EP0935737A1 - Method for increasing the significance of tridimensional measuring of objects - Google Patents

Method for increasing the significance of tridimensional measuring of objects

Info

Publication number
EP0935737A1
EP0935737A1 EP19970938789 EP97938789A EP0935737A1 EP 0935737 A1 EP0935737 A1 EP 0935737A1 EP 19970938789 EP19970938789 EP 19970938789 EP 97938789 A EP97938789 A EP 97938789A EP 0935737 A1 EP0935737 A1 EP 0935737A1
Authority
EP
European Patent Office
Prior art keywords
pattern
characterized
method according
encoded
elements
Prior art date
Legal status (The legal status 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 status listed.)
Withdrawn
Application number
EP19970938789
Other languages
German (de)
French (fr)
Inventor
Rüdger Rubbert
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
OraMetrix GmbH
Original Assignee
SYRINX MED TECH GmbH
Syrinx Medical Technologies GmbH
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
Priority to DE19638727 priority Critical
Priority to DE1996138727 priority patent/DE19638727A1/en
Application filed by SYRINX MED TECH GmbH, Syrinx Medical Technologies GmbH filed Critical SYRINX MED TECH GmbH
Priority to PCT/DE1997/001798 priority patent/WO1998011404A1/en
Publication of EP0935737A1 publication Critical patent/EP0935737A1/en
Application status is Withdrawn legal-status Critical

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical means
    • G01B11/24Measuring arrangements characterised by the use of optical means for measuring contours or curvatures
    • G01B11/25Measuring arrangements characterised by the use of optical means for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G01B11/2536Measuring arrangements characterised by the use of optical means for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object using several gratings with variable grating pitch, projected on the object with the same angle of incidence

Abstract

A method for increasing the significance of tridimensional measuring of objects trough optical recordings, projected samples and triangulation calculation, whereby a coded sample is projected on the object to prevent multiplicities during the evaluation of the image data is disclosed. This method is useful specially for medical diagnostics, therapy and documentation.

Description

Method of increasing the significance of the three-dimensional measurement of objects

The invention relates to a method of increasing the significance of the three-dimensional surveying of objects by optical images, patterns and aufprojizierte Tπangulationsberechnung, wherein a coded pattern is projected onto the object to avoid manifolds in the evaluation of the image data

For the purpose of measurement, provides the use of procedures which operate on optical basis, a number of advantages A measurement can be carried out quickly and without contact to the prior art includes electronic imager, such as CCD arrays αeren output signals immediately after a Digitahsierung gespeicher. or can be evaluated

Known are methods and apparatuses for displaying and optical three-dimensional measurement of spatial surfaces are based on

Tπangulatioπsverfahren Dei are those arbitrary at a known angle dash line or other pattern projected onto the viewed surface and the projizierteπ patterns are recorded at an angle different from the projection angle of view with an optical system and an image converter, the known geometry between Projektionsπchtung and Aufπahmenchtung allows the three-dimensional Berecnnung of Stutz points αer surface

is projected onto an object with spatial extents for example, a gleichmaßiges line pattern arises in a direction different from the direction of projection viewing direction depending on the Oberflacheπgestalt of the object in a distorted line patterns one forms from this viewing direction the object by a suitable optical system onto a CCD array from digitized If the image signals and provides them to a data processing unit for disposal, it is possible at various locations of Biides to identify the lines, and to errecnnen 3D Koordιnaten with knowledge of the optical path and taking into account the geometric configuration of the projected line pattern via triangulation

In a simple spatial configuration of the object to one another incremental coordinates can be calculated on the basis of the relative distance of the imaged lines

However, it is known that high levels in the to be measured surface drove under certain geometrical conditions to relevant measurement errors can the object has with respect to the projection or the shooting direction of undercuts, it is not readily apparent whether it is actually in adjacent lines in the image also to adjacent projected lines are If individual lines have not come to represent, is also not known how many lines have been "swallowed" as Hinterschneidungeπ designs are here to understand the three-dimensional contour that hides as a result of viewing or the Projektionsπchtung by parts of the object itself and thus are not available for viewing or projection •

In European Patent Application 0250993 a system for the production of Keramikmlays is described in which an optical 3D Meßvornchtuπg is used for measuring the cavitate a tooth, where the meaning is a

"Optimum viewing" for two reasons underlined - first - to the

align pickup unit with regard to sight and the projection direction in such a way that with a single receiving the relevant Oberfiachensegmente of the object can be absorbed and - secondly - in order not due to

Undercuts the 3D Koordιnaten calculate incorrectly In this

Context is proposed lines aufgund the partially present

Contrast information in the calculation to "overweight", but this can minimize at a different training regarding contrast of the surface structure of the object, the probability of an erroneous calculation only partially

It belongs to the prior art, the Tei obtained from frames with different shooting direction nformation on three-dimensional surfaces using the 3D Koordιnaten matching Oberfiachensegmente using so-called "matching algorithms" to combine to form total information it is obvious that manifolds or uncertainties in the accuracy of the incoming coordinates can verunmoglichen a meaningful numerical calculation, especially if it is to be made automatically during the online Aufnahmevorgaπgs

