GB2264602A - Object examination - Google Patents
Object examination Download PDFInfo
- Publication number
- GB2264602A GB2264602A GB9226429A GB9226429A GB2264602A GB 2264602 A GB2264602 A GB 2264602A GB 9226429 A GB9226429 A GB 9226429A GB 9226429 A GB9226429 A GB 9226429A GB 2264602 A GB2264602 A GB 2264602A
- Authority
- GB
- United Kingdom
- Prior art keywords
- scanning device
- laser
- scanning
- optics
- camera
- 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- Withdrawn
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
-
- 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
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a scanning device 2 comprising an enclosure in which at least a camera 4 including camera optics 8, a laser 3 including laser optics 7 and which produces a stripe of laser light, and a data processor 5 are enclosed. The scanning device comprises one or more viewing means provided either by one or more cameras or a single camera in combination with mirrors 6. The data processor can be programmed to analyse the scanning data and provide output instructions to various peripheral devices and machine and process control systems directly. <IMAGE>
Description
SCANNING UNIT
This invention relates to an integrated device for the three dimensional surface scanning and analysis of an object or scene in real-time with the capability to provide feedback to a process controller or to control a process directly.
There are numerous applications which require the real-time monitoring of the surface of an object or scene. The main uses are for quality assurance and process control; there are also applications in reverse engineering, object recognition and vehicle guidance. Examples of the main uses are: the inspection of discrete products with the provision of pass/fail and trend information, the scanning of sides of bacon in the food industry with information fed to the bacon slicing machine to control the thickness of slices according to fixed weight requirements and the control of an extrusion or rolling process in the plastics and steel industries with information fed back in real time to the process control system.
There are numerous methods of capturing the shape of an object, including a mechanical or optical or electromagnetic single point probe, holographic systems, More' fringe systems, ultrasound systems, fast Fourier transform systems, photogrammetric systems, time of flight systems and triangulation techniques using structured light. Each method has different advantages and disadvantages in different classes of application.
It is an object of this invention to provide a new three dimensional surface scanning unit with the capability to process the scanned information and may also communicate with the process being scanned, that is a self-contained unit and does not require any associated computing equipment in normal operation.
According to the invention, there is provided an enclosed unit which consists of a method of capturing the surface shape of an object and a method of analysing the object. The enclosed unit is self-contained, but may be directly connected to the process in order to control it, or be connected to a device that controls a process such as a Programmable Logical Controller.
It is also an object of this invention, that the functioning of the unit be specified for the application for which it is installed by temporarily connecting a programming processor to the unit. The programming processor would usually be a small, portable computer. The connection of a programming processor for specifying the functioning of an unit is commonly used on programmable controllers and on motion control systems. The connection of a programming processor to a scanning unit for specifying its functioning which may be removed for operation is novel and provides a lower cost system which occupies less space than if a separate programming processor were required for its operation.
A display device may be connected to the unit to provide information on the functioning of the unit and the results of its operation. A control panel may be connected to the device for the operator to control the functioning of the unit.
The use of a CcD matrix rather than an area position sensing device or a linear position sensing device with a scanned spot/viewing point enables the processing unit to apply algorithms based on the knowledge of the light levels at each point in the matrix. These algorithms can determine not only the position but can identify well-known situations when errors in position are likely and to either output error signals or to compute accurate positions taking into account the full data.
Position sensing devices do this process in hardware with the disadvantage that false positions may be generated due to optical effects such as those found at the edge of an object when part of the projected light is lost or from flare and reflections at a shoulder. The position sensing device cannot output error signals or provide the raw data that a CCD matrix can for calculating a more accurate position.
It is also an object of this invention, to have the facility to control the power of the lasers, the exposure time of the CCD matrix array and the gain of the CCD for each measurement. With this method, if some parts of the laser stripe are not visible with a standard exposure at low laser power, then a second exposure (at the same physical position relative to the object) which is either longer or with more laser power can be made to render these points visible.
The laser sources may be broadband or narrowband. The use of a broadband laser source can overcome some optical characteristics generated by the surface texture. An example is the generation of speckle patterns by the interaction of a narrowband source with a machined surface. The speckles thus produced distort the stripe such that any measurements made are significantly less accurate than without the speckle effect.
