US6549288B1
Expired / Lapsed
US
⏱️ 0.0 years remaining
Structured-light, triangulation-based three-dimensional digitizer
Assignee: Andreas Acquisition LLC
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Filing: 1999-05-14
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Granted: 2003-04-15
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Expires: 2019-05-14
Abstract
Abstract The present invention provides a system for illuminating an object with a special kind of structured light pattern, recording the shape of the reflected points of light by means of a camera, and, by a triangulation technique that does not depend on the fixed direction of the light source relative to the camera, reconstructing the 3D shape of the object through a computer using the data points collected from the reflection of the structured light pattern. The scanning system is portable and does not require data processing contemporaneous with the data collection. The portable system stores in the storage media several images of the objects with different illumination patterns. The data is subsequently processed, by a computer system which applies data processing routines, i.e., the model building algorithms which provide 3D surface generation. The data acquisition according to the present invention is simplified to acquiring of only two or, optionally, four images of the object, thereby significantly increasing the digitization speed over that of laser-based scanners. The light source projects both structured light and uniform illumination light from the same apparent source, and that allows for numerical normalization of the images.
Inventors
- 👤 Alexander Migdal
- 👤 Michael Petrov
- 👤 Alexei Lebedev
- 👤 Veronika Shelyekhova
- 👤 Vadim Abadjev
- 👤 Vladimir Bernstein
- 👤 Andrei Afanassenkov
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-08 20:56
CPC Classifications
G; G01; G01B; G01B11/00; G01B11/30; G01B11/24; G01B11/25; G01B11/2509; G06; G06T; G06T7/00; G06T7/50; G06T7/521
Claims Analysis
Total Claims: 31
Claim 1
Independent Claim
149 words
A system for determining a three dimensional profile of an object comprising: a first light-source unit configured to project a structured light pattern on the object and configured to uniformly illuminate the object; and an image-detecting device configured to detect a sequence of images, the sequence of images including at least one structured light pattern image and at least one uniform illumination image; wherein said structured light pattern comprises a plurality of light stripes, having a gradual variation in intensity of light, and wherein said image-capturing device is located relative to said first light-source unit at a known position, and wherein depth coordinates corresponding to two-dimensional coordinates of detected light stripes in each image are calculable by triangulation based on an angle of approach of each of said light stripes onto said object, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined.
Claim 2
Independent Claim
149 words
A system for determining a three dimensional profile of an object comprising: a first light-source unit configured to project a structured light pattern on the object and configured to uniformly illuminate the object; and an image-detecting device configured to detect a sequence of images, the sequence of images including at least one structured light pattern image and at least one uniform illumination image; wherein said structured light pattern comprises a plurality of light stripes, having a gradual variation in intensity of light, and wherein said image-capturing device is located relative to said first light-source unit at a known position, and wherein depth coordinates corresponding to two-dimensional coordinates of detected light stripes in each image are calculable by triangulation based on an angle of approach of each of said light stripes onto said object, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined.
Claim 3
Dependent Claim
22 words
The system according to claim 1 , wherein said plurality of light stripes comprises light stripes of at least two different colors.
Claim 4
Dependent Claim
43 words
The system according to claim 2 further comprising a second light-source unit located symmetrically opposite to said first light-source unit and having a positional relationship with respect to said detector which mirrors the positional relationship between said first light-source unit and said detector.
Claim 5
Dependent Claim
28 words
The system according to claim 3 , wherein said structured light pattern and light to uniformly illuminate the object are emitted from the same apparent optical source position.
Claim 6
Independent Claim
258 words
A system for determining a three dimensional profile of an object comprising: a first light-source unit for projecting a structured light pattern and a uniform illumination pattern for illumination of the object; a second light-source unit located symmetrically opposite to said first light-source unit and having a positional relationship with respect to said detector which mirrors the positional relationship between said first light-source unit and said detector; and an image-detecting device for detecting a sequence of images containing at least one of a structured light pattern image and a uniform illumination pattern image; wherein said structured light pattern comprises a plurality of light stripes each having a gradual variation in intensity of light, and wherein said image-capturing device is located relative to said first light-source unit at a known position, and wherein depth coordinates corresponding to two-dimensional coordinates of detected light stripes in each image are calculable by triangulation based on an angle of approach of each of said light stripes onto said object, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined, wherein said plurality of light stripes comprises light stripes of at least two different colors, wherein said structured light pattern and uniform illumination pattern are emitted from the same apparent optical source position, and wherein said first light-source unit and said second light-source unit each comprises two photographic flashes, and wherein said structured light pattern and said uniform illumination pattern are combined through a semitransparent mirror for each of said first light-source unit and said second light-source unit.
