WO2016040271A1 - Procédé pour mesurer optiquement des coordonnées tridimensionnelles et commander un dispositif de mesures tridimensionnelles - Google Patents

Procédé pour mesurer optiquement des coordonnées tridimensionnelles et commander un dispositif de mesures tridimensionnelles Download PDF

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Publication number
WO2016040271A1
WO2016040271A1 PCT/US2015/048857 US2015048857W WO2016040271A1 WO 2016040271 A1 WO2016040271 A1 WO 2016040271A1 US 2015048857 W US2015048857 W US 2015048857W WO 2016040271 A1 WO2016040271 A1 WO 2016040271A1
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WO
WIPO (PCT)
Prior art keywords
measuring device
camera
image
projector
images
Prior art date
Application number
PCT/US2015/048857
Other languages
English (en)
Inventor
Gerrit HILLEBRAND
Rolf Heidemann
Martin Ossig
Original Assignee
Faro Technologies, Inc.
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 claimed from DE102014113015.4A external-priority patent/DE102014113015B4/de
Priority claimed from DE102014013678.7A external-priority patent/DE102014013678B3/de
Priority claimed from DE102014013677.9A external-priority patent/DE102014013677B4/de
Priority claimed from DE102015106837.0A external-priority patent/DE102015106837B4/de
Priority claimed from US14/826,859 external-priority patent/US9671221B2/en
Priority claimed from US14/844,700 external-priority patent/US9602811B2/en
Application filed by Faro Technologies, Inc. filed Critical Faro Technologies, Inc.
Priority to JP2017513511A priority Critical patent/JP2017528714A/ja
Publication of WO2016040271A1 publication Critical patent/WO2016040271A1/fr

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/189—Recording image signals; Reproducing recorded image signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/296—Synchronisation thereof; Control thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N17/00—Diagnosis, testing or measuring for television systems or their details
    • H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N2013/0074—Stereoscopic image analysis
    • H04N2013/0081—Depth or disparity estimation from stereoscopic image signals

Definitions

  • a portable scanner includes a projector that projects light patterns on the surface of an object to be scanned.
  • the position of the projector is determined by means of a projected, encoded pattern.
  • Two (or more) cameras, the relative positions and alignment of which are known or are determined, can record images of the surface with a further, uncoded pattern.
  • the three-dimensional coordinates (of the points of the pattern) can be determined by means of mathematical methods which are known per se, such as epipolar geometry.
  • scanners are known as tracking devices, in which a projector projects an encoded light pattern onto the target to be pursued, preferably the user who is playing, in order to then record this encoded light pattern with a camera and to determine the coordinates of the user.
  • the data are represented on an appropriate display.
  • a system for scanning a scene may include, in its most simplest form, a camera unit with two cameras, and illumination unit and a synchronizing unit.
  • the cameras which may optionally include filters, are used for the stereoscopic registration of a target area.
  • the illumination unit is used for generating a pattern in the target area, such as by means of a diffractive optical element.
  • the synchronizing unit synchronizes the illumination unit and the camera unit.
  • Camera unit and illumination unit can be set up in selectable relative positions.
  • two camera units or two illumination units can be used.
  • a method for optically scanning and measuring an environment comprising: providing a three- dimensional (3D) measurement device having a first camera, a second camera and a projector, the 3D measurement device further having a control and evaluation device operably coupled to the at least one camera and the projector, the control and evaluation device having memory; providing a rule of correspondence between each of a plurality of commands and each of a plurality of gestures, each gesture from among the plurality of gestures including a movement along a path by the 3D measurement device, the rule of correspondence based at least in part on the movement along a first path, the rule of correspondence being stored in the memory; emitting a light pattern onto an object with the projector; recording a first set of images of the light pattern with the first camera and the second camera at a first time; recording a second set of images of the light pattern with the first camera and the second camera at a second time; producing a 3D scan of the object based at least in part on the
  • FIG. 1 shows a perspective view of a hand-held scanner and of an object in the environment
  • FIG. 2 shows a view of the front side of the hand-held scanner
  • FIG. 3 shows a view of the reverse side of the hand-held scanner
  • FIG. 4 shows a top view of the hand-held scanner from above
  • FIG. 5 shows a view of the hand-held scanner from the right side
  • FIG. 6 shows a perspective view corresponding to FIG. 1 without housing;
  • FIG. 7 shows a representation of the control and evaluation device with display;
  • FIG. 8 shows a representation of the control and evaluation device of FIG. 7 from a right side
  • FIG. 9 shows the fields of view of the cameras with shaded overlap
  • FIG. 10 shows the geometrical relationship of the image planes, projector plane, and epipolar lines
  • FIG. 1 1 shows an exemplary method for optically scanning and measuring an environment
  • FIG. 12 shows an example with one epipolar line
  • FIG. 13 shows an example with two epipolar lines
  • FIG. 14 shows an example with inconsistencies
  • FIG. 15 shows steps of the third process block and steps of the method for controlling by means of movements
  • FIG. 16 shows a first group of movements with the 3D measuring device
  • FIG. 17 shows a second group of movements with the 3D measuring device
  • FIG. 18 shows a third group of movements with the 3D measuring device.