A specific embodiment of the invention will now be described with reference to Figure 1 which is an outline of system layout.
A scanning device [2] comprising an enclosure in which at least a camera [4] including lens [8], a laser [3], comprising laser optics [7], and which produces a stripe of laser light, and a data processor [5] are enclosed.
The object or scene being scanned [1], moves relative to the scanning unit [2]. The scanning unit is a rigid enclosure to which the components [3,4,5,6,7 and 8] are firmly attached such that there is no scope for movement of the components [3,4,5,6,7 and 8] relative to each other in normal operation. The scanning unit operates on the principal of structured light triangulation. The source of structured light is usually at least one laser [3] which may have optics [7]. The source could be a slit of light or any other source that projects a relatively thin stripe of light onto the object or scene [1].
The light stripe(s) is viewed at an angle by at least one camera [4]. The camera(s) and laser(s) are connected to a data processor [5] comprising at least one electronic processing board. The camera(s) may not view the object directly and instead their optical paths may include reflection by means of a system of mirrors [6].
The scanning unit can accommodate at least one stripe triangulation. Several triangulations may be carried out by at least one stripe and at least one viewpoint. One camera may, by the use of mirrors simultaneously look from at least two viewpoints; the combination of components to view from a viewpoint is called a viewing means. Similarly a single laser may be used to project two stripes by means of a system of mirrors and a beam splitter. The advantage of having at least two triangulations is that shadowing or eclipsing caused by the geometry of the object obstructing the paths of the light to the surface and from the stripe to the camera's viewpoint can be overcome by having at least two viewpoints and/or at least two stripes.
Although the scanning unit is self-contained, the positioning of the camera(s), laser(s) and mirror(s) relative to each other may be adjusted to accommodate different fields of view of the object or scene and different positioning of the scanning unit relative to the object or scene. This adjustment is also essential to optically align the system at the time of installation.
Laser optics [7] may be used in conjunction with the laser to produce stripes of different thicknesses. One method is to use a rod lens, which spreads a beam of light into a stripe of light. The rod lens may be used in conjunction with focusing optics to focus the thickness of the stripe at a certain distance from the optics. A second method is the use of a scanning element such as a polygon mirror or galvanometer mirror to scan a spot to produce a stripe.
Camera optics [8] may be used to change the field of view. The preferred method is a lens of fixed focal length. Variable focal length lenses (zoom lenses) may be used and anamorphic optics in which the focal length in orthogonal directions is variable may also be used.
A number of possible combinations of camera(s), laser(s) and mirror(s) may be used and this document covers any possible combination of these elements within an enclosed scanning unit.
In addition, at least two scanning units may simultaneously scan the same object or scene from different positions and these scanning units may be connected to each other so that signals are passed from one to another.
In Figure 2 the connection of the scanning unit to a variety of other devices is shown. The unit may be connected to a programming processor [9], a display device [10], a control panel [11], a printer [12], the process in the form of other sensors and actuators [13], a process control system [14] and another scanning unit [15]. This list provides common examples of probable interconnections and does not exclude connection to other types of device. The interconnections of devices may all be direct to the scanning unit or the devices may be connected by means of a network.
In further embodiments of this invention other principles of scanning may be incorporated including those given in the list of methods above.
Claims (29)
1. A scanning device [2] comprising an enclosure in which at
least a camera [4] including lens [8], a laser [3],
comprising laser optics [7], and which produces a stripe of
laser light, and a data processor [5] are enclosed.
2. A scanning device according to claim 1, characterised in
that the scanning device comprises at least two viewing
means.
3. A scanning device according to claim 2, characterised in
that the viewing means are provided by at least two
cameras.
4. A scanning device according to claim 2, characterised in
that viewing means are provided by a combination of at
least one camera and at least one mirror.
5. A scanning device according to claim 1, characterised in
that the laser [3] with laser optics [7] projects at least
two laser stripes.
6. A scanning device according to claim 5, characterised in
that the laser stripes are in parallel planes.
7. A scanning device according to claim 5, characterised in
that the laser stripes are co-planar.
8. A scanning device according to claim 5, characterised in
that the laser stripes are in coincident planes.
9. A scanning device according to claim 5, characterised in
that the laser stripes are divergent.
10. A scanning device according to claims 1 to 9, characterised
in that the data processor [5] can be programmed by the
addition of a programming processor [9].