Claim 7
Independent Claim
258 words
A system for determining a three dimensional profile of an object comprising: a first light-source unit for projecting a structured light pattern and a uniform illumination pattern for illumination of the object; a second light-source unit located symmetrically opposite to said first light-source unit and having a positional relationship with respect to said detector which mirrors the positional relationship between said first light-source unit and said detector; and an image-detecting device for detecting a sequence of images containing at least one of a structured light pattern image and a uniform illumination pattern image; wherein said structured light pattern comprises a plurality of light stripes each having a gradual variation in intensity of light, and wherein said image-capturing device is located relative to said first light-source unit at a known position, and wherein depth coordinates corresponding to two-dimensional coordinates of detected light stripes in each image are calculable by triangulation based on an angle of approach of each of said light stripes onto said object, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined, wherein said plurality of light stripes comprises light stripes of at least two different colors, wherein said structured light pattern and uniform illumination pattern are emitted from the same apparent optical source position, and wherein said first light-source unit and said second light-source unit each comprises two photographic flashes, and wherein said structured light pattern and said uniform illumination pattern are combined through a semitransparent mirror for each of said first light-source unit and said second light-source unit.
Claim 8
Independent Claim
232 words
A system for determining a three dimensional profile of an object comprising: a first light-source unit for projecting a structured light pattern and a uniform illumination pattern for illumination of the object; a second light-source unit located symmetrically opposite to said first light-source unit and having a positional relationship with respect to said detector which mirrors the positional relationship between said first light-source unit and said detector; and an image-detecting device for detecting a sequence of images containing at least one of a structured light pattern image and a uniform illumination pattern image; wherein said structured light pattern comprises a plurality of light stripes each having a gradual variation in intensity of light, and wherein said image-capturing device is located relative to said first light-source unit at a known position, and wherein depth coordinates corresponding to two-dimensional coordinates of detected light stripes in each image are calculable by triangulation based on an angle of approach of each of said light stripes onto said object, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined, wherein said plurality of light stripes comprises light stripes of at least two different colors, wherein said structured light pattern and uniform illumination pattern are emitted from the same apparent optical source position, and wherein the image containing the structured light pattern is normalized by using the image containing uniform illumination pattern.
Claim 9
Independent Claim
232 words
A system for determining a three dimensional profile of an object comprising: a first light-source unit for projecting a structured light pattern and a uniform illumination pattern for illumination of the object; a second light-source unit located symmetrically opposite to said first light-source unit and having a positional relationship with respect to said detector which mirrors the positional relationship between said first light-source unit and said detector; and an image-detecting device for detecting a sequence of images containing at least one of a structured light pattern image and a uniform illumination pattern image; wherein said structured light pattern comprises a plurality of light stripes each having a gradual variation in intensity of light, and wherein said image-capturing device is located relative to said first light-source unit at a known position, and wherein depth coordinates corresponding to two-dimensional coordinates of detected light stripes in each image are calculable by triangulation based on an angle of approach of each of said light stripes onto said object, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined, wherein said plurality of light stripes comprises light stripes of at least two different colors, wherein said structured light pattern and uniform illumination pattern are emitted from the same apparent optical source position, and wherein the image containing the structured light pattern is normalized by using the image containing uniform illumination pattern.
Claim 10
Independent Claim
187 words
A system for determining a three dimensional profile of an object comprising: a first light-source unit for projecting a structured light pattern and a uniform illumination pattern for illumination of the object; and an image-detecting device for detecting a sequence of images containing at least one of a structured light pattern image and a uniform illumination pattern image; wherein said structured light pattern comprises a plurality of light stripes each having a gradual variation in intensity of light, and wherein said image-capturing device is located relative to said first light-source unit at a known position, and wherein depth coordinates corresponding to two-dimensional coordinates of detected light stripes in each image are calculable by triangulation based on an angle of approach of each of said light stripes onto said object, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined, wherein said plurality of light stripes comprises light stripes of at least two different colors, and wherein said first light-source unit comprises two photographic flashes, and wherein said structured light pattern and said uniform illumination pattern are combined through a semitransparent mirror.
