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WO1999006950A3 - Scanning apparatus and methods - Google Patents

Scanning apparatus and methods Download PDF

Info

Publication number
WO1999006950A3
WO1999006950A3 PCT/GB1998/002307 GB9802307W WO9906950A3 WO 1999006950 A3 WO1999006950 A3 WO 1999006950A3 GB 9802307 W GB9802307 W GB 9802307W WO 9906950 A3 WO9906950 A3 WO 9906950A3
Authority
WO
WIPO (PCT)
Prior art keywords
figures
camera
images
inertial sensor
arrangement
Prior art date
Application number
PCT/GB1998/002307
Other languages
French (fr)
Other versions
WO1999006950A2 (en
Inventor
Christopher Peter Flockhart
Guy Richard John Fowler
Original Assignee
Tricorder Technology Plc
Christopher Peter Flockhart
Guy Richard John Fowler
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tricorder Technology Plc, Christopher Peter Flockhart, Guy Richard John Fowler filed Critical Tricorder Technology Plc
Priority to EP98937633A priority Critical patent/EP1000318A2/en
Priority to JP2000505603A priority patent/JP2001512241A/en
Priority to CA002299426A priority patent/CA2299426A1/en
Priority to AU86362/98A priority patent/AU8636298A/en
Publication of WO1999006950A2 publication Critical patent/WO1999006950A2/en
Publication of WO1999006950A3 publication Critical patent/WO1999006950A3/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/245—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G01B11/2545—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with one projection direction and several detection directions, e.g. stereo
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/97—Determining parameters from multiple pictures
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/12—Details of acquisition arrangements; Constructional details thereof
    • G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
    • G06V10/147—Details of sensors, e.g. sensor lenses
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/12—Acquisition of 3D measurements of objects

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Vascular Medicine (AREA)
  • Multimedia (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)

Abstract

An arrangement for acquiring the 3D shape of an object (O) comprises a monocular (Figure 9) or a stereoscopic (Figure 8) digital camera arrangement optionally provided with an inertial sensor (11) which indicates the position and/or orientation of the camera(s) in relation to the object either to facilitate the derivation of 3D information from overlapping images (in the former case) or the combination of 3D data sets (in the latter case). In a variant utilising a single freely movable camera (Figures 10, 13 and 14) the inertial sensor is dispensed with or used only to determine relative rotation, and at least the translation of the camera relative to the object (O, O') is determined by tracking a network of points (a, b, c; a', b', c') in the image (I). In other embodiments (Figures 3, 4 and 6) an image processor utilises converging epipolar lines (EPa to EPd) to constrain a search for correlated regions of the images or a projected fractal pattern (Figures 15 and 15A) whose correlated regions (P, P') can be identified from their identical topology in both images.
PCT/GB1998/002307 1997-07-31 1998-07-31 Scanning apparatus and methods WO1999006950A2 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP98937633A EP1000318A2 (en) 1997-07-31 1998-07-31 Scanning apparatus and methods
JP2000505603A JP2001512241A (en) 1997-07-31 1998-07-31 Scanning apparatus and method
CA002299426A CA2299426A1 (en) 1997-07-31 1998-07-31 Scanning apparatus and methods
AU86362/98A AU8636298A (en) 1997-07-31 1998-07-31 Scanning apparatus and methods

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB9716240.8 1997-07-31
GBGB9716240.8A GB9716240D0 (en) 1997-07-31 1997-07-31 Scanning apparatus and methods

Publications (2)

Publication Number Publication Date
WO1999006950A2 WO1999006950A2 (en) 1999-02-11
WO1999006950A3 true WO1999006950A3 (en) 1999-04-22

Family

ID=10816794

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB1998/002307 WO1999006950A2 (en) 1997-07-31 1998-07-31 Scanning apparatus and methods

Country Status (6)

