WO1998007001B1 - Apparatus and method for making accurate three-dimensional size measurements of inaccessible objects - Google Patents
Apparatus and method for making accurate three-dimensional size measurements of inaccessible objectsInfo
- Publication number
- WO1998007001B1 WO1998007001B1 PCT/US1997/015206 US9715206W WO9807001B1 WO 1998007001 B1 WO1998007001 B1 WO 1998007001B1 US 9715206 W US9715206 W US 9715206W WO 9807001 B1 WO9807001 B1 WO 9807001B1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- camera
- measurement
- coordinate system
- point
- borescope
- Prior art date
Links
Abstract
Spatial locations of individual points on an inaccessible object are determined by measuring two images acquired with one or more cameras which can be moved to a plurality of positions and orientations which are accurately determined relative to the instrument. Once points are located, distances are easily calculated. This new system offers accurate measurements with any convenient geometry, and with existing endoscopic apparatus. It also provides for the measurement of distances which cannot be contained within any single camera view. Systematic errors are minimized by use of a complete and robust set of calibration procedures. A standard measurement procedure automatically adjusts the measurement geometry to reduce random errors. A least squares calculation uses all of the image location and calibration data to derive the true three-dimensional positions of the selected object points. This calculation is taught explicitly for any camera geometry and motion.
Claims
1. A method of perspective measurement of the three-dimensional size of an inaccessible object using a camera having a field of view, said camera being translated along a substantially straight line from a first viewing position to a second viewing position, characterized in that the first and second viewing positions are selected so that a single point on the object is viewed at an apparent angular position near one edge of the field of view at the first viewing position, and at substantially the same apparent angle on the other side of the field of view at the second viewing position, thereby minimizing the random error in the measurement.
2. A method of perspective measurement of the three-dimensional size of an inaccessible object using a camera, said camera being translated along a substantially straight line from a first viewing position to a second viewing position, characterized in that any errors in the translational motion of the camera are determined in a calibration process and in that these errors are then also taken into account in the measurement result.
3. A method of perspective measurement of the three - dimensional distances between selected points on an inaccessible object using a rigid borescope. said borescope being translated along a substantially straight line from a first viewing position to a second viewing position, wherein said borescope forms a first optical image of said object at said first viewing position and a second optical image of said object at said second viewing position, and wherein each of said selected points on said object is individually located in each of said first and second images, characterized by the use of a fully three - dimensional least squares estimation procedure to determine the measurement result.
4. An apparatus for measuring three - dimensional distances between individual user selected points on an inaccessible object, comprising at least one probe body and additionally characterized by:
(a) one or more cameras located near the distal ends of said at least one probe body, said cameras forming images of said selected points on said object; (b) motion means for moving at least one of said one or more cameras with respect to its probe body, said motion means providing a plurality of relative camera positions for each of said cameras;
(c) orientation means for providing a relative spatial orientation for each of said cameras at each of said relative positions;
(d) position determination means, for determining the relative positions of each of said one or more cameras, said position determination means also producing camera position data which is provided to a computing means;
(e) orientation determination means, for determining the relative orientations of each of said one or more cameras, said orientation determination means also producing camera orientation data which is provided to the computing means; (f) image measurement means, for measuring the positions of said images of said user selected points on said object, said image measurement means also producing point position data which is provided to the computing means; and
-76- (g) computing means that receives said camera position data and said camera onentation data and said point position data, said computing means being adapted to calculate the three - dimensional distances between said user selected points on said inaccessible object
The apparatus of claim 4 charactenzed in that the onentation means is combined with the motion means such that said relative onentations are predetermined functions of said relative positions, thereby making it possible to eliminate the use of said onentation determination means except dunng calibration, or in that said plurality of relative camera positions constitutes a set of fixed relative positions, therebv making it possible to eliminate the use of said position determination means except dunng calibration
The apparatus of claims 4 or 5 charactenzed in that said relative camera positions all e along a substantially straight line, or along a substantially circular arc
