Portable 3-D scanning system and method for rapid shape digitizing and adaptive mesh generation

Claim 1

A portable system for determining a three-dimensional profile of an object comprising: a light-source unit for projecting a stripe of light onto said object and creating a luminous contour line at an intersection of said stripe of light and said object, said light-source unit being adapted to variably position said stripe of light onto said object; an image-detecting device for detecting a sequence of images each containing at least one image of luminous contour line, said image-detecting device producing for each image signals representative of said each image, including signals representative of two-dimensional coordinates of detected contour line, wherein said image-detecting device is one of a TV camera, a video camera and a CCD camera; an angle indicator for generating a signal related to an angle of approach of said stripe of light onto said object for at least one position of said stripe of light on said object; and at least one data storage for storing at least one of pulse signals, audio signals and video signals, wherein said signals representative of said each image are stored as video signals and one of said signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object and a signal derived from said signal related to said angle of approach of said stripe of light is stored as one of a pulse signal, an audio signal and a video signal.

Claim 33

A system for determining a three-dimensional profile of an object comprising: a light-source unit for projecting a stripe of light onto said object and creating a luminous contour line at an intersection of said stripe of light and said object, said light-source unit being adapted to variably position said stripe of light onto said object, wherein said light-source unit has a light-stripe generator and a multi-faceted mirror rotatingly driven by a motor at a known angular velocity for variably deflecting said stripe of light onto said object; an image-detecting device for detecting a sequence of images each containing at least one image of luminous contour line, said image-detecting device producing for each image signals representative of said each image, including signals representative of two-dimensional coordinates of detected contour line, wherein said image-detecting device is located relative to said multi-faceted rotating mirror at a known position, and wherein depth coordinates corresponding to said two-dimensional coordinates of said detected contour line for each image are calculable by triangulation based on an angle of approach of said stripe of light onto said object corresponding to said detected contour line, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined, and wherein said signals representative of said each image and said signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object are each stored on a data storage medium, and wherein said stored signals are subsequently processed by a data-processing apparatus to determine said plurality of three-dimensional coordinates representative of said three-dimensional profile of said object; an angle indicator for generating a signal related to an angle of approach of said stripe of light onto said object for at least one position of said stripe of light on said object, wherein said angle indicator is a pulse-generator for providing at least one pulse per one rotation of said motor, said at least one pulse corresponding to a known angular position of said motor, and wherein an angle of approach of said stripe of light onto said object at any given time is calculable based on said known angular position of said motor and time of occurrence of said at least one pulse corresponding to said known angular position of said motor; and a lamp operationally coupled to said at least one pulse corresponding to said known angular position of said motor, said lamp being turned on during a finite period of time corresponding to said occurrence of said at least one pulse corresponding to said known angular position of said motor; wherein said angle of approach of said stripe of light onto said object corresponding to each detected contour line is calculable based on said known angular velocity of said motor and said stored signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object; and wherein time of occurrence of said at least one pulse corresponding to said known angular position of said motor is ascertainable based on relative brightness of said detected sequence of images as indicated by said stored signals representative of said detected sequence of images.

Claim 34

A system for determining a three-dimensional profile of an object comprising: a light-source unit for projecting a stripe of light onto said object and creating a luminous contour line at an intersection of said stripe of light and said object, said light-source unit being adapted to variably position said stripe of light onto said object, wherein said light-source unit has a light-stripe generator and a multi-faceted mirror rotatingly driven by a motor at a known angular velocity for variably deflecting said stripe of light onto said object; an image-detecting device for detecting a sequence of images each containing at least one image of luminous contour line, said image-detecting device producing for each image signals representative of said each image, including signals representative of two-dimensional coordinates of detected contour line, wherein said image-detecting device is located relative to said multi-faceted rotating mirror at a known position, and wherein depth coordinates corresponding to said two-dimensional coordinates of said detected contour line for each image are calculable by triangulation based on an angle of approach of said stripe of light onto said object corresponding to said detected contour line, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined, and wherein said signals representative of said each image and said signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object are each stored on a data storage medium, and wherein said stored signals are subsequently processed by a data-processing apparatus to determine said plurality of three-dimensional coordinates representative of said three-dimensional profile of said object; an angle indicator for generating a signal related to an angle of approach of said stripe of light onto said object for at least one position of said stripe of light on said object, wherein said angle indicator is a pulse-generator for providing at least one pulse per one rotation of said motor, said at least one pulse corresponding to a known angular position of said motor, and wherein an angle of approach of said stripe of light onto said object at any given time is calculable based on said known angular position of said motor and time of occurrence of said at least one pulse corresponding to said known angular position of said motor; and a lamp operationally coupled to said at least one pulse corresponding to said known angular position of said motor, said lamp being turned on during a finite period of time corresponding to said occurrence of said at least one pulse corresponding to said known angular position of said motor; wherein said angle of approach of said stripe of light onto said object corresponding to each detected contour line is calculable based on said known angular velocity of said motor and said stored signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object; and wherein time of occurrence of said at least one pulse corresponding to said known angular position of said motor is ascertainable based on relative brightness of said detected sequence of images as indicated by said stored signals representative of said detected sequence of images.

