：US14405428
申请日：2013-06-26
申请人： CREAFORM INC.
发明人： Patrick Hebert , Félix Rochette
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; 图像处理器，用于从2D图像提取投影图案的表面点和目标轮廓的2D图像坐标; 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。
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公开(公告)号：US10401142B2
公开(公告)日：2019-09-03
申请号：US14405430
申请日：2013-06-26
申请人： CREAFORM INC.
摘要： A system and a method for providing an indication about positioning unreliability are described. The system comprises a scanner for scanning a surface geometry of an object and accumulating 3D points for each frame using shape-based positioning; a pose estimator for estimating an estimated pose for the scanner using the 3D points; an unreliable pose detector for determining if the estimated pose has an under constrained positioning and an indication generator for generating an indication that the unreliable pose estimation is detected. In one embodiment, a degree of freedom identifier identifies a problematic degree of freedom in the estimated pose. In one embodiment, a feature point detector detects a reobservable feature point and the pose estimator uses the feature point with the 3D points to estimate the estimated pose and the unreliable pose detector uses the feature point to identify the estimated pose as an unreliable pose estimation.
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公开(公告)号：US20150142378A1
公开(公告)日：2015-05-21
申请号：US14405430
申请日：2013-06-26
申请人： CREAFORM INC.
CPC分类号： G01B11/002 , G01B11/24 , G01B11/25 , G01B2210/52 , G06T7/521 , G06T7/73 , G06T2200/04 , G06T2207/10028
摘要： A system and a method for providing an indication about positioning unreliability are described. The system comprises a scanner for scanning a surface geometry of an object and accumulating 3D points for each frame using shape-based positioning; a pose estimator for estimating an estimated pose for the scanner using the 3D points; an unreliable pose detector for determining if the estimated pose has an under constrained positioning and an indication generator for generating an indication that the unreliable pose estimation is detected. In one embodiment, a degree of freedom identifier identifies a problematic degree of freedom in the estimated pose. In one embodiment, a feature point detector detects a reobservable feature point and the pose estimator uses the feature point with the 3D points to estimate the estimated pose and the unreliable pose detector uses the feature point to identify the estimated pose as an unreliable pose estimation.
摘要翻译： 描述了提供关于定位不可靠性的指示的系统和方法。 该系统包括用于扫描对象的表面几何形状的扫描仪，并且使用基于形状的定位来累积每个帧的3D点; 姿态估计器，用于使用所述3D点估计所述扫描器的估计姿态; 用于确定估计姿势是否具有受限定位的不可靠姿态检测器，以及用于生成检测到不可靠姿态估计的指示的指示发生器。 在一个实施例中，自由度标识符识别估计姿态中的有问题的自由度。 在一个实施例中，特征点检测器检测可重新观察的特征点，并且姿态估计器使用具有3D点的特征点来估计估计姿态，并且不可靠姿势检测器使用特征点将估计姿势识别为不可靠姿态估计。
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8.发明申请公开(公告)号：US20140247326A1
公开(公告)日：2014-09-04
申请号：US13699773
申请日：2012-11-02
申请人： CREAFORM INC.
发明人： Patrick Hébert , Félix Rochette
IPC分类号： H04N13/02
CPC分类号： H04N13/275 , 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.
摘要翻译： 一种用于制作空间编码的幻灯片图像的方法，其中所述空间编码的幻灯片图像的图案在用于3D测量的系统中的投影仪的输出处沿着支线对齐，包括：获得投影仪坐标的失真向量，每个矢量表示 由投影机引起的预测坐标变形; 获取作为在理想核线上对准的空间编码图案的理想图像的理想图案图像; 通过对于真实幻灯片图像的每个真实像素坐标创建真正的幻灯片图像，检索当前失真向量; 使用当前失真向量从真实像素坐标去除失真，以获得理想图案图像中的理想像素坐标; 提取理想图案图像中的理想像素坐标处的像素值; 复制实际幻灯片图像中的实际像素坐标处的像素值。
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公开(公告)号：US20240288267A1
公开(公告)日：2024-08-29
申请号：US18569303
申请日：2022-05-20
申请人： CREAFORM INC.
CPC分类号： G01B11/2545 , G01B11/254 , G06T7/521 , G06T2207/10028
摘要： A scanner for generating 3D data relating to a surface of a target object includes a scanner frame on which is mounted a set of imaging modules including a light projector unit for projecting a structured light pattern of the surface of the target object, wherein the structured light pattern includes a plurality of elongated light stripes arranged alongside one another, and further defining discrete coded elements extending from at least some of the elongated light stripes in the plurality of elongated light stripes. The set of imaging modules further includes a set of cameras positioned alongside the light projector unit for capturing data conveying a set of images including reflections of the structured light pattern projected onto the surface of the target object, and one or more processor in communication with the set of imaging modules for receiving and processing the data conveying the set of images. Related systems and methods are also described.
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公开(公告)号：US20190383597A1
公开(公告)日：2019-12-19
申请号：US16555726
申请日：2019-08-29
申请人： CREAFORM INC.
摘要： A system and a method for providing an indication about positioning unreliability are described. The system comprises a scanner for scanning a surface geometry of an object and accumulating 3D points for each frame using shape-based positioning; a pose estimator for estimating an estimated pose for the scanner using the 3D points; an unreliable pose detector for determining if the estimated pose has an underconstrained positioning and an indication generator for generating an indication that the unreliable pose estimation is detected. In one embodiment, a degree of freedom identifier identifies a problematic degree of freedom in the estimated pose. In one embodiment, a feature point detector detects a reobservable feature point and the pose estimator uses the feature point with the 3D points to estimate the estimated pose and the unreliable pose detector uses the feature point to identify the estimated pose as an unreliable pose estimation.
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