  • FIG. 19 shows a top view on the control and evaluation device from FIG. 7 with a modified scale on the display.
  • the carrying structure is stable mechanically and thermally, defines the relative distances and the relative alignments of a camera and of a projector.
  • the arrangement on a front side of the 3D measuring device that faces on the environment provides advantage in that these distances and alignments are not changed by a change of the shape of a housing.
  • the term "projector” is defined to generally refer to a device for producing a pattern.
  • the generation of the pattern can take place by means of deflecting methods, such as generation by means of diffractive optical elements or micro-lenses (or single lasers), or by shading methods, for example the production by means of shutters, transparencies (as they would be used in a transparency projector) and other masks.
  • deflecting methods have the advantage of less light getting lost and consequently a higher intensity being available.
  • a corresponding number of arms of the carrying structure is provided, which protrude from a common center located at the intersection of the arms.
  • the assemblies which may include a combination of cameras and projectors, are provided in the area of the ends of the assigned arms.
  • the assemblies may be arranged each on the reverse side of the carrying structure. Their respective optics are directed through an assigned aperture in the carrying structure, so that the respective assemblies are operably oriented to face towards the environment from the front side.
  • a housing covers the reverse side and forms the handle part.
  • the carrying structure consists of a carbon-reinforced or a glass-fiber-reinforced matrix of synthetic material or ceramics (or of another material).
  • the material provides for stability and a low weight and can, at the same time, be configured with viewing areas.
  • a concave (spherical) curvature of the front side of the carrying structure does not only have constructive advantages, but it also protects the optical components arranged on the front side when the front surface of the 3D measuring device is placed on a work surface.
  • the projector produces the projected pattern, which may or may not be within the visible wavelength range.
  • the projected pattern has a wavelength in the infrared range.
  • the two cameras are configured to acquire images from light within this wavelength range, while also filtering out scattered light and other interferences in the visible wavelength range.
  • a color or 2D camera can be provided as third camera for additional information, such as color for example.
  • Such camera records images of the environment and of the object being scanned.
  • the point cloud generated from the scanning process (herein referred to as the "3D-scan”) can have color values assigned from the color information contained in the color images.
  • the 3D measuring device During operation the 3D measuring device generates multiple 3D scans of the same scene, from different positions.
  • the 3D scans are registered in a joint coordinate system.
  • For joining two overlapping 3D scans there are advantages in being able to recognizable structures within the 3D scans.
  • such recognizable structures are looked for and displayed continuously or, at least after the recording process. If, in a determined area, density is not at a desired level, further 3D scans of this area can be generated.
  • a subdivision of the display used for representing a video image and the (thereto adjacent parts of the) three-dimensional point cloud helps to recognize, in which areas scan should still be generated.
  • the 3D measuring device is designed as a portable scanner, i.e. it works at high speed and is of a size and weight suitable for carrying and use by a single person. It is, however, also possible to mount the 3D measuring device on a tripod (or on another stand), on a manually movable trolley (or another cart), or on an autonomously moving robot, i.e. that it is not carried by the user - optionally also by using another housing, for example without a carrying handle. It should be appreciated that while embodiments herein describe the 3D measuring device as being hand-held, this is for exemplary purposes and the claimed invention should not be so limited. In other embodiments, the 3D measuring device may also be configured as a compact unit, which are stationary or mobile and, if appropriate, built together with other devices.
  • a 3D measuring device 100 is provided as portable part of a device for optically scanning and measuring an environment of the 3D measuring device 100 with objects O.
