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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：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：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：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：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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9.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：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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