11. A scanning device according to claims 1 to 10,
characterised in that it comprises connecting means to a
display device [10].
12. A scanning device according to claims 1 to 11,
characterised in that it comprises connecting means to a
control panel [11].
13. A scanning device according to claims 1 to 12,
characterised in that it comprises connecting means to a
printer [12].
14. A scanning device according to claims 1 to 13,
characterised in that it comprises connecting means to a
machine or process [13].
15. A scanning device according to claims 1 to 14,
characterised in that it comprises connecting means to a
machine or process control system [14].
16. A scanning device according to claims 1 to 15,
characterised in that it comprises connecting means to
other scanning devices [15J.
17. A scanning device according to claims 1 to 16,
characterised in that the laser optics [7] can be adjusted
to focus the stripes at different distances from the
scanning device.
18. A scanning device according to claims 1 to 17,
characterised in that the camera [4] comprises camera
optics [8] which can be adjusted to scan objects [1] at
different distances from the scanning device.
19. A scanning device according to claims 1 to18, characterised
in that the camera optics [8] comprise anamorphic optics.
20. A scanning device according to claims 1 to 19,
characterised in that the camera [4], laser [3] and mirror
[6] and fixed in position with respect to each other by a
rigid enclosure such that they cannot move relative to each
other in normal operation.
21. A scanning device according to claims 1 to 20,
characterised in that the laser optics [7] form a stripe
using fixed optical elements.
22. A scanning device according to claims 1 to 21,
characterised in that the laser optics [7] include a
rotating element for scanning a spot to achieve a stripe.
23. A scanning device according to claims 1 to 22,
characterised in that the laser optics [7] include a device
for optically generating at least two stripes [10] from a
single laser [3].
24. A scanning device according to claims 1 to 23,
characterised in that algorithms or heuristic rules are
used in the data processor to identify optical effects
which lead to error in the standard position calculation
caused by said optical effects during scanning.
25. A scanning device according to claim 24, characterised in
that algorithms or heuristic rules based on knowledge of
the optical effects that lead to error in the standard
position calculation are used in the data processor to
calculate an accurate position.
26. A scanning device according to claims 1 to 25,
characterised in that the laser [3] may be broadband or
narrowband.
27. A method of scanning an object or scene [3] comprising the
following steps:
a) scanning the object or objects
b) analysing the scanning data
c) outputting the results of the analysis
28. A method of scanning an object or scene [3] comprising the
following steps:
a) scanning the object or objects
b) analysing the scanning data
c) carrying out preprogrammed actions on a machine or
process depending on the results of the analysis.
29. A scanning method according to claims 27 to 28
characterised in that at least two exposures are made at
the same or close to the same physical position, one at a
different light level to the other.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB919127139A GB9127139D0 (en) | 1991-12-20 | 1991-12-20 | Scanning unit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| GB9226429D0 GB9226429D0 (en) | 1993-02-10 |
| GB2264602A true GB2264602A (en) | 1993-09-01 |
Family
ID=10706646
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB919127139A Pending GB9127139D0 (en) | 1991-12-20 | 1991-12-20 | Scanning unit |
| GB9226429A Withdrawn GB2264602A (en) | 1991-12-20 | 1992-12-18 | Object examination |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB919127139A Pending GB9127139D0 (en) | 1991-12-20 | 1991-12-20 | Scanning unit |