  • the side of the device 100 which faces the user shall be referred to as the reverse side, and the side of the device 100 which faces the environment as the front side.
  • This definition extends to the components of the 3D measuring device 100.
  • the 3D measuring device 100 is provided (on its front side) visibly with a carrying structure 102 having three arms 102a, 102b, 102c. These arms give the carrying structure 102 a T-shape or a Y-shape, i.e. a triangular arrangement.
  • the carrying structure 102 is provided with a left arm 102a, a right arm 102b and a lower arm 102c.
  • the angle between the left arm 102a and the right arm 102b is, for example, approximately 150° + 20°, between the left arm 102a and the lower arm 102c approximately 105° + 10°.
  • the lower arm 102c is, in some embodiments, somewhat longer than the two other arms 102a, 102b.
  • the carrying structure 102 preferably is configured from fiber-reinforced synthetic material, such as a carbon-fiber-reinforced synthetic material (CFC).
  • CFC carbon-fiber-reinforced synthetic material
  • the carrying structure 102 is made from carbon-fiber-reinforced ceramics or from glass-fiber-reinforced synthetic material.
  • the material renders the carrying structure 102 mechanically and thermally stable and provides at the same time for a low weight.
  • the thickness of the carrying structure 102 is considerably smaller (for example 5 to 15 mm) than the length of the arms 102a, 102b, 102c (for example 15 to 25 cm).
  • the carrying structure 102 hence has a flat basic shape.
  • the arms 102a, 102b, 102c may include a reinforced back near the center of the arm. It is, however, preferably not configured to be plane, but to be curved. Such curvature of the carrying structure 102 is adapted to the curvature of a sphere having a radius of approximately 1 to 3 m.
  • the front side (facing the object 0) of the carrying structure 102 is thereby configured to be concave, the reverse side to be convex.
  • the curved shape of the carrying structure 102 is advantageous for providing stability.
  • the front side of the carrying structure 102 (and in one embodiment the visible areas of the reverse side) is configured to be a viewing area, i.e. it is not provided with hiders, covers, cladding or other kinds of packaging.
  • the preferred configuration from fiber-reinforced synthetic materials or ceramics is particularly suitable for this purpose.
  • a housing 104 is arranged, which is connected with the carrying structure 102 within the area of the ends of the three arms 102a, 102b, 102c in a floating way, by means of appropriate connecting means, for example by means of rubber rings and screws with a bit of clearance.
  • a floating connection is one that reduces or eliminates the transmission of vibration from the housing 104 to the carrying structure 102.
  • the floating connection is formed by a rubber isolation mount disposed between the housing 104 and the carrying structure.
  • an elastomeric seal such as rubber, is disposed between the outer perimeter of the carrying structure 102 and the housing 104.
  • the carrying structure 102 and the housing 104 are then clamped together using elastomeric bushings.
  • the seal and bushings cooperate to form the floating connection between the carrying structure 102 and the housing 104.
  • the edge of the housing 104 extends into the immediate vicinity of the carrying structure 102, while the housing 104 extends from the center of the 3D measuring device 100 within the area of the lower arm 102c, at a distance to the carrying structure 102, forming a handle part 104g, bends off at the end of the handle part 104g and approaches the end of the lower arm 102c, where it is connected with it in a floating manner.
  • sections of the carrying structure 102 may include a reinforced back 102r.
  • the back 102r protrudes into the interior of the housing 104.
  • the housing 104 acts as a hood to cover the reverse side of the carrying structure 102 and define an interior space.
  • the protective elements 105 may be attached to the housing 104 or to the carrying structure 102.
  • the protective elements 105 are arranged at the ends of and extend outward from the arms 102a, 102b, 102c to protect the 3D measuring device from impacts and from damage resulting thereof.
  • the 3D measuring device 100 can be put down with its front side to the bottom. Due to the concave curvature of the front side, on the 3D measuring device will only contact the surface at the ends of the arms 102a, 102b, 102c.
  • the protective elements 105 are positioned at the ends of the arms 102a, 102b, 102c advantages are gained since the protective elements 105 will provide additional clearance with the surface.
  • the protective elements 105 are made from a soft material for example from rubber, this provides a desirable tactile feel for the user's hand. This soft material can optionally be attached to the housing 104, particularly to the handle part 104g.
  • an control actuator or control knob 106 is arranged on the housing 104, by means of which at least optical scanning and measuring, i.e. the scanning process, can be started and stopped.
