WO1998040762B1 - Image-directed active range finding system - Google Patents

Image-directed active range finding system

Info

Publication number
WO1998040762B1
WO1998040762B1 PCT/CA1998/000165 CA9800165W WO9840762B1 WO 1998040762 B1 WO1998040762 B1 WO 1998040762B1 CA 9800165 W CA9800165 W CA 9800165W WO 9840762 B1 WO9840762 B1 WO 9840762B1
Authority
WO
WIPO (PCT)
Prior art keywords
laser
dimensional image
areas
interest
vision system
Prior art date
Application number
PCT/CA1998/000165
Other languages
French (fr)
Other versions
WO1998040762A1 (en
Filing date
Publication date
Priority claimed from US08/814,457 external-priority patent/US5889582A/en
Application filed filed Critical
Priority to AU60863/98A priority Critical patent/AU6086398A/en
Publication of WO1998040762A1 publication Critical patent/WO1998040762A1/en
Publication of WO1998040762B1 publication Critical patent/WO1998040762B1/en

Links

Abstract

A 3D vision system utilizes a CCD camera to first generate a two dimensional image of the object. A computer analyzes the two dimensional image to determine areas of interest, such as high contrast areas which indicate sharp discontinuities. A laser range scanner, controlled by the computer, then scans the object at a variable resolution, increasing its resolution in the areas of interest to generate a computer model.

Claims

6. The vision system according to Claim 1 wherein said camera is a CCD camera.
7. The vision system according to Claim 1 wherein said camera and said laser range scanner are directed toward said object at different angles.
8. The vision system according to Claim 1 wherein the computer generates a triangular mesh model of said object utilizing said ranges.
9. The vision system according to Claim 1 further including at least one laser steering device directing said laser at said object.
10. The vision system according to Claim 8 wherein said computer generates said model while said laser is measuring said ranges.
11. A vision system comprising: a camera generating a two-dimensional image of said object, said camera including a window through which light reflected from the object passes into said camera; and a laser range-finding .system generating a laser, said laser scanning said pbject and measuring ranges of said object at a plurality of said points and said object, said laser being reflected off said window toward said object
12. The vision system according to Claim 11 wherein said window is more reflective of a first wavelength of said laser than a second wavelength reflected from said object.
13. A method for generating a model of an object including the steps of: a) generating a two-dimensional image of said object, said two-dimensional image including a plurality of points on said object; b) measuring ranges of said object at a plurality of said points based upon said two dimensional image of said object; and c) generating a three-dimensional model of said object based' uppn said ranges.
14. The method according to Claim 13 further including the steps of: c) generating a triangular mesh model of said object based upon said step b; said step c being performed simultaneously with said step b.
15. The method according to Claim 13 further including the steps of measuring ranges of said object at a scanner resolution; analyzing said two-dimensional image of said object to determine areas of interest; and increasing said scanner resolution in said areas of interest.
16. The method according to Claim 15 wherein said areas of interest are high-contrast areas.
17. The method according, to Claim 15 wherein said areas of interest are edges of said object.
18. The method according to Claim 13 further including the steps of measuring ranges of said object at a scanner resolution; analyzing said ranges to determine areas of interest; and increasing said scanner resolution in said areas of interest.
19. The method according.to Claim 18 further including the steps of: directing a laser at said object at a first point on said object; locating said laser on said first point on said two-dimensional image; and calibrating said laser with said two-dimensional image.
FOR THE PURPOSES OF INFORMATION ONLY
Codes used to identify States party to the PCT on the front pages of pamphlets publishing international applications under the PCT.
AL Albania ES Spain LS Lesotho SI Slovenia
AM Armenia FI Finland LT Lithuania SK Slovakia
AT Austria FR France LU Luxembourg SN Senegal
AU Australia GA Gabon LV Latvia SZ Swaziland
AZ Azerbaijan GB United Kingdom MC Monaco TD Chad
BA Bosnia and Herzegovina GE Georgia MD Republic of Moldova TG Togo
BB Barbados GH Ghana MG Madagascar TJ Tajikistan
BE Belgium GN Guinea MK The former Yugoslav TM Turkmenistan
BF Burkina Faso GR Greece Republic of Macedonia TR Turkey
BG Bulgaria HU Hungary ML Mali TT Trinidad and Tobago
BJ Benin IE Ireland MN Mongolia UA Ukraine
BR Brazil IL Israel MR Mauritania UG Uganda
BY Belarus IS Iceland MW Malawi US United States of America
CA Canada IT Italy MX Mexico uz Uzbekistan
CF Central African Republic JP Japan NE Niger VN Viet Nam
CG Congo KE Kenya NL Netherlands YU Yugoslavia
CH Switzerland KG Kyrgyzstan NO Norway ZW Zimbabwe
Cl Cδte d'lvoire KP Democratic People's NZ New Zealand
CM Cameroon Republic of Korea PL Poland
CN China KR Republic of Korea PT Portugal
CU Cuba KZ Kazakstan RO Romania — —
CZ Czech Republic LC Saint Lucia RU Russian Federation
DE Germany LI Liechtenstein SD Sudan
DK Denmark LK Sπ Lanka SE Sweden
EE Estonia LR Liberia SG Singapore
PCT/CA1998/000165 1997-03-10 1998-03-03 Image-directed active range finding system WO1998040762A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU60863/98A AU6086398A (en) 1997-03-10 1998-03-03 Image-directed active range finding system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US08/814,457 1997-03-10
US08/814,457 US5889582A (en) 1997-03-10 1997-03-10 Image-directed active range finding system

Publications (2)

Publication Number Publication Date
WO1998040762A1 WO1998040762A1 (en) 1998-09-17
WO1998040762B1 true WO1998040762B1 (en) 1998-10-22

Family

ID=25215107

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CA1998/000165 WO1998040762A1 (en) 1997-03-10 1998-03-03 Image-directed active range finding system

Country Status (3)

Country Link
US (1) US5889582A (en)
AU (1) AU6086398A (en)
WO (1) WO1998040762A1 (en)

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