The apparatus as claimed in any one of claims 4, 5 or 6 charactenzed in that said relative camera spafial onentations are all substantially the same
The apparatus of claim 6 charactenzed in that said relative camera positions e along said circular arc. said circular arc having a center of curvature, and in that each of said cameras has an optical axis, and in that the onentation of each of said one or more cameras is coupled to its position along the arc so that said optical axis is always substanUally aligned with said center of curvature of the arc, or in that the onentation of each of said one or more cameras is such that said optical axis is aligned substantially perpendicular to the plane containing the arc
A method of determimng the three - dimensional distance between a pair of points on an object, charactenzed by the steps of
(a) providing one or more cameras, each of which has an internal coordinate system and an effective focal length, and further providing a plurality of relative camera positions for each of said cameras, wherein each of said cameras has a spatial onentation at each of said relative positions, and wherein said relative positions and said spatial onentations are determined in an external coordinate system, such that said relative camera positions form camera location vectors in said external coordinate system,
(b) acquinng a first image of a first point of said pair of points on the object with one of said one or more cameras located at a first viewing position, said camera having a first spatial onentation at said first viewing position, thereby defining a first measurement coordinate system which is coincident with the internal coordinate system of said camera at said first viewing position,
(c) acquinng a second image of said first point of said pair of points on the object with one of said one or more cameras located at a second viewing position, said camera having a second spatial onentation at said second viewing position, thereby defimng a second measurement coordinate system which is coincident with the internal coordinate system of said camera at said second viewing position,
-77- (d) measunng the coordinates of said first image of said first point in said first measurement coordinate system and measunng the coordinates of said second image of said first point in said second measurement coordinate system,
(e) correcting the measured coordinates of the first image of said first point to adjust for any distortion of the camera located at the first viewing position, and conecting the measured coordinates of the second image of said first point to adjust for any distortion of the camera located at the second viewing position, thereby producing first and second final first point image coordinates for said first and second viewing positions in said first and second measurement coordinate systems,
(f) multiplying the first final first point image coordinates bv the mathematical inverse of the effective focal length of the camera located at the first viewing position and multiplying the second final first point image coordinates by the mathematical inverse of the effective focal length of the camera located at the second viewing position, to determine the mathematical tangents of the angles at which said first point is viewed in said first and second measurement coordinate systems,
(g) forming a least squares estimate of the three dimensional coordinates of said first point in a first temporarv measurement coordinate system, therebv forming an estimate of the v ector location of said first point in said first temporarv measurement coordinate system, using said mathematical tangents of the viewing angles of said first point in said first and second measurement coordinate svstems and the relationships between said first and second camera viewing positions and said first and second camera spatial onentations determined in said external coordinate system, wherein said first temporarv coordinate system has an ongm and wherein said ongin has a vector location in said external coordinate svstem,
(h) calculating a vector location of said first point in said external coordinate svstem by adjusting the vector location of said first point in said first temporarv measurement coordinate system according to said first and second camera spatial onentations, (l) acquinng a first image of a second point of said pair of points on the object with one of said one or more cameras located at a third viewing position, said camera having a third spatial onentation at said third viewing position, thereby defining a third measurement coordinate svstem which is coincident with the internal coordinate system of said camera at said third viewing position 0) acquinng a second image of said second point of said pair of points on the object with one of said one or more cameras located at a fourth viewing position, said camera having a fourth spatial onentation at said fourth viewing position, thereby defining a fourth measurement coordinate system which is coincident with the internal coordinate system of said camera at said fourth viewing position, and wherein at least one of said third and fourth viewing positions is different from either of said first and second viewing positions, (k) measunng the coordinates of said first image of said second point in said third measurement coordinate system and measunng the coordinates of said second image of said second point in said fourth measurement coordinate system,