  • the control knob 106 is arranged in the center of the housing 104 adjacent one end of the handle.
  • the control knob 106 may be multi-functional and provide different functions based on a sequence of actions by the user. These actions may time based (e.g. multiple button pushed within a predetermined time), or space based (e.g. the button moved in a predetermined set of directions), or a combination of both.
  • the control knob 106 may be tilted in several directions in (e.g. left, right, up, down).
  • the control knob 106 there are at least one status lamp 107.
  • the status lamps 107 can preferably show different colors (for example green or red) in order to distinguish several status' .
  • the status lamps 107 may be light emitting diodes (LEDs).
  • a first camera 111 is arranged on the left arm 102a (in the area of its end), and a second camera 112 is arranged on the right arm 102b (in the area of its end).
  • the two cameras 111 and 112 are arranged on the reverse side of the carrying structure 102 and fixed thereto, wherein the carrying structure 102 is provided with apertures through which the respective camera 111, 112 can acquire images through the front side of the carrying structure 102.
  • the two cameras 111, 112 are preferably surrounded by the connecting means for the floating connection of the housing 104 with the carrying structure 102.
  • Each of the cameras 111, 112 have a field of view associated therewith.
  • the alignments of the first camera 111 and of the second camera 112 to each other are adjusted or adjustable in such a way that the fields of view overlap to allow stereoscopic images of the objects O. If the alignments are fixed, there is a desired predetermined overlapping range, depending on the application in which the 3D measuring device 100 is used. Depending on environment situations, also a range of several decimeters or meters may be desired.
  • the alignments of the cameras 111, 112 can be adjusted by the user, for example by pivoting the cameras 111, 112 in opposite directions. In one embodiment, the alignment of the cameras 111, 112 is tracked and therefore known to the 3D measuring device 100.
  • the alignment is initially at random (and unknown), and is then determined, such as be measuring the positions of the camera's for example, and thus known to the 3D measuring device 100.
  • the alignment is set and fixed during manufacturing or calibration of the 3D measurement device 100.
  • a calibration may be performed in the field to determine the angles and positions of the cameras in the 3D measuring device 100. The types of calibrations that may be used are discussed further herein.
  • the first camera 111 and the second camera 112 are preferably monochrome, i.e. sensitive to a narrow wavelength range, for example by being provided with corresponding filters, which then filter out other wavelength ranges, including scattered light. This narrow wavelength range may also be within the infrared range.
  • the 3D measuring device 100 preferably includes a 2D camera, such as color camera 113 which is preferably aligned symmetrically to the first camera 111 and to the second camera 112, and arranged in the center of the 3D measuring device 100, between the cameras 111, 112.
  • the 2D camera 113 may include an image sensor that is sensitive to light in the visible wavelength range.
  • the 2D camera 113 captures 2D images of the scene, i.e.
  • a light source such as four (powerful) light-emitting diodes (LED) 114 are provided.
  • One radiating element 115 is associated with each of the LEDs 114. The light emitted from the light- emitting diode 114 is deflected in correspondence with the alignment of the 3D measuring device 100, from the corresponding LED 114.
  • a radiating element 115 can, for example, be a lens or an appropriately configured end of a light guide.
  • the (in the illustrated embodiment four) radiating elements 115 are arranged equally around the color camera 113.
  • Each LED 114 is connected with the assigned radiating element 115 by means of one light guide each.
  • the LED 114 therefore can be structurally arranged at a control unit 118 of the 3D measuring device 100, such as by being fixed on a board thereof.
  • a sensor such as an inclinometer 119 is provided.
  • the inclinometer 119 is an acceleration sensor (with one or several sensitive axes), which is manufactured in a manner known per se, as MEMS (micro-electromechanical system).
  • MEMS micro-electromechanical system
  • inclinometer 119 also other embodiments and combinations are possible.
  • the data of the 3D measuring device 100 each have (as one component) a gravitation direction provided by the inclinometer 119.
  • 3D-scans of the objects O can be produced, for example by means of photogrammetry.
  • the objects O may have few structures or features and many smooth surfaces. As a result, the generation of 3D-scans from the scattered light of the objects O is difficult.
  • a projector 121 may be used, which is arranged at the lower arm 102c (in the area of its end).
