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公开(公告)号：US08330803B2
公开(公告)日：2012-12-11
申请号：US12459640
申请日：2009-07-06
IPC分类号： H04N13/02
CPC分类号： G01B11/25 , G01B2210/52 , G06T7/593 , G06T2207/10012
摘要： In a method for 3D digitization of an object (1), a plurality of camera images of the object are recorded and assembled to determine the 3D coordinates of the object. To improve such method, pictures are taken from the object (1), from which 2D feature points (11, 12, 13; 21, 22, 23) of the object (1) are determined. The 3D coordinates of the 2D feature points are determined. The 2D point correspondences (32, 32, 22) between the 2D feature points of a picture and the 2D feature points of another picture are determined. Several of these 2D point correspondences are selected, and an associated 3D transformation is determined. The quality of this 3D transformation is determined with reference to the transformed 3D coordinates of the 2D feature points. Valid 3D feature points are determined therefrom. For assembling the camera images of the object (1), the 3D coordinates of the valid 3D feature points are used.
摘要翻译： 在用于对象（1）的3D数字化的方法中，记录和组合对象的多个相机图像以确定对象的3D坐标。 为了改善这种方法，从物体（1）取出图像，从物体（1）的2D特征点（11,12,13,21,23,23）确定。 确定2D特征点的3D坐标。 确定图像的2D特征点与另一图像的2D特征点之间的2D点对应（32,32,22）。 选择这些2D点对应中的几个，并且确定相关联的3D变换。 参考2D特征点的变换3D坐标来确定该3D变换的质量。 确定有效的3D特征点。 为了组装对象（1）的相机图像，使用有效3D特征点的3D坐标。
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2.发明申请公开(公告)号：US20090284757A1
公开(公告)日：2009-11-19
申请号：US12383519
申请日：2009-03-25
IPC分类号： G01B11/24
CPC分类号： G01B11/25
摘要： In a method for the determination of the 3D coordinates of an object (2), a pattern is projected (1) onto the object (2) and the pattern reflected by the object (2) is taken (3) and evaluated. To improve such a method, a pattern is projected onto a first part region (12) of the object (2) in a first step and the pattern reflected by this part region (12) of the object (2) is taken. In a second step, a pattern is projected onto a second part region of the object (2) and the pattern reflected by this part region of the object (2) is taken. The patterns taken are evaluated (FIG. 3).
摘要翻译： 在用于确定对象（3）的3D坐标的方法中，将图案投影（1）到对象（2）上，并且取得由对象（2）反射的图案（3）并进行评估。 为了改善这种方法，在第一步骤中将图案投影到物体（2）的第一部分区域（12）上，并且拍摄由物体（2）的该部分区域（12）反射的图案。 在第二步骤中，将图案投影到物体（2）的第二部分区域上，并且拍摄由物体（2）的该部分区域反射的图案。 评估所采用的图案（图3）。
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3.发明授权公开(公告)号：US08094322B2
公开(公告)日：2012-01-10
申请号：US12383519
申请日：2009-03-25
IPC分类号： G01B11/24
CPC分类号： G01B11/25
摘要： In a method for the determination of the 3D coordinates of an object (2), a pattern is projected (1) onto the object (2) and the pattern reflected by the object (2) is taken (3) and evaluated. To improve such a method, a pattern is projected onto a first part region (12) of the object (2) in a first step and the pattern reflected by this part region (12) of the object (2) is taken. In a second step, a pattern is projected onto a second part region of the object (2) and the pattern reflected by this part region of the object (2) is taken. The patterns taken are evaluated.
摘要翻译： 在用于确定对象（3）的3D坐标的方法中，将图案投影（1）到对象（2）上，并且取得由对象（2）反射的图案（3）并进行评估。 为了改善这种方法，在第一步骤中将图案投影到物体（2）的第一部分区域（12）上，并且拍摄由物体（2）的该部分区域（12）反射的图案。 在第二步骤中，将图案投影到物体（2）的第二部分区域上，并且拍摄由物体（2）的该部分区域反射的图案。 评估所采取的模式。
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公开(公告)号：US20100007719A1
公开(公告)日：2010-01-14
申请号：US12459640
申请日：2009-07-06
CPC分类号： G01B11/25 , G01B2210/52 , G06T7/593 , G06T2207/10012
摘要： In a method for 3D digitization of an object (1), a plurality of camera images of the object are recorded and assembled to determine the 3D coordinates of the object. To improve such method, pictures are taken from the object (1), from which 2D feature points (11, 12, 13; 21, 22, 23) of the object (1) are determined. The 3D coordinates of the 2D feature points are determined. The 2D point correspondences (32, 32, 22) between the 2D feature points of a picture and the 2D feature points of another picture are determined. Several of these 2D point correspondences are selected, and an associated 3D transformation is determined. The quality of this 3D transformation is determined with reference to the transformed 3D coordinates of the 2D feature points. Valid 3D feature points are determined therefrom. For assembling the camera images of the object (1), the 3D coordinates of the valid 3D feature points are used.