-78- (1) correcting the measured coordinates of the first image of said second point to adjust for any distortion of the camera located at the third viewing position, and correcting the measured coordinates of the second image of said second point to adjust for any distortion of the camera located at the fourth viewing position, thereby producing first and second final second point image coordinates for said third and fourth viewing positions in said third and fourth measurement coordinate systems,
(m) multiplying the first final second pomt image coordinates by the mathematical inverse of the effective focal length of the camera located at the third viewing position and multiplying the second final second point image coordinates by the mathematical inverse of the effective focal length of the camera located at the fourth viewing position, to determine the mathematical tangents of the angles at which said second point is viewed in said third and fourth measurement coordinate systems,
(n) forming a least squares estimate of the three dimensional coordinates of said second point in a second temporary measurement coordinate system, thereby forming an estimate of the vector location of said second point m said second temporary measurement coordinate system, using said mathematical tangents of the viewing angles of said second point in said third and fourth measurement coordinate systems and the relationships between said third and fourth camera viewing positions and said third and fourth camera spatial onentations determined in said external coordinate svstem. wherein said second temporary coordinate system has an ongin and wherein said ongin has a vector location in said external coordinate system, (o) calculating a vector location of said second point in said external coordinate system by adjusting the vector location of said second point in said second temporary measurement coordinate system according to said third and fourth camera spatial onentations, (p) calculaϋng the vector location of the ongin of the first temporary coordinate system by forming the average of the camera location vectors for the first and second camera viewing positions, (q) calculating the vector location of the ongin of the second temporary coordinate system by forming the average of the camera location vectors for the third and fourth camera viewing positions,
(r) calculating a vector from the ongin of the second temporary coordinate system to the ongin of the first temporary coordinate system by subtracting the vector location of the ongin of the second temporary coordinate system from the vector location of the ongin of the first temporary coordinate system, (s) calculating the vector from the second point of said pair of points to the first point of said pair of points with the equation r = dAB + rAG - rBG wherein dAβ is the vector from the ongin of the second temporary coordinate system to the ongin of the first temporary coordinate system, ΓΛG IS said vector location of said first point in said external coordinate system, and ΓBG IS said vector location of said second point in said external coordinate system, and (t) calculating the distance between said pair of points by calculating the length of the vector r
-79- An apparatus for measunng three - dimensional distances between selected points on an inaccessible object wherein the apparatus includes a ngid borescope which is fastened to a linear motion means said linear motion means having a range of travel and which also constrains the borescope to move along a substantially straight line, said apparatus further compnsing a driving means which controls the position of the linear motion means within its range of travel and also a position measurement means for indicating the position of said linear motion means, characterized bv the use of a linear motion means selected from the group consisting of crossed roller slides and ball slides and air beanng slides and dovetail slides wherein the linear motion means is preferably a linear translation stage, the driving means is preferablv an actuator, and the position measurement means is preferablv a linear position transducer attached to said translation stage
An apparatus for measunng three - dimensional distances between selected points on an inaccessible object, wherein the apparatus includes a rigid borescope which is fastened to a linear motion means, said linear motion means having a range of travel and which also constrains the borescope to move along a substantially straight line, said apparatus further comprising a dπving means which controls the position of the linear motion means within its range of travel and also a position measurement means for indicating the position of said linear mouon means, charactenzed bv the use of a lead screw and nut as a dπving means and, optional wherein both the dnving means and the position measurement means are embodied in a micrometer
An apparatus as claimed in either of claim 10 or claim 11 wherein said borescope has a field of view, and wherein said borescope includes a video imaging means, and wherein said video imaging means is compnsed of a video sensor opticallv coupled to said borescope, and wherein said video sensor has different spatial resolutions along its two sensing axes, charactenzed in that said video sensor is rotationally onented with respect to said borescope such that its higher spatial resolution axis is aligned substantially parallel to the projection of the linear moϋon of the borescope as observed in the field of view therebv obtaining the highest precision in the distance measurement