  • the projector 121 is arranged within the interior space on the reverse side of the carrying structure 102 and fixed thereto.
  • the carrying structure 102 is provided with an aperture through which the projector 121 can project a pattern of light through the front side of the carrying structure 102.
  • the projector 121 is surrounded by the connecting means to provide a floating connection between the housing 104 with the carrying structure 102.
  • the projector 121, the first camera 111, and the second camera 112 are arranged in a triangular arrangement with respect to each other and aligned to the environment of the 3D measuring device 100.
  • the projector 121 is aligned in correspondence with the two cameras 111, 112.
  • the relative alignment between the cameras 111, 112 and the projector 121 is preset or can be set by the user.
  • the cameras 111, 112 and the projector 121 form an equilateral triangle and have a common tilt angle.
  • the centers of the field of view will intersect at a common point at a particular distance from the scanner 100. This arrangement allows for a maximum amount of overlap to be obtained.
  • the tilt or angle of the cameras 111, 112 and projector 121 may be adjusted, the distance or range to the intersection of the fields of view may be changed.
  • the concave curvature of the front side creates a gap between the cameras 111, 112, 113 and the projector 121 from the surface, so that the respective lenses are protected from damage.
  • the cameras 111, 112, 113, the projector 121, the control knob 106, the status lamps 107, the light-emitting diodes 114 and the inclinometer 119 are connected with the common control unit 118, which is arranged inside the housing 104.
  • This control unit 118 can be part of a control and evaluation device which is integrated in the housing.
  • control unit 118 is connected with a standardized communication interface at the housing 104, the interface being configured for a wireless connection (for example Bluetooth, WLAN, DECT) as an emitting and receiving unit, or for a cable connection (for example USB, LAN), if appropriate also as a defined interface, such as that described in DE 10 2009 010 465 B3, the contents of which are incorporated by reference herein.
  • the communication interface is connected with an external control and evaluation device 122 (as a further component of the device for optically scanning and measuring an environment of the 3D measuring device 100), by means of said wireless connection or connection by cable.
  • the communication interface is configured for a connection by cable, wherein a cable 125 is plugged into the housing 104, for example at the lower end of the handle part 104g, so that the cable 125 extends in prolongation of the handle part 104g.
  • the control and evaluation device 122 may include one or more processors 122a having memory.
  • the processor 122a being configured to carry out the methods for operating and controlling the 3D measuring device 100 and evaluating and storing the measured data.
  • the control and evaluation device 122 may be a portable computer (notebook) or a tablet (or smartphone) such as that shown in FIGS. 7 and 8, or any external or distal computer (e.g. in the web).
  • the control and evaluation device 122 may also be configured in software for controlling the 3D measuring device 100 and for evaluating the measured data.
  • the control and evaluation device 122 may be embodied in separate hardware, or it can be integrated into the 3D measuring device 100.
  • the control and evaluation device 122 may also be a system of distributed components, at least one component integrated into the 3D measuring device 100 and one component externally. Accordingly, the processor(s) 122a for performing said methods may be embedded in the 3D measuring device 100 and/or in an external computer.
  • the projector 121 projects a pattern X, which it produces, for example by means of a diffractive optical element, on the objects O to be scanned.
  • the pattern X does not need to be encoded (that is to say single-valued), but may be uncoded, for example periodically (i.e. multivalued).
  • the multi-valuedness is resolved by the use of the two cameras 111, 112, combined with the available, exact knowledge of the shape and direction of the pattern.
  • the uncoded pattern may, for example, be a projection of identical periodically spaced pattern elements (e.g. spots or lines of light).
  • the correspondence between the projected pattern elements from the projector 121 and the pattern elements in the images on the photosensitive arrays of the cameras 111, 112 is determined through simultaneous epipolar constraints and using calibration parameters, as discussed further herein.
  • the uniqueness in the correspondence of the points is achieved by the use of the two cameras 111 and 112, combined with the knowledge of the shape and direction of the pattern, the combined knowledge being obtained from a calibration of the 3D measuring device 100.
  • pattern element should means the shape of an element of the pattern X, while the term “point” should indicate the position (of a pattern element or of something else) in 3D coordinates.
  • the uncoded pattern X (FIG. 1) is preferably a point pattern, comprising a regular arrangement of points in a grid. In the present invention, for example, approximately one hundred times one hundred points (10,000 points total) are projected over a field of view FOV (FIG. 9) at an angle of approximately 50° to a distance of approx. 0.5 m to 5 m.
