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公开(公告)号：US08032327B2
公开(公告)日：2011-10-04
申请号：US12959532
申请日：2010-12-03
申请人： Patrick Hebert , Éric Saint-Pierre , Dragan Tubic
发明人： Patrick Hebert , Éric Saint-Pierre , Dragan Tubic
CPC分类号： G01B11/245 , G01B11/2513 , G06T7/521
摘要： A method for obtaining three-dimensional surface points of an object in an object coordinate system having two groups of steps. The method includes providing a set of target positioning features on the object. In a first group of steps, acquiring 2D first images of the object, extracting 2D positioning features; calculating a first set of calculated 3D positioning features; computing first transformation parameters, cumulating the first set of transformed 3D positioning features to provide and augment the set of reference 3D positioning features. In a second group of steps, providing a projected pattern on a surface of the object; acquiring 2D second images of the object, extracting 2D surface points and second sets of 2D positioning features; calculating a set of 3D surface points; calculating a second set of calculated 3D positioning features; computing second transformation parameters, transforming the 3D surface points into transformed 3D surface points.
摘要翻译： 一种在具有两组步骤的物体坐标系中获得物体的三维表面点的方法。 该方法包括在对象上提供一组目标定位特征。 在第一组步骤中，获取对象的2D第一图像，提取2D定位特征; 计算第一组计算的3D定位特征; 计算第一变换参数，累积第一组变换的3D定位特征以提供和增加一组参考3D定位特征。 在第二组步骤中，在对象的表面上提供投影图案; 获取对象的2D第二图像，提取2D表面点和第二组2D定位特征; 计算一组3D表面点; 计算第二组计算的3D定位特征; 计算第二变换参数，将3D表面点变换为变换的3D表面点。
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公开(公告)号：US20080031400A1
公开(公告)日：2008-02-07
申请号：US11579728
申请日：2005-05-06
申请人： Luc Beaulieu , Dragan Tubic
发明人： Luc Beaulieu , Dragan Tubic
IPC分类号： A61B6/03
摘要： Unlike existing methods for three-dimensional seed reconstruction, the proposed method uses raw tomography data (sinograms) instead of reconstructed CT slices. The method is for three-dimensional reconstruction of an object inserted in a living or non-living body. It comprises obtaining raw tomography data for an area of the body where the object is inserted; detecting a trace of the object in the raw tomography data, by extracting points from the trace; and estimating at least one of a position and an orientation of the object using the points and a known shape of a trace of the object in the raw tomography data.
摘要翻译： 与现有的三维种子重建方法不同，本文提出的方法使用原始断层扫描数据（sinograms）代替重建CT切片。 该方法用于三维重建插入生物或非活体的物体。 它包括获取用于插入物体的身体的区域的原始断层摄影数据; 通过从痕迹提取点来检测原始断层摄影数据中的对象的痕迹; 以及使用原始断层摄影数据中的点和对象的迹线的已知形状来估计对象的位置和取向中的至少一个。
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公开(公告)号：US20110074929A1
公开(公告)日：2011-03-31
申请号：US12959517
申请日：2010-12-03
申请人： Patrick HÉBERT , Éric ST-PIERRE , Dragan TUBIC
发明人： Patrick HÉBERT , Éric ST-PIERRE , Dragan TUBIC
IPC分类号： H04N13/02
CPC分类号： G01B11/245 , G01B11/2513 , G06T7/521
摘要： An auto-referenced sensing device for scanning an object to provide three-dimensional surface points in an object coordinate system, comprising: a Light-Emitting Diode (LED) light source emitting light for illuminating and enabling image acquisition of at least a portion of a set of retro-reflective target positioning features, wherein each of the retro-reflective target positioning features is provided at a fixed position on the object; a laser pattern projector, additional to the LED light source, for providing a projected laser pattern on a surface of the object for illuminating and enabling image acquisition of dense points between at least two of the retro-reflective target positioning features in the portion of the set; at least a pair of cameras each for simultaneously acquiring a 2D image of the object, wherein both the projected laser pattern and the portion of the set of retro-reflective target positioning features are apparent on the simultaneous images, a spatial relationship between the pair of cameras being known, the LED light source being provided in close proximity to the at least the pair of cameras; wherein the portion of the set of retro-reflective target positioning features reflect at least part of the light emitted by the LED light source towards the cameras; wherein the simultaneous images acquired by the pair of cameras contain both positioning measurements made available from the portion of the set of retro-reflective target positioning features apparent on the images and dense surface measurements made available from the points enabled by the projected laser pattern apparent on the images.