-80- An electromc measurement borescope apparatus for measuring three - dimensional distances between selected points on an inaccessible object, characterized by
(a) a video camera, including an imaging lens and a solid state imager, for producing video images of the object, and a video momtor, for displaying said video images, (b) a linear translation means, for moving the video camera with a substantially constant oπentauon along a substantially straight line, said linear translation means and camera being disposed at the distal end of a ngid probe, and said linear motion means also having a range of travel,
(c) an actuating means, for moving the linear translation means to any position within its range of travel,
(d) a position measurement means, for determining the position of the linear translation means within said range of travel, whereby the position of the video camera is also determined, said position measurement means also producing position measurement data, said position measurement means also having a first data transfer means for supplying the camera position data to a computing means,
(e) a video cursor means, for displaying vanable position cursors on said video image, said video cursor means having a second data transfer means for supplying the spatial positions of said vanable position cursors to the computing means, and
(f) said computing means having a user interface, said user interface being in communication with said video cursor means and said second data transfer means such that a user can manipulate said video cursor means until said vanable position cursors are aligned with the images of said selected points on said inaccessible object, and further such that said spatial positions of said vanable position cursors are supplied to the computing means at user command, and further such that said computing means receives the camera position data through said first data transfer means, and further such that said computing means calculates and displays the three - dimensional distances between the selected points on said inaccessible object
An apparatus as claimed in claim 13, charactenzed in that the actuating means is a motonzed micrometer dπving a positioning cable, said cable being looped around a pair of idler pulleys and being attached to the linear translation means or in that the actuating means is a motonzed micrometer located at the distal end of said ngid probe, said motonzed micrometer being attached to the linear translation means
An electromc measurement endoscope apparatus for measunng three - dimensional distances between selected points on an inaccessible object, charactenzed by
(a) a video camera, including an imaging lens and a solid state imager, for producing video images of the object, and a video momtor, for displaying said video images,
(b) a linear translation means, for moving the video camera with a substantially constant onentation along a substantially straight line, said linear translation means also having a range of travel, and said linear translation means and camera being disposed internallv into a ngid housing, said ngid housing being disposed at the distal end of a flexible endoscope housing,
(c) an actuating means, for moving the linear translation means to any position within its range of travel,
-81- (d) a position measurement means, for determining the position of the linear translation means within said range of travel, whereby the position of the video camera is also determined, said position measurement means also producing position measurement data, said position measurement means also having a first data transfer means for supplying the position measurement data to a computing means, (e) a video cursor means, for displaying variable position cursors on said video image, said video cursor means having a second data transfer means for supplying the spatial positions of said vanable position cursors to the computing means, and
(f) said computing means having a user interface, said user interface being in communication with said video cursor means and said second data transfer means such that a user can manipulate said video cursor means until said vanable position cursors are aligned with the images of said selected points on said inaccessible object, and further such that said spatial positions of said variable position cursors are supplied to the computing means at user command, and further such that said computing means receives the camera position data through said first data transfer means, and further such that said computing means calculates and displays the three - dimensional distances between the selected points on said inaccessible object
An apparatus as claimed in claim 15, charactenzed m that the actuating means is a positioning wire encased in a sheath, which is dnven by a motonzed micrometer, or in that the actuating means is a motonzed micrometer located at the distal end of the apparatus, said motorized micrometer being attached to the linear translation means
An apparatus as claimed in any one of claims 13 to 16, wherein said video camera has a field of view, and wherein an illumination means for illuminating said field of view is being earned by the linear translation means, charactenzed m that the illumination of said field of view remains substantially constant as said camera is moved