Claim 11
Independent Claim
187 words
A system for determining a three dimensional profile of an object comprising: a first light-source unit for projecting a structured light pattern and a uniform illumination pattern for illumination of the object; and an image-detecting device for detecting a sequence of images containing at least one of a structured light pattern image and a uniform illumination pattern image; wherein said structured light pattern comprises a plurality of light stripes each having a gradual variation in intensity of light, and wherein said image-capturing device is located relative to said first light-source unit at a known position, and wherein depth coordinates corresponding to two-dimensional coordinates of detected light stripes in each image are calculable by triangulation based on an angle of approach of each of said light stripes onto said object, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined, wherein said plurality of light stripes comprises light stripes of at least two different colors, and wherein said first light-source unit comprises two photographic flashes, and wherein said structured light pattern and said uniform illumination pattern are combined through a semitransparent mirror.
Claim 12
Independent Claim
187 words
A system for determining a three dimensional profile of an object comprising: a first light-source unit for projecting a structured light pattern and a uniform illumination pattern for illumination of the object; a second light-source unit located symmetrically opposite to said first light-source unit and having a positional relationship with respect to said detector which mirrors the positional relationship between said first light-source unit and said detector; and an image-detecting device for detecting a sequence of images containing at least one of a structured light pattern image and a uniform illumination pattern image; wherein depth coordinates corresponding to two-dimensional coordinates of detected light stripes in each image are calculable by triangulation based on an angle of approach of each of said light stripes onto said object, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined, and wherein said first light-source unit and said second light-source unit each comprises two photographic flashes, and wherein said structured light pattern and said uniform illumination pattern are combined through a semitransparent mirror for each of said first light-source unit and said second light-source unit.
Claim 13
Independent Claim
187 words
A system for determining a three dimensional profile of an object comprising: a first light-source unit for projecting a structured light pattern and a uniform illumination pattern for illumination of the object; a second light-source unit located symmetrically opposite to said first light-source unit and having a positional relationship with respect to said detector which mirrors the positional relationship between said first light-source unit and said detector; and an image-detecting device for detecting a sequence of images containing at least one of a structured light pattern image and a uniform illumination pattern image; wherein depth coordinates corresponding to two-dimensional coordinates of detected light stripes in each image are calculable by triangulation based on an angle of approach of each of said light stripes onto said object, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined, and wherein said first light-source unit and said second light-source unit each comprises two photographic flashes, and wherein said structured light pattern and said uniform illumination pattern are combined through a semitransparent mirror for each of said first light-source unit and said second light-source unit.
Claim 14
Independent Claim
136 words
A system for determining a three dimensional profile of an object comprising: a first light-source unit for projecting a structured light pattern and a uniform illumination pattern for illumination of the object; an image-detecting device for detecting a sequence of images containing at least one of a structured light pattern image and a uniform illumination pattern image; wherein said structured light pattern comprises a plurality of light stripes, and wherein depth coordinates corresponding to two-dimensional coordinates of detected light stripes in each image are calculable by triangulation based on an angle of approach of each of said light stripes onto said object, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined; wherein the image containing the structured light pattern is normalized by using the image containing uniform illumination pattern.
Claim 15
Independent Claim
136 words
A system for determining a three dimensional profile of an object comprising: a first light-source unit for projecting a structured light pattern and a uniform illumination pattern for illumination of the object; an image-detecting device for detecting a sequence of images containing at least one of a structured light pattern image and a uniform illumination pattern image; wherein said structured light pattern comprises a plurality of light stripes, and wherein depth coordinates corresponding to two-dimensional coordinates of detected light stripes in each image are calculable by triangulation based on an angle of approach of each of said light stripes onto said object, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined; wherein the image containing the structured light pattern is normalized by using the image containing uniform illumination pattern.
Claim 16
Independent Claim
145 words
A system for determining a three dimensional profile of an object comprising: a first light-source unit for projecting a structured light pattern and a uniform illumination pattern for illumination of the object; and an image-detecting device for detecting a sequence of images containing at least one of a structured light pattern image and a uniform illumination pattern image; wherein said structured light pattern comprises a plurality of light stripes, and wherein depth coordinates corresponding to two-dimensional coordinates of detected light stripes in each image are calculable by triangulation based on an angle of approach of each of said light stripes onto said object, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined, wherein said first light-source unit comprises two photographic flashes, and wherein said structured light pattern and said uniform illumination pattern are combined through a semitransparent mirror.
Claim 17
Independent Claim
145 words
A system for determining a three dimensional profile of an object comprising: a first light-source unit for projecting a structured light pattern and a uniform illumination pattern for illumination of the object; and an image-detecting device for detecting a sequence of images containing at least one of a structured light pattern image and a uniform illumination pattern image; wherein said structured light pattern comprises a plurality of light stripes, and wherein depth coordinates corresponding to two-dimensional coordinates of detected light stripes in each image are calculable by triangulation based on an angle of approach of each of said light stripes onto said object, whereby a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object are determined, wherein said first light-source unit comprises two photographic flashes, and wherein said structured light pattern and said uniform illumination pattern are combined through a semitransparent mirror.