Claim 35

A system for determining a three-dimensional profile of an object comprising: a light-source unit for projecting a stripe of light onto said object and creating a luminous contour line at an intersection of said stripe of light and said object, said light-source unit being adapted to variably position said stripe of light onto said object, wherein said light-source unit has a light-stripe generator and a multi-faceted mirror rotatingly driven by a motor at a known angular velocity for variably deflecting said stripe of light onto said object; an image-detecting device for detecting a sequence of images each containing at least one image of luminous contour line, said image-detecting device producing for each image signals representative of said each image, including signals representative of two-dimensional coordinates of detected contour line, wherein said image-detecting device is located relative to said multi-faceted rotating mirror at a known position, and wherein depth coordinates corresponding to said two-dimensional coordinates of said detected contour line for each image are calculable by triangulation based on an angle of approach of said stripe of light onto said object corresponding to said detected contour line, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined, and wherein said signals representative of said each image and said signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object are each stored on a data storage medium, and wherein said stored signals are subsequently processed by a data-processing apparatus to determine said plurality of three-dimensional coordinates representative of said three-dimensional profile of said object; an angle indicator for generating a signal related to an angle of approach of said stripe of light onto said object for at least one position of said stripe of light on said object, wherein said angle indicator is an optical encoder for providing a plurality of signals per one rotation of said motor, said plurality of signals corresponding to known angular positions of said motor, and wherein an angle of approach of said stripe of light onto said object at any given time is calculable based on said known angular positions of said motor and respective times of occurrence of said plurality of signals corresponding to said known angular positions of said motor; and a lamp operationally coupled to said plurality of signals corresponding to said known angular positions of said motor, said lamp being turned on during a finite period of time corresponding to each occurrence of said plurality of signals corresponding to said known angular positions of said motor; wherein said angle of approach of said stripe of light onto said object corresponding to each detected contour line is calculable based on said known angular velocity of said motor and said stored signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object; and wherein respective times of occurrence of said plurality of signals corresponding to said known angular positions of said motor are ascertainable based on relative brightness of said detected sequence of images as indicated by said stored signals representative of said detected sequence of images.

Claim 36

A system for determining a three-dimensional profile of an object comprising: a light-source unit for projecting a stripe of light onto said object and creating a luminous contour line at an intersection of said stripe of light and said object, said light-source unit being adapted to variably position said stripe of light onto said object, wherein said light-source unit has a light-stripe generator and a multi-faceted mirror rotatingly driven by a motor at a known angular velocity for variably deflecting said stripe of light onto said object; an image-detecting device for detecting a sequence of images each containing at least one image of luminous contour line, said image-detecting device producing for each image signals representative of said each image, including signals representative of two-dimensional coordinates of detected contour line, wherein said image-detecting device is located relative to said multi-faceted rotating mirror at a known position, and wherein depth coordinates corresponding to said two-dimensional coordinates of said detected contour line for each image are calculable by triangulation based on an angle of approach of said stripe of light onto said object corresponding to said detected contour line, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined, and wherein said signals representative of said each image and said signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object are each stored on a data storage medium, and wherein said stored signals are subsequently processed by a data-processing apparatus to determine said plurality of three-dimensional coordinates representative of said three-dimensional profile of said object; an angle indicator for generating a signal related to an angle of approach of said stripe of light onto said object for at least one position of said stripe of light on said object, wherein said angle indicator is an optical encoder for providing a plurality of signals per one rotation of said motor, said plurality of signals corresponding to known angular positions of said motor, and wherein an angle of approach of said stripe of light onto said object at any given time is calculable based on said known angular positions of said motor and respective times of occurrence of said plurality of signals corresponding to said known angular positions of said motor; and a lamp operationally coupled to said plurality of signals corresponding to said known angular positions of said motor, said lamp being turned on during a finite period of time corresponding to each occurrence of said plurality of signals corresponding to said known angular positions of said motor; wherein said angle of approach of said stripe of light onto said object corresponding to each detected contour line is calculable based on said known angular velocity of said motor and said stored signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object; and wherein respective times of occurrence of said plurality of signals corresponding to said known angular positions of said motor are ascertainable based on relative brightness of said detected sequence of images as indicated by said stored signals representative of said detected sequence of images.

