초록 ▼

Systems for acquiring an approximation of the surface geometry of a 3-dimensional object include a self-powered wireless, non-contact optical scanner, the location and orientation of which may be tracked with respect to an object coordinate system, and a processor configured for projecting a pattern

Systems for acquiring an approximation of the surface geometry of a 3-dimensional object include a self-powered wireless, non-contact optical scanner, the location and orientation of which may be tracked with respect to an object coordinate system, and a processor configured for projecting a pattern of structured light on the object, moving the pattern with respect to the object, acquiring images of the intersection of the light on the object over time, determining local coordinates of points on the intersection with respect to the pattern, tracking the position of the pattern, transforming the local coordinates to object coordinates, and accumulating the points as a model of the surface of the object. The systems may wirelessly and possibly compactly transmit geometrical data which characterizes an intersection for a given position of the scanner with respect to the object.

대표청구항 ▼

We claim: 1. A system for acquiring an approximation of a surface geometry of a 3-dimensional object within a 3-dimensional object coordinate system in known relationship to the object, wherein the system comprises: a non-contact scanner, including: a source of structured light; an imaging electro-

We claim: 1. A system for acquiring an approximation of a surface geometry of a 3-dimensional object within a 3-dimensional object coordinate system in known relationship to the object, wherein the system comprises: a non-contact scanner, including: a source of structured light; an imaging electro-optical sensor; an image processor; a wireless data transmitter; and at least one position indicator; a scanner tracking subsystem configured to determine essentially continuously the 3D position of the non-contact scanner as well as the 3D position of the structured light at the times when the imaging electro-optical sensor acquires an image; a wireless data receiver configured to receive data transmitted from the wireless data transmitter; and a computer, in communication with the receiver, configured to correlate each received datum temporally with a corresponding 3D scanner position, to transform the data into coordinates relative to the object coordinate system according to the corresponding position of the scanner, and to accumulate the transformed coordinates as 3-dimensional surface points to model the object virtually. 2. The system of claim 1, wherein the non-contact scanner is a 1-dimensional displacement sensor. 3. The system of claim 1, wherein the source of structured light intersects with the object at a singular point. 4. The system of claim 1, wherein the imaging electro-optical sensor is a video camera. 5. The system of claim 1, wherein the non-contact scanner is a laser stripe triangulation scanner. 6. The system of claim 1, wherein the source of structured light intersects with the object as at least one stripe of light. 7. The system of claim 1, wherein the image processor excludes all sensor data, except data which characterizes an intersection of the structured light with the object. 8. The system of claim 1, wherein the data transmitted by the transmitter comprises 3D coordinates of one or more points where the structured light intersects with the object, further wherein the coordinates are relative to a coordinate system in known relationship to the source of structured light. 9. The system of claim 1, wherein the data transmitted by the transmitter comprises 3D coordinates of one or more points where the structured light intersects with the object, further wherein the coordinates are relative to a coordinate system in known relationship to the sensor. 10. The system of claim 1, wherein the data transmitted by the transmitter comprises image coordinates of one or more points in a 2D image of a 3D intersection of the structured light with the object. 11. The system of claim 10, wherein the 3D coordinates of one or more points in the intersection are computed after the transmitted data is received by the receiver. 12. The system of claim 1, wherein the data is transmitted by an industry standard communication protocol. 13. The system of claim 1, wherein the data is transmitted by a proprietary communication protocol. 14. The system of claim 1, wherein the scanner tracking subsystem tracks the position of the structured light by tracking a least one position indicator on an assembly which houses the source of the light. 15. The system of claim 1, wherein the computer additionally generates a tessellation of patches representing the surface of the object based on accumulated transformed coordinates. 16. The system of claim 1, wherein the data transmitted by the transmitter includes a representation of the color of at least one point on the surface of the object. 17. A system for scanning an object and constructing a 3-dimensional model of the object in a computer, comprising: a non-contact scanner, including: a source of structured light; an imaging electro-optical sensor; an image processor capable of processing scanner data and generating therefrom coordinate data characterizing a portion of the geometry of the object relative to a scanner coordinate system in known relationship to the scanner; a wireless data transmitter to transmit some portion of the scanner and coordinate data; and at least one position indicator; a scanner tracking subsystem which determines one or more 3D positions of the non-contact scanner, each position relative to the object and at a known point in time; and a computer, connected to a receiver, for receiving the transmitted data and capable of correlating each coordinate datum with the temporally corresponding scanner position, transforming each datum into coordinates relative to a coordinate system in known relationship to the object, according to the corresponding positions of the scanner, and accumulating the coordinates to produce a model the object. 18. The system of claim 17, wherein the scanner further includes an energy source. 19. The system of claim 18, wherein the scanner, image processor, data transmitter, and energy source are collocated.