Country Status (1)
| Country | Link |
|---|---|
| GB (2) | GB9127139D0 (en) |
Cited By (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5870220A (en) * | 1996-07-12 | 1999-02-09 | Real-Time Geometry Corporation | Portable 3-D scanning system and method for rapid shape digitizing and adaptive mesh generation |
| US6044170A (en) * | 1996-03-21 | 2000-03-28 | Real-Time Geometry Corporation | System and method for rapid shape digitizing and adaptive mesh generation |
| EP1014112A2 (en) * | 1998-12-22 | 2000-06-28 | Matsushita Electric Industrial Co., Ltd. | Rangefinder and imager |
| US6088106A (en) * | 1997-10-31 | 2000-07-11 | Lap Gmbh Laser Applikationen | Method for the contact-free measurement of the distance of an object according to the principle of laser triangulation |
| GB2345750A (en) * | 1998-12-11 | 2000-07-19 | Wicks & Wilson Ltd | Body scanning equipment |
| EP1046478A1 (en) * | 1999-04-15 | 2000-10-25 | Hermann Wein GmbH & Co. KG, Schwarzwäder Schinkenräucherei | Method and device for cutting pieces of predetermined weight from a workpiece |
| GB2336981B (en) * | 1996-12-24 | 2001-07-18 | Stephen James Crampton | Avatar kiosk |
| WO2001081859A1 (en) * | 2000-04-25 | 2001-11-01 | Inspeck Inc. | Combined stereovision, color 3d digitizing and motion capture system |
| EP1245923A2 (en) * | 1996-07-29 | 2002-10-02 | Elpatronic Ag | Procedure and device to determine and to verify the contour of a rim |
| US6549288B1 (en) | 1998-05-14 | 2003-04-15 | Viewpoint Corp. | Structured-light, triangulation-based three-dimensional digitizer |
| US6553138B2 (en) | 1998-12-30 | 2003-04-22 | New York University | Method and apparatus for generating three-dimensional representations of objects |
| US6611617B1 (en) | 1995-07-26 | 2003-08-26 | Stephen James Crampton | Scanning apparatus and method |
| USD491965S1 (en) | 2002-02-14 | 2004-06-22 | Faro Technologies, Inc. | Portable coordinate measurement machine |
| WO2005022081A2 (en) * | 2003-08-27 | 2005-03-10 | Prophet Control Systems Limited | Manufacturing applications of stripe laser technology |
| US6892465B2 (en) | 2002-02-14 | 2005-05-17 | Faro Technologies, Inc. | Portable coordinate measurement machine with integrated magnetic mount |
| US7065242B2 (en) | 2000-03-28 | 2006-06-20 | Viewpoint Corporation | System and method of three-dimensional image capture and modeling |
| US7073271B2 (en) | 2002-02-14 | 2006-07-11 | Faro Technologies Inc. | Portable coordinate measurement machine |
| WO2007030333A1 (en) * | 2005-09-01 | 2007-03-15 | Ios Technologies, Inc. | Polarizing multiplexer and method for intra-oral scanning |
| EP1901031A2 (en) * | 2006-09-13 | 2008-03-19 | Micro-Epsilon Optronic GmbH | Measuring assembly and method for measuring a three-dimensionally extended structure |
| WO2009095775A1 (en) * | 2008-01-28 | 2009-08-06 | Shamus Fairhall | Digital scanner |
| USRE42055E1 (en) | 2002-02-14 | 2011-01-25 | Faro Technologies, Inc. | Method for improving measurement accuracy of a portable coordinate measurement machine |
| US7881896B2 (en) | 2002-02-14 | 2011-02-01 | Faro Technologies, Inc. | Portable coordinate measurement machine with integrated line laser scanner |
| USRE42082E1 (en) | 2002-02-14 | 2011-02-01 | Faro Technologies, Inc. | Method and apparatus for improving measurement accuracy of a portable coordinate measurement machine |
| WO2017167410A1 (en) * | 2016-03-30 | 2017-10-05 | Siemens Aktiengesellschaft | Multi-directional triangulation measuring system with method |
| CN108692660A (en) * | 2018-04-09 | 2018-10-23 | 重庆东渝中能实业有限公司 | 3D scanning means |
| DE102017007590A1 (en) * | 2017-08-11 | 2019-02-14 | Baumer Inspection Gmbh | Method and device for detecting three-dimensional objects based on the light-section method |
| EP1782929B2 (en) † | 1999-04-20 | 2019-12-25 | Formax, Inc. | Automated product profiling apparatus |