Claim 37

A system for determining a three-dimensional profile of an object comprising: a light-source unit for projecting a stripe of light onto said object and creating a luminous contour line at an intersection of said stripe of light and said object, said light-source unit being adapted to variably position said stripe of light onto said object, wherein said light-source unit has a light-stripe generator and a holographic disc rotatingly driven by a motor at a known angular velocity for variably deflecting said stripe of light onto said object; an image-detecting device for detecting a sequence of images each containing at least one image of luminous contour line, said image-detecting device producing for each image signals representative of said each image, including signals representative of two-dimensional coordinates of detected contour line, wherein said image-detecting device is located relative to said rotating holographic disc at a known position, and wherein depth coordinates corresponding to said two-dimensional coordinates of said detected contour line for each image are calculable by triangulation based on an angle of approach of said stripe of light onto said object corresponding to said detected contour line, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined, and wherein said signals representative of said each image and said signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object are each stored on a data storage medium, and wherein said stored signals are subsequently processed by a data-processing apparatus to determine said plurality of three-dimensional coordinates representative of said three-dimensional profile of said object; an angle indicator for generating a signal related to an angle of approach of said stripe of light onto said object for at least one position of said stripe of light on said object, wherein said angle indicator is a pulse-generator for providing at least one pulse per one rotation of said motor, said at least one pulse corresponding to a known angular position of said motor, and wherein an angle of approach of said stripe of light onto said object at any given time is calculable based on said known angular position of said motor and time of occurrence of said at least one pulse corresponding to said known angular position of said motor; and a lamp operationally coupled to said at least one pulse corresponding to said known angular position of said motor, said lamp being turned on during a finite period of time corresponding to said occurrence of said at least one pulse corresponding to said known angular position of said motor; wherein said angle of approach of said stripe of light onto said object corresponding to each detected contour line is calculable based on said known angular velocity of said motor and said stored signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object; and wherein time of occurrence of said at least one pulse corresponding to said known angular position of said motor is ascertainable based on relative brightness of said detected sequence of images as indicated by said stored signals representative of said detected sequence of images.

Claim 38

A system for determining a three-dimensional profile of an object comprising: a light-source unit for projecting a stripe of light onto said object and creating a luminous contour line at an intersection of said stripe of light and said object, said light-source unit being adapted to variably position said stripe of light onto said object, wherein said light-source unit has a light-stripe generator and a holographic disc rotatingly driven by a motor at a known angular velocity for variably deflecting said stripe of light onto said object; an image-detecting device for detecting a sequence of images each containing at least one image of luminous contour line, said image-detecting device producing for each image signals representative of said each image, including signals representative of two-dimensional coordinates of detected contour line, wherein said image-detecting device is located relative to said rotating holographic disc at a known position, and wherein depth coordinates corresponding to said two-dimensional coordinates of said detected contour line for each image are calculable by triangulation based on an angle of approach of said stripe of light onto said object corresponding to said detected contour line, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined, and wherein said signals representative of said each image and said signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object are each stored on a data storage medium, and wherein said stored signals are subsequently processed by a data-processing apparatus to determine said plurality of three-dimensional coordinates representative of said three-dimensional profile of said object; an angle indicator for generating a signal related to an angle of approach of said stripe of light onto said object for at least one position of said stripe of light on said object, wherein said angle indicator is a pulse-generator for providing at least one pulse per one rotation of said motor, said at least one pulse corresponding to a known angular position of said motor, and wherein an angle of approach of said stripe of light onto said object at any given time is calculable based on said known angular position of said motor and time of occurrence of said at least one pulse corresponding to said known angular position of said motor; and a lamp operationally coupled to said at least one pulse corresponding to said known angular position of said motor, said lamp being turned on during a finite period of time corresponding to said occurrence of said at least one pulse corresponding to said known angular position of said motor; wherein said angle of approach of said stripe of light onto said object corresponding to each detected contour line is calculable based on said known angular velocity of said motor and said stored signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object; and wherein time of occurrence of said at least one pulse corresponding to said known angular position of said motor is ascertainable based on relative brightness of said detected sequence of images as indicated by said stored signals representative of said detected sequence of images.