摘要翻译： 一种用于扫描物体以在物体坐标系中提供三维表面点的自动参考感测装置，包括：发光二极管（LED）光源，用于照亮并且使得能够图像获取至少一部分 一组回射目标定位特征，其中每个反射目标定位特征设置在物体上的固定位置; 激光图案投影仪，附加到LED光源，用于在物体的表面上提供投射的激光图案，用于照亮并且使得能够在部分中的至少两个反射目标定位特征之间的至少两个复合点 组; 至少一对摄像机，用于同时获取对象的2D图像，其中所述投影激光图案和所述一组回射目标定位特征的所述部分在所述同时图像上是明显的，所述一对 所述相机是已知的，所述LED光源被提供在所述至少一对照相机附近; 其中所述一组回射目标定位特征的所述部分将由所述LED光源发射的光的至少一部分反射到所述照相机; 其中通过该对照相机获取的同时图像包含从图像上显而易见的一组回射目标定位特征的部分获得的定位测量值和从由投影激光图案可见的点可用的致密表面测量可用 图像。
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公开(公告)号：US07912673B2
公开(公告)日：2011-03-22
申请号：US11817300
申请日：2006-03-13
申请人： Patrick Hébert , Éric Saint-Pierre , Dragan Tubic
发明人： Patrick Hébert , Éric Saint-Pierre , Dragan Tubic
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 includes 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.
摘要翻译： 一种用于物体的表面几何形状的三维扫描和数字化的系统，装置和方法。 该系统包括自动参考的手持式装置。 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在全局坐标系中集成3D测量所需的6自由度变换。 系统在扫描对象的表面几何图形时，从观察中连续计算自己的位置和方向。 为了做到这一点，该系统利用三角测量原理并且集成了一种装置，其捕获源自物体表面上的投影激光图案的反射的两个表面点和源自观察目标定位特征的2D定位特征。
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公开(公告)号：US20070052974A1
公开(公告)日：2007-03-08
申请号：US10560130
申请日：2004-06-11
申请人： Dragan Tubic , Patrick Hebert , Denis Laurendeau
发明人： Dragan Tubic , Patrick Hebert , Denis Laurendeau
IPC分类号： G01B11/30
CPC分类号： G06T17/20 , G01B21/045 , G05B19/4207 , G05B2219/36443 , G05B2219/36458 , G05B2219/36462
摘要： The present invention relates to a method and a system for creating three-dimensional models of objects from sets of arbitrary three-dimensional entities obtained from target surfaces. It also provides an efficient method for individually refining the alignment of curves to improve the accuracy of the surface model with a linear complexity with respect to the number of curves. The principle behind the invention is that a set of three-dimensional entities, at their approximate positions, creates a field from which the surface can be extracted. The field is constructed in a manner such that the three-dimensional entities are attracted toward the extracted surface. This attraction is used to accurately register each three-dimensional entity with respect to extracted surface. Through iterations, both the field and the entity positions are refined.
摘要翻译： 本发明涉及从目标表面获得的任意三维实体的集合中创建对象的三维模型的方法和系统。 它还提供了一种有效的方法，用于单独改进曲线的对齐，以相对于曲线数量的线性复杂度提高表面模型的精度。 本发明的原理在于，在其近似位置处的一组三维实体产生可以从其中提取表面的场。 该场被构造成使得三维实体被吸引到提取的表面。 这个吸引力用于相对于提取的表面精确地注册每个三维实体。 通过迭代，字段和实体位置都被改进。
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公开(公告)号：US20140085429A1
公开(公告)日：2014-03-27
申请号：US14122702
申请日：2012-06-07
申请人： Patrick Hébert , Dragan Tubic , Olivier Gignac , Éric Saint-Pierre , Félix Rochette , Alexandre Carette
发明人： Patrick Hébert , Dragan Tubic , Olivier Gignac , Éric Saint-Pierre , Félix Rochette , Alexandre Carette
IPC分类号： H04N13/02
CPC分类号： H04N13/275 , 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，预测姿态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。
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公开(公告)号：US08082120B2
公开(公告)日：2011-12-20
申请号：US12629279
申请日：2009-12-02
申请人： Éric St-Pierre , Pierre-Luc Gagné , Antoine Thomas Caron , Nicolas Beaupré , Dragan Tubic , Patrick Hébert
发明人： Éric St-Pierre , Pierre-Luc Gagné , Antoine Thomas Caron , Nicolas Beaupré , Dragan Tubic , Patrick Hébert
IPC分类号： H04N13/02
CPC分类号： G01B11/2513 , G01C11/02
摘要： A method and hand-held scanning apparatus for three-dimensional scanning of an object is described. The hand-held self-referenced scanning apparatus has a light source for illuminating retro-reflective markers, the retro-reflective markers being provided at fixed positions on or around the object, a photogrammetric high-resolution camera, a pattern projector for providing a projected pattern on a surface of the object; at least a pair of basic cameras, the basic camera cooperating with light sources, the projected pattern and at least a portion of the retro-reflective markers being apparent on the 2D images, a frame for holding all components in position within the hand-held apparatus, the frame having a handle, the frame allowing support and free movement of the scanning apparatus by a user.