Claim 18
Independent Claim
87 words
A method for determining a three dimensional profile of an object, comprising: projecting a structured light pattern on an object, the structured light pattern including a plurality of stripes; capturing a structured light pattern image of the object; uniformly illuminating the object; capturing a uniform illumination image of the object; determining three-dimensional coordinates representative of the three-dimensional profile of the object as a function of the structured light pattern image; and determining a texture of the object as a function of at least the uniform illumination image.
Claim 19
Independent Claim
87 words
A method for determining a three dimensional profile of an object, comprising: projecting a structured light pattern on an object, the structured light pattern including a plurality of stripes; capturing a structured light pattern image of the object; uniformly illuminating the object; capturing a uniform illumination image of the object; determining three-dimensional coordinates representative of the three-dimensional profile of the object as a function of the structured light pattern image; and determining a texture of the object as a function of at least the uniform illumination image.
Claim 20
Dependent Claim
25 words
The method according to claim 11 , further comprising: determining a model of the object using the three-dimensional coordinates and the texture of the object.
Claim 21
Dependent Claim
16 words
The method according to claim 12 , further comprising: displaying the model on a display device.
Claim 22
Dependent Claim
28 words
The method according to claim 11 , wherein each one of the light stripes has a gradual variation of light intensity within the one of the light stripes.
Claim 23
Dependent Claim
21 words
The method of claim 11 , wherein said plurality of light stripes comprises light stripes of at least two different colors.
Claim 24
Dependent Claim
19 words
The method of claim 11 , further comprising: normalizing the structured light pattern image using the uniform illumination image.
Claim 25
Dependent Claim
33 words
The method of claim 11 , wherein the projecting the structured light pattern step includes projecting the structured light pattern from the same apparent optical source as that which uniformly illuminates the object.
Claim 26
Independent Claim
194 words
A method for determining a three dimensional profile of an object using an image capturing device located at a known position relative to two light sources comprising: capturing a first image of the object while a structured light pattern including a plurality of light stripes is projected on the object from the first light source; capturing a second image of the object while a uniform illumination pattern is projected on the object from the first light source; capturing a third image of the object while a structured light pattern including a plurality of light stripes is projected on the object from the second light source; capturing a fourth image of the object while a uniform illumination pattern is projected on the object from the second light source; calculating, by triangulation based on an angle of approach of each of said light stripes, depth coordinates corresponding to two-dimensional coordinates of detected light stripes in the first and third captured images; and determining a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object based on the two-dimensional coordinates of light stripes in the first and third captured images and corresponding calculated depth coordinates.
Claim 27
Independent Claim
194 words
A method for determining a three dimensional profile of an object using an image capturing device located at a known position relative to two light sources comprising: capturing a first image of the object while a structured light pattern including a plurality of light stripes is projected on the object from the first light source; capturing a second image of the object while a uniform illumination pattern is projected on the object from the first light source; capturing a third image of the object while a structured light pattern including a plurality of light stripes is projected on the object from the second light source; capturing a fourth image of the object while a uniform illumination pattern is projected on the object from the second light source; calculating, by triangulation based on an angle of approach of each of said light stripes, depth coordinates corresponding to two-dimensional coordinates of detected light stripes in the first and third captured images; and determining a plurality of three-dimensional coordinates representative of said three-dimensional profile of said object based on the two-dimensional coordinates of light stripes in the first and third captured images and corresponding calculated depth coordinates.
Claim 28
Dependent Claim
21 words
The method of claim 18 , wherein said plurality of light stripes comprises light stripes of at least two different colors.
Claim 29
Dependent Claim
18 words
The method of claim 18 , further comprising: normalizing the first captured image using the second captured image.
Claim 30
Dependent Claim
22 words
The method of claim 18 , further comprising: reconstructing a texture of the object based on the second and fourth captured images.
Claim 31
Dependent Claim
16 words
The method of claim 21 , wherein the reconstructing step is performed using the Torrance-Sparrow model.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2006-04-14 | 2006-10-14 | 2007-04-15 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2010-04-14 | 2010-10-14 | 2011-04-15 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2014-04-14 | 2014-10-14 | 2015-04-15 | $7700.00 | Window Closed / Lapsed |