Claim 39

A system for determining a three-dimensional profile of an object comprising: a light-source unit for projecting a stripe of light onto said object and creating a luminous contour line at an intersection of said stripe of light and said object, said light-source unit being adapted to variably position said stripe of light onto said object, wherein said light-source unit has a light-stripe generator and a holographic disc rotatingly driven by a motor at a known angular velocity for variably deflecting said stripe of light onto said object; an image-detecting device for detecting a sequence of images each containing at least one image of luminous contour line, said image-detecting device producing for each image signals representative of said each image, including signals representative of two-dimensional coordinates of detected contour line, wherein said image-detecting device is located relative to said rotating holographic disc at a known position, and wherein depth coordinates corresponding to said two-dimensional coordinates of said detected contour line for each image are calculable by triangulation based on an angle of approach of said stripe of light onto said object corresponding to said detected contour line, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined, and wherein said signals representative of said each image and said signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object are each stored on a data storage medium, and wherein said stored signals are subsequently processed by a data-processing apparatus to determine said plurality of three-dimensional coordinates representative of said three-dimensional profile of said object; an angle indicator for generating a signal related to an angle of approach of said stripe of light onto said object for at least one position of said stripe of light on said object, wherein said angle indicator is an optical encoder for providing a plurality of signals per one rotation of said motor, said plurality of signals corresponding to known angular positions of said motor, and wherein an angle of approach of said stripe of light onto said object at any given time is calculable based on said known angular positions of said motor and time of occurrence of said plurality of signals corresponding to said known angular positions of said motor; and a lamp operationally coupled to said plurality of signals corresponding to said known angular positions of said motor, said lamp being turned on during a finite period of time corresponding to each occurrence of said plurality of signals corresponding to said known angular positions of said motor; wherein said angle of approach of said stripe of light onto said object corresponding to each detected contour line is calculable based on said known angular velocity of said motor and said stored signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object; and wherein respective times of occurrence of said plurality of signals corresponding to said known angular positions of said motor are ascertainable based on relative brightness of said detected sequence of images as indicated by said stored signals representative of said detected sequence of images.

Claim 40

A system for determining a three-dimensional profile of an object comprising: a light-source unit for projecting a stripe of light onto said object and creating a luminous contour line at an intersection of said stripe of light and said object, said light-source unit being adapted to variably position said stripe of light onto said object, wherein said light-source unit has a light-stripe generator and a holographic disc rotatingly driven by a motor at a known angular velocity for variably deflecting said stripe of light onto said object; an image-detecting device for detecting a sequence of images each containing at least one image of luminous contour line, said image-detecting device producing for each image signals representative of said each image, including signals representative of two-dimensional coordinates of detected contour line, wherein said image-detecting device is located relative to said rotating holographic disc at a known position, and wherein depth coordinates corresponding to said two-dimensional coordinates of said detected contour line for each image are calculable by triangulation based on an angle of approach of said stripe of light onto said object corresponding to said detected contour line, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined, and wherein said signals representative of said each image and said signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object are each stored on a data storage medium, and wherein said stored signals are subsequently processed by a data-processing apparatus to determine said plurality of three-dimensional coordinates representative of said three-dimensional profile of said object; an angle indicator for generating a signal related to an angle of approach of said stripe of light onto said object for at least one position of said stripe of light on said object, wherein said angle indicator is an optical encoder for providing a plurality of signals per one rotation of said motor, said plurality of signals corresponding to known angular positions of said motor, and wherein an angle of approach of said stripe of light onto said object at any given time is calculable based on said known angular positions of said motor and time of occurrence of said plurality of signals corresponding to said known angular positions of said motor; and a lamp operationally coupled to said plurality of signals corresponding to said known angular positions of said motor, said lamp being turned on during a finite period of time corresponding to each occurrence of said plurality of signals corresponding to said known angular positions of said motor; wherein said angle of approach of said stripe of light onto said object corresponding to each detected contour line is calculable based on said known angular velocity of said motor and said stored signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object; and wherein respective times of occurrence of said plurality of signals corresponding to said known angular positions of said motor are ascertainable based on relative brightness of said detected sequence of images as indicated by said stored signals representative of said detected sequence of images.

Claim 41

A system for determining a three-dimensional profile of an object comprising: a light-source unit for projecting a stripe of light onto said object and creating a luminous contour line at an intersection of said stripe of light and said object, said light-source unit being adapted to variably position said stripe of light onto said object, wherein said light-source unit has a light-stripe generator and a multi-faceted mirror rotatingly driven by a motor at a known angular velocity for variably deflecting said stripe of light onto said object; an image-detecting device for detecting a sequence of images each containing at least one image of luminous contour line, said image-detecting device producing for each image signals representative of said each image, including signals representative of two-dimensional coordinates of detected contour line, wherein said image-detecting device is located relative to said multi-faceted rotating mirror at a known position, and wherein depth coordinates corresponding to said two-dimensional coordinates of said detected contour line for each image are calculable by triangulation based on an angle of approach of said stripe of light onto said object corresponding to said detected contour line, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined, and wherein said signals representative of said each image and said signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object are each stored on a data storage medium, and wherein said stored signals are subsequently processed by a data-processing apparatus to determine said plurality of three-dimensional coordinates representative of said three-dimensional profile of said object; an angle indicator for generating a signal related to an angle of approach of said stripe of light onto said object for at least one position of said stripe of light on said object, wherein said angle indicator is a photodiode for providing at least one signal per one rotation of said motor, said at least one signal corresponding to a known angular position of said motor, and wherein an angle of approach of said stripe of light onto said object at any given time is calculable based on said known angular position of said motor and time of occurrence of said at least one signal corresponding to said known angular position of said motor; and a lamp operationally coupled to said at least one signal corresponding to said known angular position of said motor, said lamp being turned on during a finite period of time corresponding to said occurrence of said at least one signal corresponding to said known angular position of said motor; wherein said angle of approach of said stripe of light onto said object corresponding to each detected contour line is calculable based on said known angular velocity of said motor and said stored signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object; and wherein time of occurrence of said at least one signal corresponding to said known angular position of said motor is ascertainable based on relative brightness of said detected sequence of images as indicated by said stored signals representative of said detected sequence of images.