摘要翻译： 描述用于对象的三维扫描的方法和手持式扫描装置。 手持式自参照扫描装置具有用于照明反光标记的光源，反射标记设置在物体上或周围的固定位置，摄影测量高分辨率照相机，用于提供投影的图案投影仪 对象表面上的图案; 至少一对基本相机，与光源协调的基本相机，投影图案和至少一部分回射标记在2D图像上显而易见的框架，用于将所有部件保持在手持式 装置，框架具有手柄，该框架允许用户支撑和扫描装置的自由移动。
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公开(公告)号：US20110074930A1
公开(公告)日：2011-03-31
申请号：US12959532
申请日：2010-12-03
申请人： Patrick HÉBERT , Éric ST-PIERRE , Dragan TUBIC
发明人： Patrick HÉBERT , Éric ST-PIERRE , Dragan TUBIC
CPC分类号： G01B11/245 , G01B11/2513 , G06T7/521
摘要： There is provided a method for obtaining three-dimensional surface points of an object in an object coordinate system having two groups of steps. The method first comprises providing a set of target positioning features on the object. In a first group of steps, acquiring at least a pair of 2D first images of the object, at least a first portion of the set of target positioning features being apparent on the pair of first images, extracting, from the 2D first images, at least two first sets of 2D positioning features from a reflection of the target positioning features of the first portion on the surface; calculating a first set of calculated 3D positioning features in the sensing device coordinate system using the first sets of 2D positioning features; computing first transformation parameters for characterizing a current spatial relationship between the sensing device coordinate system and the object coordinate system, cumulating the first set of transformed 3D positioning features to provide and augment the set of reference 3D positioning features. In a second group of steps, providing a projected pattern on a surface of the object using a pattern projector; acquiring at least a pair of 2D second images of the object by the cameras, the projected pattern and at least a second portion of the set of target positioning features being apparent on the pair of second images, extracting, from the 2D second images, at least one set of 2D surface points from a reflection of the projected pattern on the surface, and at least two second sets of 2D positioning features from a reflection of the target positioning features of the second portion on the surface; calculating a set of 3D surface points in the sensing device coordinate system using the set of 2D surface points; calculating a second set of calculated 3D positioning features in the sensing device coordinate system using the second sets of 2D positioning features; computing second transformation parameters for characterizing a current spatial relationship between the sensing device coordinate system and the object coordinate system, transforming the set of 3D surface points into a set of transformed 3D surface points in the object coordinate system using the second transformation parameters.
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9.发明授权公开(公告)号：US08284240B2
公开(公告)日：2012-10-09
申请号：US13055030
申请日：2009-07-30
申请人： Éric Saint-Pierre , Dragan Tubic , Patrick Hebert
发明人： Éric Saint-Pierre , Dragan Tubic , Patrick Hebert
IPC分类号： H04N15/00
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。 图案被投影在所述对象的表面上。 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，从所述投影图案在所述对象上的反射; 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2D表面几何/纹理特征。
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公开(公告)号：US20110134225A1
公开(公告)日：2011-06-09
申请号：US13055030
申请日：2009-07-30
申请人： Éric Saint-Pierre , Dragan Tubic , Patrick Hebert
发明人： Éric Saint-Pierre , Dragan Tubic , Patrick Hebert
IPC分类号： H04N13/02
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。 图案被投影在所述对象的表面上。 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，从所述投影图案在所述对象上的反射; 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2D表面几何/纹理特征。
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