摘要翻译： 在用于对象（1）的3D数字化的方法中，记录和组合对象的多个相机图像以确定对象的3D坐标。 为了改善这种方法，从物体（1）取出图像，从物体（1）的2D特征点（11,12,13,21,23,23）确定。 确定2D特征点的3D坐标。 确定图像的2D特征点与另一图像的2D特征点之间的2D点对应（32,32,22）。 选择这些2D点对应中的几个，并且确定相关联的3D变换。 参考2D特征点的变换3D坐标来确定该3D变换的质量。 确定有效的3D特征点。 为了组装对象（1）的相机图像，使用有效3D特征点的3D坐标。
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5.发明申请APPARATUS AND METHOD FOR DETERMINING THE 3D COORDINATES OF AN OBJECT AND FOR CALIBRATING AN INDUSTRIAL ROBOT 审中-公开用于确定对象的3D坐标和用于校准工业机器人的装置和方法公开(公告)号：US20130050410A1
公开(公告)日：2013-02-28
申请号：US13397056
申请日：2012-02-15
IPC分类号： H04N13/00
CPC分类号： G01B11/25 , G01B21/042
摘要： An improved apparatus for determining the 3D coordinates of an object (1) includes a projector (10) for projecting a pattern onto the object (1), a camera (11) connected to the projector (10) for taking the object (1), and a reference camera (16) connected to the projector (10) and to the camera (11) for taking one or more reference marks (6, 24) of a field (25) of reference marks (only FIGURE).
摘要翻译： 一种用于确定物体（1）的3D坐标的改进的装置包括：用于将图案投射到物体（1）上的投影仪（10），连接到用于拍摄物体（1）的投影仪（10）的照相机（11） 以及连接到投影仪（10）和相机（11）的参考相机（16），用于获取参考标记的场（25）的一个或多个参考标记（6,24）（仅图示）。
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公开(公告)号：US08345954B2
公开(公告)日：2013-01-01
申请号：US12231952
申请日：2008-09-08
IPC分类号： G06K9/00
CPC分类号： G01B11/2545
摘要： This invention relates to a method and an apparatus for the three-dimensional digitization of objects with a 3D sensor, which comprises a projector and one or more cameras, in which a pattern is projected onto the object by means of the projector, and the pattern is detected with the one or more cameras. In accordance with the invention, the method and the apparatus are characterized in that at least three reference marks and/or a reference raster are projected onto the object with the 3D sensor and are detected with two or more external, calibrated digital cameras.
摘要翻译： 本发明涉及一种使用3D传感器对物体进行三维数字化的方法和装置，该3D传感器包括投影仪和一个或多个照相机，其中通过投影仪将图案投射到物体上，并且图案 用一个或多个相机检测。 根据本发明，所述方法和装置的特征在于，使用3D传感器将至少三个参考标记和/或参考光栅投射到物体上，并且用两个或更多个外部校准的数字照相机进行检测。
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公开(公告)号：US20100149524A1
公开(公告)日：2010-06-17
申请号：US12482712
申请日：2009-06-11
IPC分类号： G01B11/26
CPC分类号： G01B11/002 , G01B11/25 , G01S5/163
摘要： The present invention relates to a method and a device for determining the spatial position of a sensor, in which a rough position information initially is determined by rough detection of the position of the sensor, and then the more accurate position of the sensor is obtained by measuring at least three reflectors mounted on the sensor with a laser tracker, wherein the search region of the laser of the laser tracker is limited for the reflectors with reference to the rough position information.
摘要翻译： 本发明涉及一种用于确定传感器的空间位置的方法和装置，其中通过粗略检测传感器的位置来确定粗略位置信息，然后通过以下方式获得更准确的传感器位置： 使用激光跟踪器测量安装在传感器上的至少三个反射器，其中参考粗略位置信息，激光跟踪器的激光的搜索区域被限制用于反射器。
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公开(公告)号：US08213003B2
公开(公告)日：2012-07-03
申请号：US12482712
申请日：2009-06-11
CPC分类号： G01B11/002 , G01B11/25 , G01S5/163
摘要： The present invention relates to a method and a device for determining the spatial position of a sensor, in which a rough position information initially is determined by rough detection of the position of the sensor, and then the more accurate position of the sensor is obtained by measuring at least three reflectors mounted on the sensor with a laser tracker, wherein the search region of the laser of the laser tracker is limited for the reflectors with reference to the rough position information.
摘要翻译： 本发明涉及一种用于确定传感器的空间位置的方法和装置，其中通过粗略检测传感器的位置来确定粗略位置信息，然后通过以下方式获得更准确的传感器位置： 使用激光跟踪器测量安装在传感器上的至少三个反射器，其中参考粗略位置信息，激光跟踪器的激光的搜索区域被限制用于反射器。
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公开(公告)号：US20090080766A1
公开(公告)日：2009-03-26
申请号：US12231952
申请日：2008-09-08
IPC分类号： G06T15/00
CPC分类号： G01B11/2545
摘要： This invention relates to a method and an apparatus for the three-dimensional digitization of objects with a 3D sensor, which comprises a projector and one or more cameras, in which a pattern is projected onto the object by means of the projector, and the pattern is detected with the one or more cameras. In accordance with the invention, the method and the apparatus are characterized in that at least three reference marks and/or a reference raster are projected onto the object with the 3D sensor and are detected with two or more external, calibrated digital cameras.
摘要翻译： 本发明涉及一种使用3D传感器对物体进行三维数字化的方法和装置，该3D传感器包括投影仪和一个或多个照相机，其中通过投影仪将图案投射到物体上，并且图案 用一个或多个相机检测。 根据本发明，所述方法和装置的特征在于，使用3D传感器将至少三个参考标记和/或参考光栅投射到物体上，并且用两个或更多个外部校准的数字照相机进行检测。
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公开(公告)号：US09671220B2
公开(公告)日：2017-06-06
申请号：US12560704
申请日：2009-09-16
CPC分类号： G01B11/245 , A61C9/0053 , A61C9/006 , G01B11/03 , G01B11/2513 , G01C11/02
摘要： A scanner is used for scanning an object, in particular one or more teeth (13, 14, 15) or a dental cast. An improved scanner comprises a carrier (2) on which a plurality of projectors (4) for projecting a pattern onto the object and a plurality of cameras (5) for recording the object are provided one beside the other in an array.
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