Claim 42

A system for determining a three-dimensional profile of an object comprising: a light-source unit for projecting a stripe of light onto said object and creating a luminous contour line at an intersection of said stripe of light and said object, said light-source unit being adapted to variably position said stripe of light onto said object, wherein said light-source unit has a light-stripe generator and a multi-faceted mirror rotatingly driven by a motor at a known angular velocity for variably deflecting said stripe of light onto said object; an image-detecting device for detecting a sequence of images each containing at least one image of luminous contour line, said image-detecting device producing for each image signals representative of said each image, including signals representative of two-dimensional coordinates of detected contour line, wherein said image-detecting device is located relative to said multi-faceted rotating mirror at a known position, and wherein depth coordinates corresponding to said two-dimensional coordinates of said detected contour line for each image are calculable by triangulation based on an angle of approach of said stripe of light onto said object corresponding to said detected contour line, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined, and wherein said signals representative of said each image and said signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object are each stored on a data storage medium, and wherein said stored signals are subsequently processed by a data-processing apparatus to determine said plurality of three-dimensional coordinates representative of said three-dimensional profile of said object; an angle indicator for generating a signal related to an angle of approach of said stripe of light onto said object for at least one position of said stripe of light on said object, wherein said angle indicator is a photodiode for providing at least one signal per one rotation of said motor, said at least one signal corresponding to a known angular position of said motor, and wherein an angle of approach of said stripe of light onto said object at any given time is calculable based on said known angular position of said motor and time of occurrence of said at least one signal corresponding to said known angular position of said motor; and a lamp operationally coupled to said at least one signal corresponding to said known angular position of said motor, said lamp being turned on during a finite period of time corresponding to said occurrence of said at least one signal corresponding to said known angular position of said motor; wherein said angle of approach of said stripe of light onto said object corresponding to each detected contour line is calculable based on said known angular velocity of said motor and said stored signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object; and wherein time of occurrence of said at least one signal corresponding to said known angular position of said motor is ascertainable based on relative brightness of said detected sequence of images as indicated by said stored signals representative of said detected sequence of images.

Claim 43

A system for determining a three-dimensional profile of an object comprising: a light-source unit for projecting a stripe of light onto said object and creating a luminous contour line at an intersection of said stripe of light and said object, said light-source unit being adapted to variably position said stripe of light onto said object, wherein said light-source unit has a light-stripe generator and a multi-faceted mirror rotatingly driven by a motor at a known angular velocity for variably deflecting said stripe of light onto said object; an image-detecting device for detecting a sequence of images each containing at least one image of luminous contour line, said image-detecting device producing for each image signals representative of said each image, including signals representative of two-dimensional coordinates of detected contour line, wherein said image-detecting device is located relative to said multi-faceted rotating mirror at a known position, and wherein depth coordinates corresponding to said two-dimensional coordinates of said detected contour line for each image are calculable by triangulation based on an angle of approach of said stripe of light onto said object corresponding to said detected contour line, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined, and wherein said signals representative of said each image and said signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object are each stored on a data storage medium, and wherein said stored signals are subsequently processed by a data-processing apparatus to determine said plurality of three-dimensional coordinates representative of said three-dimensional profile of said object; an angle indicator for generating a signal related to an angle of approach of said stripe of light onto said object for at least one position of said stripe of light on said object, wherein said angle indicator is a photodiode for providing at least one signal per one rotation of said motor, said at least one signal corresponding to a known angular position of said motor, and wherein an angle of approach of said stripe of light onto said object at any given time is calculable based on said known angular position of said motor and time of occurrence of said at least one signal corresponding to said known angular position of said motor; and an audio-signal generator operationally coupled to said at least one signal corresponding to said known angular position of said motor, said audio-signal generator generating an audio signal indicative of time of occurrence of said at least one signal corresponding to said known angular position of said motor; wherein said angle of approach of said stripe of light onto said object corresponding to each detected contour line is calculable based on said known angular velocity of said motor and said stored signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object; and wherein said time of occurrence of said at least one signal corresponding to said known angular position of said motor is ascertainable based on said audio signal.