The object of the invention is therefore to provide the method for increasing the significance of the three-dimensional measurement of objects of the type described above, with the considered each region of the projected pattern in the shot image itself can be uniquely identified without the need for continuity of the surface with respect to the viewing and Projektioπsπchtung in the above described manner must be provided the task accordance with the invention is achieved with the method characterized in that the for the purpose of three-dimensional measurement of objects with raumlicnen extensions projected according to the triangulation pattern regions are encoded in such a way that on the basis of a partial image section identify the mapping to the corresponding region of the projected pattern let from a knowledge of the beam path, the geometric configuration of the projected pattern, and the knowledge of the position of the corresponding Musterausschπittes in the Bi ldaufπahme absolute 3D Koordιnaten can be determined by simple triangulation

Now, if parts of the projected pattern falls into a shaded area so can still partially identified the pattern and an exact 3D calculations are performed Although the three-dimensional measurement of the surface posted for the shaded area is not possible, but for the other areas due to the unique assignment of each model games correctly

It is conceivable that under certain circumstances the formation of the coded pattern over a simple stripe pattern reduces the number of predictable 3D information, however, is moving at a low speed, the receiving unit relative to the object and takes during which a sequence of different frames, so by appropriate combination of the the individual images associated information compressed 3D lπformatιonen than be completed successively, there to complement the result of undercuts missing in frames information was that it was to represent larger objects than is possible due to the limitations of the field of view of the receiving unit in a single shot is

By the inventive method can be avoided manifolds in the triangulation, and the significance of these calculations are increased in the above-described sense "Encodes" are colored for the purposes of this invention, portions of the aufprojizierteπ pattern with respect to their geometrical design and / or extension and / or its other example design are significantly distinguishable.

Is used as a model for projecting a line pattern is obtained for the SD

Calculation "relevant information when the lines are striped with a substantial component transverse to the plane defined by the direction between gaze and projection plane.

When using a line pattern, the lines can inventively advantageous z. B. be encoded by varying the stroke Strong within the respective line can Here binary other discrete and analog codings are used.

If, for example - first - light lines projected onto the object, are

- second, - the contrast data of the digitized image information in the memory of a data processing unit surface before, are thus organized in rows and columns and represent - third - the Spalteπdaten example, the image information in the direction of the plane which is spanned between recording and Projektionsnchtuπg, the automatic evaluation can be take place of the data in a suitable algorithm for the purpose of calculating the absolute 3D Koordιnaten such that the contrast data along an image column in the accordance with the pattern sequence to be dark bright / verified / dark this purpose, the corresponding statistical and numerical methods such as cross-correlation, Wiener filters, etc. also known for the Subpixelauswertuπg.

Is now the column parts of the pattern conformity known, that is, have been identified, a line can be studied over edge tracing the course and the formation of the line in the adjacent columns. With belonging to the state of the art methods of Mustererkeπnung so that the line can be examined their training and their coding even posted.

the column location known where the line was taken with its pattern of gravity and - - the result is - first, second, - decodes the corresponding line segment, thus the Linieπsegment can clearly to the corresponding pattern position in the undistorted and had come to the projection pattern assigned From this information are determined for a corresponding point of the subject surface of the object on the 3D Trianguiatioπsberechπung Koordιnate

If we now identified in the manner described, both the other lines in the same column and leads to this method also in other columns by, one obtains a plurality of coordinates which samtlich individual points on the surface of the object corresponding Such so-called "point clouds" with which the formation of surfaces is described further data processing point cloud, for example, the formation of reticular structures or of surface segments are known also belongs to the state of the art in the art.

Particularly in medical applications made possible with the above method exact three-dimensional digital description eliminates the need for spatial impressions (such. As gypsum impressions) for documentation of features three-dimensional content or for computer-assisted production of therapeutic agents (such. As Zahπspaπgen, dentures, implants).

It is inventively advantageous alternately to be arranged along the respectively considered line segments with single and double line thickness also For example, if each short and long line segments used can vary with single or double line thickness along a line analogous to the Morse code the lines of the variation of short and long line segments If now be coded lines fall within a shadowed region, an absolute calculation of 3D coordinates can nevertheless for each visible line segment containing the full-length coding are carried out, without the need for information on other lines, or

are line segments required.

It is inventively advantageous to vary the stake black / white in particular pattern cutouts in geometrically unambiguous arrangement, for example, to distinguish from the respective ratio of black to white, the pattern section of another According to the invention particularly advantageous are the segments with varying amount of black can be arranged linearly or concentrically become

It is inventively advantageous to locate in certain pattern cutouts Unterbrechnungeπ the lines and to vary by different design of these breaks the pattern pieces

Alternatively, or in addition to a black / white-formation of the pattern accordance with the invention can particularly advantageously be a color coding of the pattern to be made when using lines as pattern accordance with the invention can be advantageously used, for example, each line can be performed in a different color This leaves intact the information density per line, yet each line to clearly identify if the color content of the recorded

Surface zulaßt such a distinction

"Color" is a selection of spectral lines and spectral regions of the visible, infrared and / or ultraviolet light is to be understood within the meaning of this invention, the purpose of this definition, it is irrelevant whether the color by