| EP2755018B1 (en) | 2013-01-15 | 2020-07-22 | Nordischer Maschinenbau Rud. Baader GmbH + Co. KG | Device and method for the non-contact detection of red tissue structures and assembly for detaching a strip of red tissue structures |
| EP3386692B1 (en) | 2016-02-01 | 2021-09-15 | Textor Maschinenbau GmbH | Cutting food products |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0118075A1 (en) * | 1983-03-07 | 1984-09-12 | General Electric Company | Control for edge and joint following |
| US4652133A (en) * | 1985-07-17 | 1987-03-24 | Westinghouse Electric Corp. | Vision system with environmental control |
| GB2222266A (en) * | 1988-08-13 | 1990-02-28 | Canon Kk | Light emission for focus detection |
| US4963036A (en) * | 1989-03-22 | 1990-10-16 | Westinghouse Electric Corp. | Vision system with adjustment for variations in imaged surface reflectivity |
| EP0443137A2 (en) * | 1990-01-18 | 1991-08-28 | Nordischer Maschinenbau Rud. Baader Gmbh + Co Kg | Method for three-dimensional lightoptical measuring of objects and device to execute the method |
| US5085525A (en) * | 1990-10-19 | 1992-02-04 | Square D Company | Scanning infrared temperature sensor with sighting apparatus |
-
1991
- 1991-12-20 GB GB919127139A patent/GB9127139D0/en active Pending
-
1992
- 1992-12-18 GB GB9226429A patent/GB2264602A/en not_active Withdrawn
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0118075A1 (en) * | 1983-03-07 | 1984-09-12 | General Electric Company | Control for edge and joint following |
| US4652133A (en) * | 1985-07-17 | 1987-03-24 | Westinghouse Electric Corp. | Vision system with environmental control |
| GB2222266A (en) * | 1988-08-13 | 1990-02-28 | Canon Kk | Light emission for focus detection |
| US4963036A (en) * | 1989-03-22 | 1990-10-16 | Westinghouse Electric Corp. | Vision system with adjustment for variations in imaged surface reflectivity |
| EP0443137A2 (en) * | 1990-01-18 | 1991-08-28 | Nordischer Maschinenbau Rud. Baader Gmbh + Co Kg | Method for three-dimensional lightoptical measuring of objects and device to execute the method |
| US5085525A (en) * | 1990-10-19 | 1992-02-04 | Square D Company | Scanning infrared temperature sensor with sighting apparatus |
Cited By (56)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7313264B2 (en) | 1995-07-26 | 2007-12-25 | 3D Scanners Limited | Scanning apparatus and method |
| USRE43895E1 (en) | 1995-07-26 | 2013-01-01 | 3D Scanners Limited | Scanning apparatus and method |
| US6611617B1 (en) | 1995-07-26 | 2003-08-26 | Stephen James Crampton | Scanning apparatus and method |
| US6044170A (en) * | 1996-03-21 | 2000-03-28 | Real-Time Geometry Corporation | System and method for rapid shape digitizing and adaptive mesh generation |
| US5870220A (en) * | 1996-07-12 | 1999-02-09 | Real-Time Geometry Corporation | Portable 3-D scanning system and method for rapid shape digitizing and adaptive mesh generation |
| EP1245923A2 (en) * | 1996-07-29 | 2002-10-02 | Elpatronic Ag | Procedure and device to determine and to verify the contour of a rim |
| US6909799B1 (en) | 1996-07-29 | 2005-06-21 | Elpatronic Ag | Method and apparatus for following and inspecting an edge or border |
| EP1245923A3 (en) * | 1996-07-29 | 2003-03-12 | Elpatronic Ag | Procedure and device to determine and to verify the contour of a rim |
| GB2336981B (en) * | 1996-12-24 | 2001-07-18 | Stephen James Crampton | Avatar kiosk |
| US6088106A (en) * | 1997-10-31 | 2000-07-11 | Lap Gmbh Laser Applikationen | Method for the contact-free measurement of the distance of an object according to the principle of laser triangulation |
| US6549288B1 (en) | 1998-05-14 | 2003-04-15 | Viewpoint Corp. | Structured-light, triangulation-based three-dimensional digitizer |
| GB2345750B (en) * | 1998-12-11 | 2002-12-18 | Wicks & Wilson Ltd | Body scanning equipment |
| US6734980B1 (en) | 1998-12-11 | 2004-05-11 | Wicks And Wilson Limited | Body scanning equipment |
| GB2345750A (en) * | 1998-12-11 | 2000-07-19 | Wicks & Wilson Ltd | Body scanning equipment |