Country Link
EP (1) EP1000318A2 (en)
JP (1) JP2001512241A (en)
AU (1) AU8636298A (en)
CA (1) CA2299426A1 (en)
GB (2) GB9716240D0 (en)
WO (1) WO1999006950A2 (en)

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US6590669B1 (en) 1999-04-30 2003-07-08 Christoph Wagner Method for optically detecting the shape of objects
GB2368117A (en) * 2000-05-08 2002-04-24 Neutral Ltd Optical viewing arrangement
DE10025741C2 (en) * 2000-05-19 2002-06-13 Fraunhofer Ges Forschung Method for determining the spatial coordinates of objects and / or their change over time
US7359748B1 (en) 2000-07-26 2008-04-15 Rhett Drugge Apparatus for total immersion photography
WO2007030026A1 (en) * 2005-09-09 2007-03-15 Industrial Research Limited A 3d scene scanner and a position and orientation system
US20080195316A1 (en) * 2007-02-12 2008-08-14 Honeywell International Inc. System and method for motion estimation using vision sensors
DE102007022361A1 (en) * 2007-05-04 2008-11-06 Friedrich-Schiller-Universität Jena Device and method for the contactless detection of spatial coordinates of a surface
WO2009027585A1 (en) * 2007-08-31 2009-03-05 Institut De Recherche Sur Les Cancers De L'appareil Digestif Ircad Flexible device for determining a three-dimensional shape
FR2922640B1 (en) * 2007-10-19 2010-01-08 Ct Tech Cuir Chaussure Maroqui METHOD AND DEVICE FOR THREE-DIMENSIONAL RECONSTRUCTION OF THE INTERNAL SURFACE OF A SHOE
AT506110B1 (en) 2007-12-12 2011-08-15 Nextsense Mess Und Pruefsysteme Gmbh DEVICE AND METHOD FOR DETECTING BODY MEASURE DATA AND CONTOUR DATA
US8213706B2 (en) 2008-04-22 2012-07-03 Honeywell International Inc. Method and system for real-time visual odometry
US8238612B2 (en) 2008-05-06 2012-08-07 Honeywell International Inc. Method and apparatus for vision based motion determination
JP5206344B2 (en) * 2008-11-14 2013-06-12 オムロン株式会社 Optical measuring device
KR101166719B1 (en) 2008-12-22 2012-07-19 한국전자통신연구원 Method for calculating a limitless homography and method for reconstructing architecture of building using the same
FR2950138B1 (en) * 2009-09-15 2011-11-18 Noomeo QUICK-RELEASE THREE-DIMENSIONAL SCANNING METHOD
US8760447B2 (en) 2010-02-26 2014-06-24 Ge Inspection Technologies, Lp Method of determining the profile of a surface of an object
ES2684135T3 (en) * 2010-03-30 2018-10-01 3Shape A/S Cavity scanning with restricted accessibility
DE102010064320B4 (en) * 2010-12-29 2019-05-23 Siemens Healthcare Gmbh Optical pointer for a surgical assistance system
US9875574B2 (en) 2013-12-17 2018-01-23 General Electric Company Method and device for automatically identifying the deepest point on the surface of an anomaly
US9013469B2 (en) 2011-03-04 2015-04-21 General Electric Company Method and device for displaying a three-dimensional view of the surface of a viewed object
US10586341B2 (en) 2011-03-04 2020-03-10 General Electric Company Method and device for measuring features on or near an object
US10157495B2 (en) 2011-03-04 2018-12-18 General Electric Company Method and device for displaying a two-dimensional image of a viewed object simultaneously with an image depicting the three-dimensional geometry of the viewed object
US10019812B2 (en) 2011-03-04 2018-07-10 General Electric Company Graphic overlay for measuring dimensions of features using a video inspection device
US9984474B2 (en) 2011-03-04 2018-05-29 General Electric Company Method and device for measuring features on or near an object
ITTO20130202A1 (en) * 2013-03-15 2014-09-16 Torino Politecnico DEVICE AND THREE-DIMENSIONAL SCANNING SYSTEM, AND RELATIVE METHOD.
US9818039B2 (en) 2013-12-17 2017-11-14 General Electric Company Method and device for automatically identifying a point of interest in a depth measurement on a viewed object
US9600928B2 (en) 2013-12-17 2017-03-21 General Electric Company Method and device for automatically identifying a point of interest on the surface of an anomaly
US9842430B2 (en) 2013-12-17 2017-12-12 General Electric Company Method and device for automatically identifying a point of interest on a viewed object
JP2015185947A (en) * 2014-03-20 2015-10-22 株式会社東芝 imaging system
US9903950B2 (en) 2014-08-27 2018-02-27 Leica Geosystems Ag Multi-camera laser scanner
GB2572755B (en) * 2018-04-05 2020-06-10 Imagination Tech Ltd Matching local image feature descriptors
JP7316762B2 (en) 2018-04-27 2023-07-28 川崎重工業株式会社 Surgical system and method of controlling surgical system
US11994588B2 (en) 2018-05-30 2024-05-28 Vi3D Labs Inc. Three-dimensional surface scanning
CN112254674B (en) * 2020-10-15 2022-02-15 天目爱视（北京）科技有限公司 Close-range intelligent visual 3D information acquisition equipment
US11676293B2 (en) * 2020-11-25 2023-06-13 Meta Platforms Technologies, Llc Methods for depth sensing using candidate images selected based on an epipolar line
CN114485479B (en) * 2022-01-17 2022-12-30 吉林大学 Structured light scanning and measuring method and system based on binocular camera and inertial navigation