  • the pattern X can also be a line pattern or a combined pattern of points and lines, each of which is formed by tightly arranged light points.
  • the first camera 111 comprises a first image plane Bi l l
  • the second camera 112 comprises a second image plane B112.
  • the two cameras 111 and 112 receive at least a portion of the pattern X in their respective image planes Bi l l and B112, in which the photosensitive arrays (for example CMOS or CCD arrays) are arranged to capture a portion of the pattern X reflected from the object O.
  • the photosensitive arrays for example CMOS or CCD arrays
  • the projector 121 may produce the two patterns offset to each other with respect to time or in another wavelength range or with different optical intensity.
  • the other pattern may be a pattern which deviates from pattern X, such as an uncoded pattern.
  • the pattern is a point pattern with a regular arrangement of points having another distance (grid length) to each other.
  • the pattern X is a monochromatic pattern.
  • the pattern X may be produced by means of a diffractive optical element 124 in the projector 121.
  • the diffractive optical element 124 converts a single beam of light from a light source 121a in FIG. 20 to a collection of collection of beams, each having lower optical power than the single beam. Each of the collection of beams traveling in a different direction to produce a spot when striking the object O.
  • the light source 121a may be a laser, a superluminescent diode, or an LED, for example.
  • the wavelength of the light source 121a is in the infrared range.
  • the lateral resolution is then limited only by the diameter and spacing of the spots of light in the projected pattern X. If the pattern X is in the infrared range, it is possible to capture the images of the object O and surrounding environment with the 2D camera 113 without interference from the pattern X. Similarly, if the pattern X is produced in the ultraviolet light wavelength range, the images acquired by the 2D camera 113 would not have interference from the pattern X.
  • the projector 121 produces the pattern X on the objects O only during the time periods when the cameras 111, 112 (and if available 113) are recording images of the objects O.
  • This provides advantages in energy efficiency and eye protection.
  • the two cameras 111, 112 and the projector 121 are synchronized or coordinated with each other, with regard to both, time and the pattern X used.
  • Each recording process starts by the projector 121 producing the pattern X, similar to a flash in photography, followed by the cameras 111, 112 (and, if available 113) acquiring pairs of images, in other words one image each from each of the two cameras 111, 112.
  • each frame then constitutes a 3D-scan consisting of a point cloud in the three-dimensional space. This point cloud is defined in the relative local coordinate system of the 3D measuring device 100.
  • the data furnished by the 3D measuring device 100 are processed in the control and evaluation device 122 to generate the 3D scans from the frames.
  • the 3D scans in turn are joined or registered in a joint coordinate system.
  • the known methods can be used, such as by identifying natural or artificial targets (i.e. recognizable structures) in overlapping areas of two 3D scans. Through identification of these targets, the assignment of the two 3D scans may be determined by means of corresponding pairs. A whole scene (a plurality of 3D scans) is thus gradually registered by the 3D measuring device 100.
  • the control and evaluation device 122 is provided with a display 130 (display device), which is integrated or connected externally.
  • the projector 121 is not collinear with the two cameras 111 and 112, but rather the camera's 111, 112 and projector 121 are arranged to form a triangle. As shown in Fig. 10, this triangular configuration enables the use of epipolar geometry based on mathematic methods of optics.
  • the constraints of epipolar geometry provide that a point on the projector plane P 121 of the projector 121 falls on a first epipolar line on the first image plane B m and on a second epipolar line of the second image plane B 112 , the epipolar lines for each of the image planes Bm and Bi i2 being determined by the relative geometry of the projector 121 and the two cameras 111 and 112.
  • a point on the first image plane Bm falls on an epipolar line of the projector plane P 121 and on an epipolar line of the second image plane B 112 , the epipolar lines in the projector plane and second image plane being determined by the relative geometry of the projector 121 and cameras 111, 112.
  • a point on the second image plane B 112 falls on an epipolar line of the projector plane P 121 and on an epipolar line of the first image plane Bm, the epipolar lines in the projector plane and the first image plane being determined by the relative geometry of the projector 121 and cameras 111, 112.
  • the use of at least two cameras and one projector provides sufficient epipolar constraints to enable a correspondence among points in the pattern X to be determined for the points on the image planes Bm and B 112 and the projector plane P 121 , even though the projected pattern elements have no distinguishing characteristics, such as having an identical shape for example (an uncoded pattern).
