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WO1999006950A3 - Appareil et procedes de balayage - Google Patents

Appareil et procedes de balayage 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
English (en)
Other versions
WO1999006950A2 (fr
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 JP2000505603A priority Critical patent/JP2001512241A/ja
Priority to AU86362/98A priority patent/AU8636298A/en
Priority to EP98937633A priority patent/EP1000318A2/fr
Priority to CA002299426A priority patent/CA2299426A1/fr
Publication of WO1999006950A2 publication Critical patent/WO1999006950A2/fr
Publication of WO1999006950A3 publication Critical patent/WO1999006950A3/fr

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 OR CALCULATING; 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 OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/97—Determining parameters from multiple pictures
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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 OR CALCULATING; 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 Analysis (AREA)
  • Image Processing (AREA)

Abstract

L'invention concerne un dispositif utile pour l'acquisition de la forme 3D d'un objet (O), qui comporte un dispositif de caméra numérique monoculaire (fig. 9) ou stéréoscopique (fig. 8) éventuellement prévu avec un capteur (11) inertiel servant à indiquer la position et/ou l'orientation de la (des) caméra(s) par rapport à l'objet, afin de faciliter la dérivation d'informations 3D à partir d'images chevauchantes (dans le premier cas), ou la combinaison d'ensembles de données 3D (dans le second cas). Dans une variante employant une seule caméra qui peut être déplacée librement (fig. 10, 13, 14), le capteur inertiel est conçu ou utilisé seulement pour déterminer une rotation relative, et au moins le mouvement de translation de la caméra par rapport à l'objet (O, O') est déterminé par la recherche d'un réseau de points (a, b, c; a', b', c') dans l'image (I). Dans d'autres modes de réalisation (fig. 3, 4, 6), un processeur d'image utilise des lignes (EPa à EPd) épipolaires convergentes pour limiter une recherche de zones corrélées des images ou d'un motif fractal projeté (fig. 15, 15A) dont les zones corrélées (P, P') peuvent être identifiées à partir de leur topologie identique dans les deux images.
PCT/GB1998/002307 1997-07-31 1998-07-31 Appareil et procedes de balayage WO1999006950A2 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2000505603A JP2001512241A (ja) 1997-07-31 1998-07-31 走査装置および方法
AU86362/98A AU8636298A (en) 1997-07-31 1998-07-31 Scanning apparatus and methods
EP98937633A EP1000318A2 (fr) 1997-07-31 1998-07-31 Appareil et procedes de balayage
CA002299426A CA2299426A1 (fr) 1997-07-31 1998-07-31 Appareil et procedes de balayage

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 (fr) 1999-02-11
WO1999006950A3 true WO1999006950A3 (fr) 1999-04-22

Family

ID=10816794

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB1998/002307 WO1999006950A2 (fr) 1997-07-31 1998-07-31 Appareil et procedes de balayage

Country Status (6)