An apparatus for making measurements of the three-dimensional distances between selected points on an object, said apparatus including a camera, and a support means, whereby said camera can be moved along a substantially straight translational axis from a first viewing position to a second viewing position as part of the measurement process, and whereby said camera can also be rotated about a rotational axis for alignment with objects of interest pnor to a measurement, said rotational axis being at an arbitrary alignment with said translational axis, charactenzed by
(a) a means for measurement of an angle of rotation of said camera about said rotational axis, and
(b) a means for incorporating said measurement of said angle of rotation into said measurements of three- dimensional distances
-82- An apparatus as claimed in claim 18 charactenzed in that said means for measurement of an angle of rotation has a first portion which rotates with said camera and also has a second portion which is fixed to said support means, wherein said camera is preferably a substantially side-looking ngid borescope, said borescope having a lens tube envelope and said lens tube envelope having an outer surface, and wherein said support means preferably compπses a borescope positioning assembly and wherein said rotational axis is preferably defined by the engagement of a first reference surface attached to said borescope with a second reference surface attached to said borescope positioning assembly, whereby said first reference surface is preferably a cylinder and said second reference surface is preferably a V groove, and said cylindncal first reference surface is said outer surface of said lens tube envelope or is a calibration sleeve attached to said borescope
An apparatus for making measurements of the three-dimensional distances between selected points on an object, said apparatus including a substantially side-looking ngid borescope which can be moved along a substantially straight translational axis from a first viewing position to a second viewing position as part of the measurement process, wherein said borescope can also be rotated about a rotational axis for alignment with objects of interest pnor to a measurement, charactenzed by the arrangement of said rotational axis to be accurately aligned with said translational axis
An apparatus as claimed in claim 20 wherein said borescope has a lens tube envelope and said lens tube envelope has an outer surface, characterized m that said borescope is preferably moved along said translational axis by a borescope positioning assembly and said rotational axis is preferably defined by the engagement of a first reference surface attached to said borescope with a second reference surface attached to said borescope positioning assembly, whereby said first reference surface is preferably a cylinder and said second reference surface is preferably a V groove, and said cylindncal first reference surface is said outer surface of said lens tube envelope or is a calibration sleeve attached to said borescope
An apparatus for measunng three - dimensional distances between individual user selected points on an inaccessible object, wherein the apparatus includes a ngid borescope which is fastened to a linear motion means, said borescope forming an image of said points on said object and said linear motion means having a range of travel and which also constrains the borescope to move along a substantially straight line, said apparatus further compnsing a position measurement means for indicating the position of said linear motion means within its range of travel, and also an image measurement means for determimng the positions of said selected points in said image, said apparatus further compnsing a computation means for incorporating said positions of said selected points in said image and said position of said linear motion means into a calculation of said three dimensional distances, charactenzed by a computation means that is programmed to perform a fully three - dimensional least squares estimation procedure to determine the measurement result
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA002263530A CA2263530A1 (en) | 1996-08-16 | 1997-08-08 | Apparatus and method for making accurate three-dimensional size measurements of inaccessible objects |
| AU41684/97A AU4168497A (en) | 1996-08-16 | 1997-08-08 | Apparatus and method for making accurate three-dimensional size measurements of inaccessible objects |
| GB9903366A GB2333595B (en) | 1996-08-16 | 1997-08-08 | Apparatus and method for making accurate three-dimensional size measurements of inaccessible objects |
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US08/689,993 | 1996-08-16 | ||
| US08/689,993 US6009189A (en) | 1996-08-16 | 1996-08-16 | Apparatus and method for making accurate three-dimensional size measurements of inaccessible objects |
| US08/871,289 US6121999A (en) | 1997-06-09 | 1997-06-09 | Eliminating routine alignment calibrations in perspective dimensional measurements |
| US08/871,289 | 1997-06-09 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| WO1998007001A1 WO1998007001A1 (en) | 1998-02-19 |
| WO1998007001B1 true WO1998007001B1 (en) | 1998-04-16 |
Family
ID=27104515
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/US1997/015206 WO1998007001A1 (en) | 1996-08-16 | 1997-08-08 | Apparatus and method for making accurate three-dimensional size measurements of inaccessible objects |
Country Status (4)
| Country | Link |
|---|---|
| AU (1) | AU4168497A (en) |
| CA (1) | CA2263530A1 (en) |
| GB (1) | GB2333595B (en) |
| WO (1) | WO1998007001A1 (en) |
Families Citing this family (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10031719A1 (en) * | 2000-06-29 | 2002-01-10 | Leica Microsystems | Illumination device and coordinate measuring device with an illumination device |