  • At least three units are used to generate the 3D scenes.
  • This allows for unambiguous triangular relations of points and epipolar lines from which the correspondence of projections of the pattern (X) in the two image planes Bm, Bn 2 can be determined. Due to the additional stereo geometry relative to a pair of cameras, considerably more of the points of the pattern, which otherwise cannot be distinguished, can be identified on an epipolar line "e.”
  • the density of features on the object O can thus simultaneously be high, and the size of the pattern X feature (e.g. the spot) can be kept very low.
  • the three-dimensional coordinates of the points on the surface of the object O may be determined for the 3D-scan data by means of triangulation.
  • Triangulation calculations may be performed between the two cameras 111, 112 based on the baseline distance between the two cameras 111, 112 and the relative angles of tilt of the two cameras 111, 112. Triangulation calculations may also be performed between the projector 121 and first camera 111 and between the projector 121 and the second camera 112. To perform these triangulation calculations, a baseline distance is needs to be determined between the projector 121 and the first camera 111 and another baseline distance is needs to be determined between the projector 121 and the second camera 112. In addition, the relative angles of tilt between the projector/first camera and projector/second camera is used.
  • any one of the three triangulation calculations is sufficient to determine 3D coordinates of the points X on the object O, and so the extra two triangulation relations provides redundant information (redundancies) that may be usefully employed to provide self-checking of measurement results and to provide self-calibration functionality as described further herein below.
  • redundant information refers to multiple determinations of 3D coordinates for a particular point or set of points on the object.
  • Additional three-dimensional data can be gained by means of photogrammetry methods by using several frames with different camera positions, for example from the 2D camera 113 or from a part of an image acquired by the cameras 111, 112.
  • illumination may be background illumination, such as from the sun or artificial lights for example.
  • the background illumination may be provided by the 3D measuring device 100 or by another external light source.
  • the object is illuminated with light from LEDs 114. Illumination enables the two-dimensional cameras 111, 112, 113 to discern properties of the object such as color, contrast, and shadow, which facilitate identification of object features.
  • the measuring process may also have a temporal aspect.
  • uncoded patterns were used with stationary devices to allow an entire sequence of patterns to be projected and images be captured in order to determine a single 3D-scan.
  • both the scanner and the object needed to remain stationary relative to each other.
  • embodiments of the present invention generate one 3D-scan for each set of images acquired by the cameras 111, 112.
  • a second projector is arranged adjacent to the present projector 121 or a further diffractive optical element is provided. This second projector emits at least one second pattern on to the object O in addition to pattern X.
  • the 3D-scan has a higher resolution by combining the evaluation results obtained from the different patterns.
  • the 3D-scans which are produced from the images acquired by the cameras 111, 112 need to be registered.
  • the three-dimensional point clouds of each frame must be inserted into a common coordinate system.
  • Registration is possible, for example, by videogrammetry, such as "structure from motion” (SFM) or “simultaneous localization and mapping” (SLAM) methods for example.
  • SFM structure from motion
  • SLAM simultaneous localization and mapping
  • the natural texture of the objects O may also be used for common points of reference.
  • a stationary pattern is projected and used for registration.
  • the data furnished by the 3D measuring device 100 is processed in the control and evaluation device 122 by generating 3D scans from the image frames.
  • the 3D scans in turn are then joined or registered in a common coordinate system.
  • registration methods know in the art may be used, such as by using natural or artificial targets (i.e. recognizable structures) for example. These targets can be localized and identified in order to determine the assignment or alignment of two different 3D scans relative to each other by means of corresponding pairs.
  • the 3D scans (sometimes colloquially referred to as a "scene") may then be gradually registered by the 3D measuring device 100.
  • the control and evaluation device 122 is provided with a display 130 (display device) to allow the user to review the 3D scans.
  • FIG. 11 An embodiment is shown in FIG. 11 for the process of the optically scanning and measuring the environment of the 3D measuring device 100.
  • a first process block 201 the capturing of a pair of images for one frame is performed and the measured values are determined and recorded.
  • each image is a 2D array of values representing the voltages corresponding to the number of electrons in each pixel well.
  • the process then proceeds to a second process block 202, where the measured values are evaluated and the 3D-scan data are generated from the frame.
