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公开(公告)号：USD466062S1
公开(公告)日：2002-11-26
申请号：US29148200
申请日：2001-09-18
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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：US5946645A
公开(公告)日：1999-08-31
申请号：US831615
申请日：1997-04-09
申请人： Marc Rioux , Patrick Hebert
发明人： Marc Rioux , Patrick Hebert
CPC分类号： G06T17/10
摘要： A three dimensional imaging method and device including a ranging sensor that is used to produce a series of profiles of a target surface. The profiles comprise one set of profiles nearly parallel to each other and a further such set of nearly parallel profiles, with the profiles of one set extending at an angle to those of the other set to generate a large number of profile crossings. At the location of each crossing the shortest distance between the profiles is detected and represents an energy contribution between this pair of profiles. An energy function is defined as the sum of the energy contributions of all the crossings. Using a known mathematical model, the profiles are then reoriented relative to each other in such a manner as to minimise this total energy. This process can be repeated for higher precision. The finally reoriented profiles can be used to define the desired three-dimensional shape of the target surface.
摘要翻译： 一种三维成像方法和装置，包括用于产生目标表面的一系列轮廓的测距传感器。 轮廓包括彼此近似平行的一组轮廓，以及另外一组几乎平行的轮廓，其中一组的轮廓与另一组的轮廓成一角度地延伸以产生大量轮廓交叉。 在每个交叉点的位置处，检测到轮廓之间的最短距离，并且表示该对轮廓之间的能量贡献。 能量函数定义为所有交叉点的能量贡献的总和。 使用已知的数学模型，然后以使得该总能量最小化的方式相对于彼此重新定向轮廓。 可以重复该过程以获得更高的精度。 最终重定向的轮廓可用于定义目标表面的所需三维形状。
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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
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。
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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。
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6.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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公开(公告)号：USD530249S1
公开(公告)日：2006-10-17
申请号：US29251623
申请日：2006-01-10
申请人： Johnathan Norman , Patrick Hebert , Masaya Kikuchi
设计人： Johnathan Norman , Patrick Hebert , Masaya Kikuchi
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9.发明授权Electrode assembly for electrotherapy comprising an adherent layer and an absorbent component for supplying water to said adherent layer 失效用于电疗的电极组件包括粘附层和用于向所述粘附层供水的吸收剂组分
公开(公告)号：US6122554A
公开(公告)日：2000-09-19
申请号：US120404
申请日：1998-07-22
申请人： Herve Coral , Patrick Hebert
发明人： Herve Coral , Patrick Hebert
CPC分类号： A61N1/0492 , A61N1/0452
摘要： An electrode assembly for electrotherapy which is usable with a DC current generator which offers divided or biphase emission. The aforementioned assembly contains a conductive component (1) covered with a layer (3) of an adherent material of hydrogel, as well as an absorbent component for supplying water to the adherent material during use of the assembly. The absorbent component is filled with water and is situated between the conductive component (1) and the layer (3) of adherent material of hydrogel, so as to store and supply water to the adherent hydrogel layer.
摘要翻译： 用于电疗的电极组件，其可用于提供分开或双相发射的DC电流发生器。 上述组件包含被水凝胶的粘合材料层（3）覆盖的导电组分（1），以及用于在组装使用期间向附着材料供水的吸收组分。 吸收剂组分充满水并且位于导电组分（1）和水凝胶的粘附材料层（3）之间，以便将水储存并供应到粘附的水凝胶层。
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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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