| US7349083B2 (en) | 2004-07-21 | 2008-03-25 | The Boeing Company | Rotary borescopic optical dimensional mapping tool |
| CA2597891A1 (en) | 2007-08-20 | 2009-02-20 | Marc Miousset | Multi-beam optical probe and system for dimensional measurement |
| WO2011083217A2 (en) * | 2010-01-06 | 2011-07-14 | Mathias Lubin | Video endoscope |
| US8786848B2 (en) * | 2011-05-05 | 2014-07-22 | Siemens Energy, Inc. | Inspection system for a combustor of a turbine engine |
| US9848954B2 (en) | 2013-12-20 | 2017-12-26 | Corbin E. Barnett | Surgical system and related methods |
| GB201803286D0 (en) | 2018-02-28 | 2018-04-11 | 3D Oscopy Ltd | Imaging system and method |
| US10670538B2 (en) * | 2018-04-30 | 2020-06-02 | General Electric Company | Techniques for control of non-destructive testing devices via a probe driver |
| US10712290B2 (en) * | 2018-04-30 | 2020-07-14 | General Electric Company | Techniques for control of non-destructive testing devices via a probe driver |
| CN112587124B (en) * | 2020-12-29 | 2024-02-09 | 苏州半鱼健康科技服务有限公司 | Measuring device and measuring method for measuring three-dimensional data of spine |
| CN114018154B (en) * | 2021-11-09 | 2024-05-28 | 国网河北省电力有限公司经济技术研究院 | Work well space positioning and orientation method and device and electronic equipment |
| CN114537705B (en) * | 2022-04-25 | 2022-08-12 | 成都飞机工业（集团）有限责任公司 | Airplane flaring conduit assembly method and device with errors, storage medium and equipment |
| CN114800056B (en) * | 2022-04-30 | 2024-12-17 | 徐德富 | Processing and mounting method of high-shape and position precision part |
| CN115597516B (en) * | 2022-10-26 | 2024-10-29 | 华能澜沧江水电股份有限公司 | High-precision geological crack monitoring method and system based on unmanned aerial vehicle image |
| CN116394068B (en) * | 2023-06-09 | 2023-09-29 | 成都飞机工业（集团）有限责任公司 | Method for automatically measuring AC axis zero positioning precision of five-axis linkage numerical control machine tool |
| EP4521166A1 (en) * | 2023-09-05 | 2025-03-12 | General Electric Company | Velocity matching imaging of a target element |
| CN119354102B (en) * | 2024-12-25 | 2025-03-18 | 深圳市亿图视觉自动化技术有限公司 | Triaxial collimator and measuring method thereof |
| CN119437665B (en) * | 2025-01-13 | 2025-04-01 | 广州瑞通增材科技有限公司 | Focal plane measuring device of optical path system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1996020389A1 (en) * | 1994-12-28 | 1996-07-04 | Keymed (Medical & Industrial Equipment) Ltd. | Digitally measuring scopes using a high resolution encoder |
-
1997
- 1997-08-08 CA CA002263530A patent/CA2263530A1/en not_active Abandoned
- 1997-08-08 GB GB9903366A patent/GB2333595B/en not_active Expired - Fee Related
- 1997-08-08 AU AU41684/97A patent/AU4168497A/en not_active Abandoned
- 1997-08-08 WO PCT/US1997/015206 patent/WO1998007001A1/en active Application Filing
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO1998007001B1 (en) | Apparatus and method for making accurate three-dimensional size measurements of inaccessible objects | |
| US6459481B1 (en) | Simple system for endoscopic non-contact three-dimentional measurement | |
| US9091536B2 (en) | Method and device for three-dimensional surface detection with a dynamic reference frame | |
| CN106871787B (en) | Large space line scanning imagery method for three-dimensional measurement | |
| US8213707B2 (en) | System and method for 3D measurement and surface reconstruction | |
| EP1466137B1 (en) | Stereoscopic three-dimensional metrology system and method | |
| US7256899B1 (en) | Wireless methods and systems for three-dimensional non-contact shape sensing | |
| CA2370156C (en) | Method for optically detecting the shape of objects | |
| US20110060185A1 (en) | Medical device system and calibration method for medical instrument | |
| JP2018537155A (en) | Apparatus and method for tracking the position of an endoscope within a patient's body | |
| US8045180B2 (en) | Device for flexible detection of the geometric shape of objects by means of optical 3D measuring technology | |
| WO2015006431A1 (en) | Triangulation scanner having motorized elements | |
| EP0871394A2 (en) | Method and apparatus for photogrammetric assessment of biological tissue | |
| WO2015093248A1 (en) | X-ray tomography device employing c-arm and method for controlling same | |
| GB2333595A (en) | Apparatus and method for making accurate three-dimensional size measurements of inaccessible objects | |
| CN114061918A (en) | Endoscope testing method and system | |
| WO2017170488A1 (en) | Optical axis position measuring system, optical axis position measuring method, optical axis position measuring program, and optical axis position measuring device | |
| CN110051433B (en) | Method for keeping track of target and application thereof in image-guided surgery | |
| Baek et al. | Robotic camera calibration to maintain consistent percision of 3D trackers | |
| US20220327735A1 (en) | Ultrasound probe position registration method, ultrasound imaging system, ultrasound probe position registration system, ultrasound probe position registration phantom, and ultrasound probe position registration program | |
| JP3540321B2 (en) | Method for correlating three-dimensional measurements obtained by an image acquisition system and apparatus for implementing the same | |
| KR102508304B1 (en) | Telescopic and rotatable scanning system for 3-dimension body shape and method for scanning body using the same | |
| JP4918675B2 (en) | 3D coordinate measurement method | |
| TWI423786B (en) | Apparatus for positioning center of gravity of human body | |
| JPH0481125B2 (en) |