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1. 发明申请

US20100134598A1 HAND-HELD SELF-REFERENCED APPARATUS FOR THREE-DIMENSIONAL SCANNING 有权
标题翻译：手持式自适应三维扫描仪
公开(公告)号：US20100134598A1
公开(公告)日：2010-06-03
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。

2. 发明申请

US20110074929A1 AUTO-REFERENCED SENSING DEVICE FOR THREE-DIMENSIONAL SCANNING 有权
标题翻译：用于三维扫描的自动参考感应装置
公开(公告)号：US20110074929A1
公开(公告)日：2011-03-31
申请号：US12959517
申请日：2010-12-03
申请人： Patrick HÉBERT , Éric ST-PIERRE , Dragan TUBIC
发明人： Patrick HÉBERT , Éric ST-PIERRE , Dragan TUBIC
IPC分类号： H04N13/02
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 in an object coordinate system, comprising: a Light-Emitting Diode (LED) light source emitting light for illuminating and enabling image acquisition of at least a portion of a set of retro-reflective target positioning features, wherein each of the retro-reflective target positioning features is 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 at least two of the retro-reflective target positioning features in the portion of the set; at least a pair of cameras each for simultaneously acquiring a 2D image of the object, wherein both the projected laser pattern and the portion of the set of retro-reflective target positioning features are apparent on the simultaneous images, a spatial relationship between the pair of cameras being known, the LED light source being provided in close proximity to the at least the pair of cameras; wherein the portion of the set of retro-reflective target positioning features reflect at least part of the light emitted by the LED light source towards the cameras; wherein the simultaneous images acquired by the pair of cameras contain both positioning measurements made available from the portion of the set of retro-reflective target positioning features apparent on the images and dense surface measurements made available from the points enabled by the projected laser pattern apparent on the images.
摘要翻译：一种用于扫描物体以在物体坐标系中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，用于照亮并且使得能够图像获取至少一部分一组回射目标定位特征，其中每个反射目标定位特征设置在物体上的固定位置; 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，用于照亮并且使得能够在部分中的至少两个反射目标定位特征之间的至少两个复合点组; 至少一对摄像机，用于同时获取对象的2D图像，其中所述投影激光图案和所述一组回射目标定位特征的所述部分在所述同时图像上是明显的，所述一对所述相机是已知的，所述LED光源被提供在所述至少一对照相机附近; 其中所述一组回射目标定位特征的所述部分将由所述LED光源发射的光的至少一部分反射到所述照相机; 其中通过该对照相机获取的同时图像包含从图像上显而易见的一组回射目标定位特征的部分获得的定位测量值和从由投影激光图案可见的点可用的致密表面测量可用图像。

3. 发明申请

US20110074930A1 AUTO-REFERENCED SENSING METHOD FOR THREE-DIMENSIONAL SCANNING 有权
公开(公告)号：US20110074930A1
公开(公告)日：2011-03-31
申请号：US12959532
申请日：2010-12-03
申请人： Patrick HÉBERT , Éric ST-PIERRE , Dragan TUBIC
发明人： Patrick HÉBERT , Éric ST-PIERRE , Dragan TUBIC
IPC分类号： H04N13/02 , G06K9/00
CPC分类号： G01B11/245 , G01B11/2513 , G06T7/521
摘要： There is provided a method for obtaining three-dimensional surface points of an object in an object coordinate system having two groups of steps. The method first comprises providing a set of target positioning features on the object. In a first group of steps, acquiring at least a pair of 2D first images of the object, at least a first portion of the set of target positioning features being apparent on the pair of first images, extracting, from the 2D first images, at least two first sets of 2D positioning features from a reflection of the target positioning features of the first portion on the surface; calculating a first set of calculated 3D positioning features in the sensing device coordinate system using the first sets of 2D positioning features; computing first transformation parameters for characterizing a current spatial relationship between the sensing device coordinate system and the object coordinate system, 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 using a pattern projector; acquiring at least a pair of 2D second images of the object by the cameras, the projected pattern and at least a second portion of the set of target positioning features being apparent on the pair of second images, extracting, from the 2D second images, at least one set of 2D surface points from a reflection of the projected pattern on the surface, and at least two second sets of 2D positioning features from a reflection of the target positioning features of the second portion on the surface; calculating a set of 3D surface points in the sensing device coordinate system using the set of 2D surface points; calculating a second set of calculated 3D positioning features in the sensing device coordinate system using the second sets of 2D positioning features; computing second transformation parameters for characterizing a current spatial relationship between the sensing device coordinate system and the object coordinate system, transforming the set of 3D surface points into a set of transformed 3D surface points in the object coordinate system using the second transformation parameters.

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