Claim 44

A system for determining a three-dimensional profile of an object comprising: a light-source unit for projecting a stripe of light onto said object and creating a luminous contour line at an intersection of said stripe of light and said object, said light-source unit being adapted to variably position said stripe of light onto said object, wherein said light-source unit has a light-stripe generator and a multi-faceted mirror rotatingly driven by a motor at a known angular velocity for variably deflecting said stripe of light onto said object; an image-detecting device for detecting a sequence of images each containing at least one image of luminous contour line, said image-detecting device producing for each image signals representative of said each image, including signals representative of two-dimensional coordinates of detected contour line, wherein said image-detecting device is located relative to said multi-faceted rotating mirror at a known position, and wherein depth coordinates corresponding to said two-dimensional coordinates of said detected contour line for each image are calculable by triangulation based on an angle of approach of said stripe of light onto said object corresponding to said detected contour line, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined, and wherein said signals representative of said each image and said signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object are each stored on a data storage medium, and wherein said stored signals are subsequently processed by a data-processing apparatus to determine said plurality of three-dimensional coordinates representative of said three-dimensional profile of said object; an angle indicator for generating a signal related to an angle of approach of said stripe of light onto said object for at least one position of said stripe of light on said object, wherein said angle indicator is a photodiode for providing at least one signal per one rotation of said motor, said at least one signal corresponding to a known angular position of said motor, and wherein an angle of approach of said stripe of light onto said object at any given time is calculable based on said known angular position of said motor and time of occurrence of said at least one signal corresponding to said known angular position of said motor; and an audio-signal generator operationally coupled to said at least one signal corresponding to said known angular position of said motor, said audio-signal generator generating an audio signal indicative of time of occurrence of said at least one signal corresponding to said known angular position of said motor; wherein said angle of approach of said stripe of light onto said object corresponding to each detected contour line is calculable based on said known angular velocity of said motor and said stored signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object; and wherein said time of occurrence of said at least one signal corresponding to said known angular position of said motor is ascertainable based on said audio signal.

Claim 47

A system for determining a three-dimensional profile of an object comprising: a light-source unit for projecting a stripe of light onto said object and creating a luminous contour line at an intersection of said stripe of light and said object, said light-source unit being adapted to variably position said stripe of light onto said object, wherein said light-source unit has a light-stripe generator and a holographic disc rotatingly driven by a motor at a known angular velocity for variably deflecting said stripe of light onto said object; an image-detecting device for detecting a sequence of images each containing at least one image of luminous contour line, said image-detecting device producing for each image signals representative of said each image, including signals representative of two-dimensional coordinates of detected contour line, wherein said image-detecting device is located relative to said rotating holographic disc at a known position, and wherein depth coordinates corresponding to said two-dimensional coordinates of said detected contour line for each image are calculable by triangulation based on an angle of approach of said stripe of light onto said object corresponding to said detected contour line, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined, and wherein said signals representative of said each image and said signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object are each stored on a data storage medium, and wherein said stored signals are subsequently processed by a data-processing apparatus to determine said plurality of three-dimensional coordinates representative of said three-dimensional profile of said object; an angle indicator for generating a signal related to an angle of approach of said stripe of light onto said object for at least one position of said stripe of light on said object, wherein said angle indicator is a photodiode for providing at least one signal per one rotation of said motor, said at least one signal corresponding to a known angular position of said motor, and wherein an angle of approach of said stripe of light onto said object at any given time is calculable based on said known angular position of said motor and time of occurrence of said at least one signal corresponding to said known angular position of said motor; and a lamp operationally coupled to said at least one signal corresponding to said known angular position of said motor, said lamp being turned on during a finite period of time corresponding to said occurrence of said at least one signal corresponding to said known angular position of said motor; wherein said angle of approach of said stripe of light onto said object corresponding to each detected contour line is calculable based on said known angular velocity of said motor and said stored signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object; and wherein time of occurrence of said at least one signal corresponding to said known angular position of said motor is ascertainable based on relative brightness of said detected sequence of images as indicated by said stored signals representative of said detected sequence of images.

