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

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。 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。

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

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。 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。

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

IPC分类号： G01C9/00 ,  G01B11/30 ,  G06K9/36

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。

公开(公告)号：US08140295B2

公开(公告)日：2012-03-20

申请号：US12959517

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

IPC分类号： G01C9/00 ,  G01B11/30 ,  G06K9/36

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, including: a Light-Emitting Diode (LED) light source emitting light for illuminating and enabling image acquisition of retro-reflective target positioning features 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 the retro-reflective target positioning features; at least a pair of cameras for simultaneously acquiring a 2D image of the object, the projected laser pattern and the retro-reflective target positioning features are apparent on the image, wherein the simultaneous images contain both positioning measurements from the retro-reflective target positioning features and dense surface measurements from the points enabled by the projected laser pattern.

摘要翻译： 一种用于扫描对象以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，用于照亮并实现设置在固定位置的反射目标定位特征的图像采集 对象; 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，用于照亮并实现在反射目标定位特征之间的致密点的图像采集; 用于同时获取对象的2D图像的投影激光图案和反射目标定位特征的至少一对相机在图像上是明显的，其中同时图像包含来自反射目标定位特征的定位测量 并从由投影激光图案启用的点进行密集表面测量。

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

IPC分类号： G01C9/00 ,  G01B11/30 ,  G06K9/36

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。

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。

公开(公告)号：US09325974B2

公开(公告)日：2016-04-26

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： H04N15/00 ,  H04N13/02 ,  G01S5/16 ,  G06T7/00

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。

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。

公开(公告)号：US20080201101A1

公开(公告)日：2008-08-21

申请号：US11817300

申请日：2006-03-13

申请人： Patrick Hebert ,  Eric Saint-Pierre ,  Dragan Tubic

发明人： Patrick Hebert ,  Eric Saint-Pierre ,  Dragan Tubic

IPC分类号： G06F15/00

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 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： 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在全局坐标系中集成3D测量所需的6自由度变换。 系统从物体表面上的投影激光图案的反射和源自观察目标定位特征的2D定位特征连续计算其自身的位置和方向。 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：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。