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

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DE50009995D1 (de) 1999-04-30 2005-05-12 Wagner Christoph Verfahren zur optischen formerfassung von gegenständen
GB2368117A (en) * 2000-05-08 2002-04-24 Neutral Ltd Optical viewing arrangement
DE10025741C2 (de) * 2000-05-19 2002-06-13 Fraunhofer Ges Forschung Verfahren zur Bestimmung der räumlichen Koordinaten von Gegenständen und/oder deren zeitlicher Änderung
US7359748B1 (en) 2000-07-26 2008-04-15 Rhett Drugge Apparatus for total immersion photography
US8625854B2 (en) 2005-09-09 2014-01-07 Industrial Research Limited 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 (de) * 2007-05-04 2008-11-06 Friedrich-Schiller-Universität Jena Vorrichtung und Verfahren zum berührungslosen Erfassen räumlicher Koordinaten einer Oberfläche
WO2009027585A1 (fr) * 2007-08-31 2009-03-05 Institut De Recherche Sur Les Cancers De L'appareil Digestif Ircad Dispositif flexible de determination d'une forme en trois dimensions
FR2922640B1 (fr) * 2007-10-19 2010-01-08 Ct Tech Cuir Chaussure Maroqui Procede et un dispositif de reconstruction tridimensionnelle de la surface interieure d'une chaussure
AT506110B1 (de) 2007-12-12 2011-08-15 Nextsense Mess Und Pruefsysteme Gmbh Vorrichtung und verfahren zur erfassung von körpermassdaten und konturdaten
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 (ja) * 2008-11-14 2013-06-12 オムロン株式会社 光学式計測装置
KR101166719B1 (ko) 2008-12-22 2012-07-19 한국전자통신연구원 평행사변형 기반의 무한 호모그래피 산출 방법과 이를 이용한 건물 구조 복원 방법
FR2950138B1 (fr) * 2009-09-15 2011-11-18 Noomeo Procede de numerisation tridimensionnelle a recalage rapide
US8760447B2 (en) 2010-02-26 2014-06-24 Ge Inspection Technologies, Lp Method of determining the profile of a surface of an object
WO2011120526A1 (fr) * 2010-03-30 2011-10-06 3Shape A/S Balayage de cavités à accessibilité réduite
DE102010064320B4 (de) * 2010-12-29 2019-05-23 Siemens Healthcare Gmbh Optischer Zeiger für ein Chirurgieassistenzsystem
US10586341B2 (en) 2011-03-04 2020-03-10 General Electric Company Method and device for measuring features on or near an object
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
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
US9984474B2 (en) 2011-03-04 2018-05-29 General Electric Company Method and device for measuring features on or near an object
US10019812B2 (en) 2011-03-04 2018-07-10 General Electric Company Graphic overlay for measuring dimensions of features using a video inspection device
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
ITTO20130202A1 (it) 2013-03-15 2014-09-16 Torino Politecnico Dispositivo e sistema di scansione tridimensionale, e relativo metodo.
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
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
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
JP2015185947A (ja) * 2014-03-20 2015-10-22 株式会社東芝 撮像システム
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 (ja) 2018-04-27 2023-07-28 川崎重工業株式会社 外科手術システム及び外科手術システムの制御方法
SG11202011825TA (en) * 2018-05-30 2020-12-30 Vi3D Labs Inc Three-dimensional surface scanning
CN112254674B (zh) * 2020-10-15 2022-02-15 天目爱视（北京）科技有限公司 一种近距离智能视觉3d信息采集设备
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 (zh) * 2022-01-17 2022-12-30 吉林大学 基于双目相机和惯性导航的结构光扫描测量方法及系统

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WO1986005058A1 (fr) * 1985-02-13 1986-08-28 University Of Queensland Systeme de formation d'images numeriques et d'analyse de ces images
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
US5054907A (en) * 1989-12-22 1991-10-08 Phoenix Laser Systems, Inc. Ophthalmic diagnostic apparatus and method
FR2672119A1 (fr) * 1991-01-29 1992-07-31 Dea Spa Systeme de mesure de surfaces a trois dimensions devant etre representees mathematiquement ainsi qu'un procede de mesure et un gabarit d'etalonnage du systeme de mesure.
US5309222A (en) * 1991-07-16 1994-05-03 Mitsubishi Denki Kabushiki Kaisha Surface undulation inspection apparatus
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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 (fr) * 1995-10-04 1997-04-10 Visual Interface, Inc. Procede de creation d'une image tridimensionnelle a partir d'images bidimensionnelles

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Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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 (fr) * 1985-02-13 1986-08-28 University Of Queensland Systeme de formation d'images numeriques et d'analyse de ces images
US5054907A (en) * 1989-12-22 1991-10-08 Phoenix Laser Systems, Inc. Ophthalmic diagnostic apparatus and method
FR2672119A1 (fr) * 1991-01-29 1992-07-31 Dea Spa Systeme de mesure de surfaces a trois dimensions devant etre representees mathematiquement ainsi qu'un procede de mesure et un gabarit d'etalonnage du systeme de mesure.
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 (fr) * 1995-10-04 1997-04-10 Visual Interface, Inc. Procede de creation d'une image tridimensionnelle a partir d'images bidimensionnelles

Also Published As

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

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