Production of certain spectra or spectral ranges, and optionally formed by additive color mixture, or filtered by absorption and, if desired subtractive color mixture of a wider range is

"Black" is used synonymously in the context of this invention, for substantially non-illuminated and / or for substantially without Ruckstrahl- or through-beam component due to absorption

"White" is used synonymously illuminated in accordance with this invention with a wide spectral band and a wide for Ruckstrahl- with or through-beam component having

All spectral band used in this invention, embodiments of the method described accordance with the invention can be komoiniert each other in more diverse ways particularly advantageous

Further advantages and features of the present Anwenduπgsmoglichkeiten

Invention will become apparent from the following description of preferred exemplary embodiments in conjunction with the accompanying drawings

It shows the accompanying drawings in Figures 1 and 2 embodiments of coded patterns for carrying out optical pick up partially in schematic form for the purpose of three-dimensional measurement of objects using triangulation aufprojizierte patterns and according to the invention,

In the example shown in Ftg 1 line pattern, the line strength along the respective line in a regular repeated sequence is alternately in single or double width

(Bar Starke) carried out such that in a defined line segment the Langenverhaltnis of pieces formed of different single and double bar Strong from line to line in an analogous application of beituπg customary in Signalverar expression can in other words, black in this context of a different / speak white-duty ratio within the Peπodizitat the pattern

The embodiment shown in Figure 1 is characterized in addition to the coding of the pattern parts is characterized in that can be achieved because of the special formation of the pattern, a high density of computable points Stutz

In Figure 2 an arrangement is shown of concentric pattern elements, wherein the individual elements are such codes in that - first, - the inner circle at 90 ° - segments is blackened different, - second, - the outer concentric ring in 90 ° segments blackened is different and - thirdly - the

Winkelstetlung of the outer concentric ring pattern is formed differently from the parent element array The Ausfuhruπgsform shown in Figure 2 is characterized in addition to the coding of the pattern parts is characterized in that a) are achieved by the three above-mentioned possibilities of unterschiedlichen- formation of the individual pattern element a high significance of the coding and thus can

b) a large number of items can be clearly distinguished, respectively

c) redundant information can be displayed for verification purposes,

d) suitable, the concentric configuration of the pattern elements for the automatic and Mustererkenπung

e) the inner circle in its various embodiments for the exact determination of the point in the distorted image of the pattern projected by means of

Mustererkenπungsalgorithmen suitable.

Claims

claims
1. A process for increasing the significance of the three-dimensional surveying of objects by optical images, patterns and aufprojizierte Triaπgulationsberechnung, characterized in that different
are areas of aufprojizierten pattern have a different training and coded so that
2 A method according to claim 1, characterized in that the pattern is composed of at least two geometric elements, which are encoded by different training
3. A process according to claim 2, characterized in that it is in the differently shaped geometric elements are elements with a substantially linear extension.
4 A method according to claim 2, characterized in that it is in the differently shaped geometric elements to elements having substantially concentric extension
5 are process according to any one of claims 1 to 4 characterized in that the differently formed areas of the pattern have differences with regard to the formation of the bar strength and encoded thereby
6 A method according to any one of claims 2 to 5, characterized in that the differently shaped geometric elements of the pattern show differences by interrupting and encoded thereby are
7 A method according to any one of claims 1 to 6, characterized in that the differently formed areas of the pattern have differences in the color scheme and / or the black / white Gehaits and are encoded by A method according to any one of claims 1 or 7, characterized in that at least two regions of the surface of the captured object can be calculated from the image information of 3D Koordιnaten of at least one point, have been projected onto the encoded during recording different portions of the pattern
Use of the method according to any one of claims 1 to 8 for medical diagnostics, therapy or documentation
EP19970938789 1996-09-12 1997-08-19 Method for increasing the significance of tridimensional measuring of objects Withdrawn EP0935737A1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE19638727 1996-09-12
DE1996138727 DE19638727A1 (en) 1996-09-12 1996-09-12 Method of increasing the significance of the three-dimensional measurement of objects
PCT/DE1997/001798 WO1998011404A1 (en) 1996-09-12 1997-08-19 Method for increasing the significance of tridimensional measuring of objects

Publications (1)

Publication Number Publication Date
EP0935737A1 true EP0935737A1 (en) 1999-08-18

Family

ID=7806439

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19970938789 Withdrawn EP0935737A1 (en) 1996-09-12 1997-08-19 Method for increasing the significance of tridimensional measuring of objects

Country Status (6)

Country Link
EP (1) EP0935737A1 (en)
JP (1) JP2001505302A (en)
CN (1) CN1231724A (en)
AU (1) AU4111597A (en)
DE (1) DE19638727A1 (en)
WO (1) WO1998011404A1 (en)

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Also Published As

Publication number Publication date
JP2001505302A (en) 2001-04-17
WO1998011404A1 (en) 1998-03-19
CN1231724A (en) 1999-10-13
AU4111597A (en) 1998-04-02
DE19638727A1 (en) 1998-03-19

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