WO1998040762B1 - Image-directed active range finding system - Google Patents
Image-directed active range finding systemInfo
- 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
Links
- 238000005094 computer simulation Methods 0.000 abstract 1
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
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) |
Families Citing this family (24)
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KR100299531B1 (en) * | 1998-08-10 | 2001-10-27 | 구본준, 론 위라하디락사 | Slim Liquid Crystal Display |
ES2152171B1 (en) * | 1998-11-30 | 2001-08-01 | Univ Madrid Carlos Iii | 3D VISION SYSTEM WITH VIDEO SIGNAL HARDWARE PROCESSING. |
JP2000292134A (en) * | 1999-04-07 | 2000-10-20 | Minolta Co Ltd | Three-dimensional information input camera |
DE29911391U1 (en) * | 1999-06-30 | 1999-10-14 | Sick Ag | Optoelectronic monitoring system |
US6547397B1 (en) | 2000-04-19 | 2003-04-15 | Laser Projection Technologies, Inc. | Apparatus and method for projecting a 3D image |
US6664529B2 (en) | 2000-07-19 | 2003-12-16 | Utah State University | 3D multispectral lidar |
CA2327894A1 (en) * | 2000-12-07 | 2002-06-07 | Clearview Geophysics Inc. | Method and system for complete 3d object and area digitizing |
FI113293B (en) * | 2001-04-19 | 2004-03-31 | Mapvision Oy | A method for indicating a point in a measuring space |
AU2002323027A1 (en) * | 2001-08-07 | 2003-02-24 | Ernest A. Franke | Apparatus and methods of generation of textures with depth buffers |
ES2399883T3 (en) * | 2001-10-11 | 2013-04-04 | Laser Projection Technologies, Inc. | Procedure and system for displaying surface errors |
US7283253B2 (en) * | 2002-03-13 | 2007-10-16 | Applied Precision, Llc | Multi-axis integration system and method |
JP3966461B2 (en) * | 2002-08-09 | 2007-08-29 | 株式会社リコー | Electronic camera device |
US7161664B2 (en) * | 2004-04-13 | 2007-01-09 | Electronic Scripting Products, Inc. | Apparatus and method for optical determination of intermediate distances |
US7113270B2 (en) * | 2004-06-18 | 2006-09-26 | Electronics Scripting Products, Inc. | Determination of an orientation parameter of an elongate object with a scan beam apparatus |
US8085388B2 (en) * | 2005-02-01 | 2011-12-27 | Laser Projection Technologies, Inc. | Laser radar projection with object feature detection and ranging |
CA2596284C (en) * | 2005-02-01 | 2016-07-26 | Laser Projection Technologies, Inc. | Laser projection with object feature detection |
US20060272097A1 (en) * | 2005-05-04 | 2006-12-07 | Jean-Paul Dionne | Vibrating patient support apparatus with a resonant referencing percussion device |
JP4533824B2 (en) * | 2005-08-30 | 2010-09-01 | 株式会社日立製作所 | Image input device and calibration method |
US7583365B2 (en) | 2006-03-29 | 2009-09-01 | Mensi, S.A. | Method of scanning a scene and corresponding scanning device |
SE533521C2 (en) * | 2007-10-08 | 2010-10-12 | Binar Ab | Method and apparatus for computerized inspection to determine deviations in object shape and dimensions |
US7973779B2 (en) * | 2007-10-26 | 2011-07-05 | Microsoft Corporation | Detecting ambient light levels in a vision system |
US9224368B2 (en) * | 2013-02-20 | 2015-12-29 | Google Inc. | Merging three-dimensional models of varying resolution |
US9410793B2 (en) | 2013-08-06 | 2016-08-09 | Laser Projection Technologies, Inc. | Virtual laser projection system and method |
US10210607B1 (en) | 2015-04-08 | 2019-02-19 | Wein Holding LLC | Digital projection system and method for workpiece assembly |
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-
1997
- 1997-03-10 US US08/814,457 patent/US5889582A/en not_active Expired - Lifetime
-
1998
- 1998-03-03 WO PCT/CA1998/000165 patent/WO1998040762A1/en active Application Filing
- 1998-03-03 AU AU60863/98A patent/AU6086398A/en not_active Abandoned
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