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US4645348A (en) * 1983-09-01 1987-02-24 Perceptron, Inc. Sensor-illumination system for use in three-dimensional measurement of objects and assemblies of objects
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US5309222A (en) * 1991-07-16 1994-05-03 Mitsubishi Denki Kabushiki Kaisha Surface undulation inspection apparatus
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WO1997013218A1 (en) * 1995-10-04 1997-04-10 Visual Interface, Inc. Method of producing a three-dimensional image from two-dimensional images

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US4645348A (en) * 1983-09-01 1987-02-24 Perceptron, Inc. Sensor-illumination system for use in three-dimensional measurement of objects and assemblies of objects
WO1986005058A1 (en) * 1985-02-13 1986-08-28 University Of Queensland Digital imagery and analysis system
US5054907A (en) * 1989-12-22 1991-10-08 Phoenix Laser Systems, Inc. Ophthalmic diagnostic apparatus and method
FR2672119A1 (en) * 1991-01-29 1992-07-31 Dea Spa THREE-DIMENSIONAL SURFACE MEASURING SYSTEM TO BE REPRESENTED MATHEMATICALLY, AND A MEASURING METHOD AND CALIBRATION TEMPLATE OF THE MEASURING SYSTEM.
US5309222A (en) * 1991-07-16 1994-05-03 Mitsubishi Denki Kabushiki Kaisha Surface undulation inspection apparatus
US5383013A (en) * 1992-09-18 1995-01-17 Nec Research Institute, Inc. Stereoscopic computer vision system
GB2292605A (en) * 1994-08-24 1996-02-28 Guy Richard John Fowler Scanning arrangement for determining 3D characteristics of an object
US5559334A (en) * 1995-05-22 1996-09-24 General Electric Company Epipolar reconstruction of 3D structures
WO1997013218A1 (en) * 1995-10-04 1997-04-10 Visual Interface, Inc. Method of producing a three-dimensional image from two-dimensional images

Also Published As

Publication number Publication date
GB2328280B (en) 2002-03-13
EP1000318A2 (en) 2000-05-17
JP2001512241A (en) 2001-08-21
WO1999006950A2 (en) 1999-02-11
AU8636298A (en) 1999-02-22
GB9716240D0 (en) 1997-10-08
GB2328280A (en) 1999-02-17
GB9816756D0 (en) 1998-09-30
CA2299426A1 (en) 1999-02-11

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