| US6876392B1 (en) | 1998-12-22 | 2005-04-05 | Matsushita Electric Industrial Co., Ltd. | Rangefinder for obtaining information from a three-dimensional object |
| EP1014112A2 (en) * | 1998-12-22 | 2000-06-28 | Matsushita Electric Industrial Co., Ltd. | Rangefinder and imager |
| EP1014112A3 (en) * | 1998-12-22 | 2002-06-12 | Matsushita Electric Industrial Co., Ltd. | Rangefinder and imager |
| US6553138B2 (en) | 1998-12-30 | 2003-04-22 | New York University | Method and apparatus for generating three-dimensional representations of objects |
| EP1046478A1 (en) * | 1999-04-15 | 2000-10-25 | Hermann Wein GmbH & Co. KG, Schwarzwäder Schinkenräucherei | Method and device for cutting pieces of predetermined weight from a workpiece |
| EP1782929B2 (en) † | 1999-04-20 | 2019-12-25 | Formax, Inc. | Automated product profiling apparatus |
| US7474803B2 (en) | 2000-03-28 | 2009-01-06 | Enliven Marketing Technologies Corporation | System and method of three-dimensional image capture and modeling |
| US7453456B2 (en) | 2000-03-28 | 2008-11-18 | Enliven Marketing Technologies Corporation | System and method of three-dimensional image capture and modeling |
| US7065242B2 (en) | 2000-03-28 | 2006-06-20 | Viewpoint Corporation | System and method of three-dimensional image capture and modeling |
| US6664531B2 (en) | 2000-04-25 | 2003-12-16 | Inspeck Inc. | Combined stereovision, color 3D digitizing and motion capture system |
| WO2001081859A1 (en) * | 2000-04-25 | 2001-11-01 | Inspeck Inc. | Combined stereovision, color 3d digitizing and motion capture system |
| US7043847B2 (en) | 2002-02-14 | 2006-05-16 | Faro Technologies, Inc. | Portable coordinate measurement machine having on-board power supply |
| US6892465B2 (en) | 2002-02-14 | 2005-05-17 | Faro Technologies, Inc. | Portable coordinate measurement machine with integrated magnetic mount |
| US6925722B2 (en) | 2002-02-14 | 2005-08-09 | Faro Technologies, Inc. | Portable coordinate measurement machine with improved surface features |
| US6920697B2 (en) | 2002-02-14 | 2005-07-26 | Faro Technologies, Inc. | Portable coordinate measurement machine with integrated touch probe and improved handle assembly |
| US7073271B2 (en) | 2002-02-14 | 2006-07-11 | Faro Technologies Inc. | Portable coordinate measurement machine |
| USD491965S1 (en) | 2002-02-14 | 2004-06-22 | Faro Technologies, Inc. | Portable coordinate measurement machine |
| US10168134B2 (en) | 2002-02-14 | 2019-01-01 | Faro Technologies, Inc. | Portable coordinate measurement machine having a handle that includes electronics |
| US9513100B2 (en) | 2002-02-14 | 2016-12-06 | Faro Technologies, Inc. | Portable coordinate measurement machine having a handle that includes electronics |
| US6904691B2 (en) | 2002-02-14 | 2005-06-14 | Faro Technologies, Inc. | Portable coordinate measurement machine with improved counter balance |
| US8607467B2 (en) | 2002-02-14 | 2013-12-17 | Faro Technologies, Inc. | Portable coordinate measurement machine |
| US9410787B2 (en) | 2002-02-14 | 2016-08-09 | Faro Technologies, Inc. | Portable coordinate measurement machine having a bearing assembly with an optical encoder |
| US8931182B2 (en) | 2002-02-14 | 2015-01-13 | Faro Technologies, Inc. | Portable coordinate measurement machine having a handle that includes electronics |
| USRE42055E1 (en) | 2002-02-14 | 2011-01-25 | Faro Technologies, Inc. | Method for improving measurement accuracy of a portable coordinate measurement machine |
| US7881896B2 (en) | 2002-02-14 | 2011-02-01 | Faro Technologies, Inc. | Portable coordinate measurement machine with integrated line laser scanner |
| USRE42082E1 (en) | 2002-02-14 | 2011-02-01 | Faro Technologies, Inc. | Method and apparatus for improving measurement accuracy of a portable coordinate measurement machine |
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Also Published As
| Publication number | Publication date |
|---|---|
| GB9226429D0 (en) | 1993-02-10 |
| GB9127139D0 (en) | 1992-02-19 |
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