Claim 48

A system for determining a three-dimensional profile of an object comprising: a light-source unit for projecting a stripe of light onto said object and creating a luminous contour line at an intersection of said stripe of light and said object, said light-source unit being adapted to variably position said stripe of light onto said object, wherein said light-source unit has a light-stripe generator and a holographic disc rotatingly driven by a motor at a known angular velocity for variably deflecting said stripe of light onto said object; an image-detecting device for detecting a sequence of images each containing at least one image of luminous contour line, said image-detecting device producing for each image signals representative of said each image, including signals representative of two-dimensional coordinates of detected contour line, wherein said image-detecting device is located relative to said rotating holographic disc at a known position, and wherein depth coordinates corresponding to said two-dimensional coordinates of said detected contour line for each image are calculable by triangulation based on an angle of approach of said stripe of light onto said object corresponding to said detected contour line, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined, and wherein said signals representative of said each image and said signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object are each stored on a data storage medium, and wherein said stored signals are subsequently processed by a data-processing apparatus to determine said plurality of three-dimensional coordinates representative of said three-dimensional profile of said object; an angle indicator for generating a signal related to an angle of approach of said stripe of light onto said object for at least one position of said stripe of light on said object, wherein said angle indicator is a photodiode for providing at least one signal per one rotation of said motor, said at least one signal corresponding to a known angular position of said motor, and wherein an angle of approach of said stripe of light onto said object at any given time is calculable based on said known angular position of said motor and time of occurrence of said at least one signal corresponding to said known angular position of said motor; and a lamp operationally coupled to said at least one signal corresponding to said known angular position of said motor, said lamp being turned on during a finite period of time corresponding to said occurrence of said at least one signal corresponding to said known angular position of said motor; wherein said angle of approach of said stripe of light onto said object corresponding to each detected contour line is calculable based on said known angular velocity of said motor and said stored signal related to said angle of approach of said stripe of light onto said object for said at least one position of said stripe of light on said object; and wherein time of occurrence of said at least one signal corresponding to said known angular position of said motor is ascertainable based on relative brightness of said detected sequence of images as indicated by said stored signals representative of said detected sequence of images.

Claim 49

A method of determining a three-dimensional profile of an object using a portable scanning system, comprising: sequentially positioning a stripe of light at a plurality of locations on said object to create a corresponding sequence of positions of a luminous contour line, said luminous contour line being generated at an intersection of said stripe of light and said object; detecting by means of an image-detecting device a sequence of images of said luminous contour line corresponding to said sequence of positions of said luminous contour line, wherein said image-detecting device is one of a TV camera, a video camera and a CCD camera; for each of said sequence of images of said luminous contour line, generating signals representative of said each image; storing said signals representative of said sequence of images of said luminous contour line as video signals; generating a signal related to an angle of approach of said stripe of light onto said object for at least one position of said luminous contour line on said object; storing said signal related to said angle of approach of said stripe of light onto said object for said at least one position of said luminous contour line, as one of an audio signal, a video signal and a pulse signal; calculating a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object based on said stored signals representative of said sequence of images of said luminous contour line and said stored signal related to said angle of approach of said stripe of light onto said object for said at least one position of said luminous contour line.

Claim 50

A method of determining a three-dimensional profile of an object using a portable scanning system, comprising: sequentially positioning a stripe of light at a plurality of locations on said object to create a corresponding sequence of positions of a luminous contour line, said luminous contour line being generated at an intersection of said stripe of light and said object; detecting by means of an image-detecting device a sequence of images of said luminous contour line corresponding to said sequence of positions of said luminous contour line, wherein said image-detecting device is one of a TV camera, a video camera and a CCD camera; for each of said sequence of images of said luminous contour line, generating signals representative of said each image; storing said signals representative of said sequence of images of said luminous contour line as video signals; generating a signal related to an angle of approach of said stripe of light onto said object for at least one position of said luminous contour line on said object; storing said signal related to said angle of approach of said stripe of light onto said object for said at least one position of said luminous contour line, as one of an audio signal, a video signal and a pulse signal; calculating a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object based on said stored signals representative of said sequence of images of said luminous contour line and said stored signal related to said angle of approach of said stripe of light onto said object for said at least one position of said luminous contour line.

Claim 54

A method of determining a three-dimensional profile of an object comprising: sequentially positioning a stripe of light at a plurality of locations on said object to create a corresponding sequence of positions of a luminous contour line, said luminous contour line being generated at an intersection of said stripe of light and said object; detecting by means of an image-detecting device a sequence of images of said luminous contour line corresponding to said sequence of positions of said luminous contour line; for each of said sequence of images of said luminous contour line, generating signals representative of said each image; storing said signals representative of said sequence of images of said luminous contour line; generating a signal related to an angle of approach of said stripe of light onto said object for at least one position of said luminous contour line on said object, wherein said signal related to said angle of approach of said stripe of light is an intensity level of ambient light illuminating said object; storing said signal related to said angle of approach of said stripe of light onto said object for said at least one position of said luminous contour line; and calculating a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object based on said stored signals representative of said sequence of images of said luminous contour line and said stored signal related to said angle of approach of said stripe of light onto said object for said at least one position of said luminous contour line, wherein said step of calculating said plurality of three-dimensional coordinates comprises: determining, based on said angle of approach of said stripe of light onto said object for said at least one position of said luminous contour line, an angle of approach of said stripe of light onto said object for each of said sequence of positions of said luminous contour line as indicated by said stored signals representative of said sequence of images of said luminous contour line; and for each of said sequence of positions of said luminous contour line, calculating by triangulation depth coordinates corresponding to two-dimensional coordinates of said luminous contour line as indicated by said stored signals representative of said image of said luminous contour line.

Claim 55

A method of determining a three-dimensional profile of an object comprising: sequentially positioning a stripe of light at a plurality of locations on said object to create a corresponding sequence of positions of a luminous contour line, said luminous contour line being generated at an intersection of said stripe of light and said object; detecting by means of an image-detecting device a sequence of images of said luminous contour line corresponding to said sequence of positions of said luminous contour line; for each of said sequence of images of said luminous contour line, generating signals representative of said each image; storing said signals representative of said sequence of images of said luminous contour line; generating a signal related to an angle of approach of said stripe of light onto said object for at least one position of said luminous contour line on said object, wherein said signal related to said angle of approach of said stripe of light is an intensity level of ambient light illuminating said object; storing said signal related to said angle of approach of said stripe of light onto said object for said at least one position of said luminous contour line; and calculating a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object based on said stored signals representative of said sequence of images of said luminous contour line and said stored signal related to said angle of approach of said stripe of light onto said object for said at least one position of said luminous contour line, wherein said step of calculating said plurality of three-dimensional coordinates comprises: determining, based on said angle of approach of said stripe of light onto said object for said at least one position of said luminous contour line, an angle of approach of said stripe of light onto said object for each of said sequence of positions of said luminous contour line as indicated by said stored signals representative of said sequence of images of said luminous contour line; and for each of said sequence of positions of said luminous contour line, calculating by triangulation depth coordinates corresponding to two-dimensional coordinates of said luminous contour line as indicated by said stored signals representative of said image of said luminous contour line.

Claim 56

A method of obtaining data representative of a 3-D shape of an object using a portable scanning system, which method comprises: generating a plurality of luminous contour lines of said object by projecting a beam of light onto said object at a corresponding plurality of angles of approach relative to said object; detecting a sequence of images of said object using an image-detecting device of said portable scanning system, said image-detecting device being one of a TV camera, a video camera and a CCD camera, each image containing a luminous contour line of said object associated with a corresponding one of the plurality of angles of approach of said beam of light relative to said object; recording said sequence of images of said object as video signals; and recording at least one signal related to the one of the plurality of angles of approach of said beam of light relative to said object as one of an audio signal, a video signal and a pulse signal.

Claim 57

A method of obtaining data representative of a 3-D shape of an object using a portable scanning system, which method comprises: generating a plurality of luminous contour lines of said object by projecting a beam of light onto said object at a corresponding plurality of angles of approach relative to said object; detecting a sequence of images of said object using an image-detecting device of said portable scanning system, said image-detecting device being one of a TV camera, a video camera and a CCD camera, each image containing a luminous contour line of said object associated with a corresponding one of the plurality of angles of approach of said beam of light relative to said object; recording said sequence of images of said object as video signals; and recording at least one signal related to the one of the plurality of angles of approach of said beam of light relative to said object as one of an audio signal, a video signal and a pulse signal.

Claim 68

A method of using a portable scanning system for measuring 3-D shape of an object, said portable system comprising an illumination source, a photographic detecting device, an angle indicator and a data storage device, which method comprises: generating a plurality of luminous contour lines of said object by using said illumination source to project a beam of light onto said object at a corresponding plurality of angles of approach relative to said object; detecting a sequence of images of said object using an image-detecting device of said portable scanning system, said image-detecting device being one of a TV camera, a video camera and a CCD camera, each image containing a luminous contour line of said object associated with a corresponding angle of approach of said beam of light relative to said object; recording said sequence of images of said object as video signals; and recording a signal related to one of the plurality of angles of approach of said beam of light relative to said object as one of an audio signal, a video signal and a pulse signal; wherein time of said recording of said signal related to one of the plurality of angles of approach of said beam of light is calculable relative to time of recording of at least one of said sequence of images of said object, and wherein each recorded image of said object is in the form of recorded signals comprising pixel information representative of the recorded image, the pixel information for each recorded image comprising information for each of a plurality of individual pixels.

Claim 69

A method of using a portable scanning system for measuring 3-D shape of an object, said portable system comprising an illumination source, a photographic detecting device, an angle indicator and a data storage device, which method comprises: generating a plurality of luminous contour lines of said object by using said illumination source to project a beam of light onto said object at a corresponding plurality of angles of approach relative to said object; detecting a sequence of images of said object using an image-detecting device of said portable scanning system, said image-detecting device being one of a TV camera, a video camera and a CCD camera, each image containing a luminous contour line of said object associated with a corresponding angle of approach of said beam of light relative to said object; recording said sequence of images of said object as video signals; and recording a signal related to one of the plurality of angles of approach of said beam of light relative to said object as one of an audio signal, a video signal and a pulse signal; wherein time of said recording of said signal related to one of the plurality of angles of approach of said beam of light is calculable relative to time of recording of at least one of said sequence of images of said object, and wherein each recorded image of said object is in the form of recorded signals comprising pixel information representative of the recorded image, the pixel information for each recorded image comprising information for each of a plurality of individual pixels.