  • the numbers are evaluated in combination with the known positions of the projected spots from the projector to determine the 3D coordinates of points on the object O.
  • the distances for each of the pixels are obtained using the triangulation calculation (including the epipolar geometry calculation) and the two angles for each pixel are determined based on the location of the pixel and the camera geometry (lens focal length, pixel size, etc.).
  • the process then proceeds to a third process block 203 where multiple frames of 3D-scan data are registered in a common coordinate system.
  • videogrammetry information is obtained with the center color camera 113 to assist in the registration.
  • a representation of the 3D scan data is displayed and stored.
  • the process proceeds to a fourth process block 204 where an auto- calibration is performed.
  • the auto-calibration performed in fourth process block 204 may occur simultaneously with the second process block 202 or may be performed sequentially therewith. As long as the operator continues operation to additional frames are acquired, such as by continuously pressing the control knob 106 for example, the process returns to the first process block 201.
  • images of particular points are selected in a frame for automatically determining correspondence. These selected points correspond to points on the object O, in particular to pattern elements (e.g. spots) of the pattern X.
  • the epipolar lines "e" are consecutively located in the second image plane Bj ⁇ an d in the projector plane P 121 . This procedure for locating the epipolar lines "e” is repeated for images of points in the second image plane Bj ⁇ an d for images of points in the projector plane P 121 .
  • the point Xo (of the pattern X on the object O) is visible on all three planes Bm, B 112 , P 121 , and its image is on two epipolar lines "e" on each plane.
  • the point X 0 is the intersection point of three straight lines, a light beam of the projector 121, and each one light beam of the two cameras 111, 112. The point Xo can thus be identified unambiguously, if the density of the points of the pattern X is sufficiently low.
  • Auto-calibration performed in block 204 takes place automatically and does not require the use of external calibration objects.
  • the frames are examined for inconsistencies in terms of space (inconsistencies of geometry) and time (parameters change over time), in order to correct calibration, if appropriate.
  • the inconsistencies can have thermal causes, such as due to an increase of operating temperature for example.
  • the inconsistencies may also have mechanical causes, such as a mechanical shock caused by the 3D measuring device 100 striking a surface or the floor for example. These inconsistencies may manifest through deviations in measured positions, angles and other geometrical features of e.g. points on the objects or in the planes B m , B m , Pm -
  • the calibration parameters which may be corrected may be extrinsic parameters, intrinsic parameters, and operating parameters.
  • Extrinsic parameters for each unit include the six degrees of freedom of rigid bodies, i.e. three positions and three angles. Particularly relevant is the relative geometry between the cameras 111, 112, 113 and the projector 131, such as the relative distances and relative angles of their alignments for example.
  • Intrinsic parameters may be related to camera or projector device features such as but not limited to the focal length, position of principal point, distortion parameters, centering of the photosensitive array or MEMS projector array, scale of the array in each direction, rotation of the array relative to the local coordinate system of the 3D measuring device 100, and aberration correction coefficients for the camera or projector lens system.
  • Operating parameters may be the wavelength of the light source 121a, the temperature and the humidity of the air.
  • an inconsistency may be a deviation ⁇ of the actual position of the point Xo with respect to its expected theoretical position in one of the three planes.
  • three separate triangulation calculations may be performed to obtain three sets of 3D coordinates. These three triangulation calculations are: 1) between the first and second cameras 111, 112 (stereo cameras); 2) between the projector 121 and first camera 111 ; and 3) between the the projector 121 and second camera 112.
  • the 3D coordinates obtained from the three different triangulation calculations may be compared and, if inconsistencies are seen, changes may be made to the calibration parameters.
  • FIG. 12 shows a simplified situation of the inconsistency with two units Ui, U 2 .
  • the units Ui, U 2 may be either between the two cameras 111, 112 or between the projector 121 and one of the cameras 111, 112 for example.
  • Each unit Ui, U 2 comprises a plane, in which points may be selected.
  • the two epipolar lines "e" are common for both planes.
  • a selected point 236 in the plane of unit Ui is corresponding to a point 216 in the plane of unit U 2 .
  • both points 216, 236 are the images of a real point on the object O.
  • the correspondence may be detected, such as when the point 216, 236 is the image of a spot of the pattern X on the object O for example.
  • the "spot" on the object O is illuminated and adjacent area is dark or darker than the illuminated point.
  • a deviation ⁇ occurs, i.e. a deviation ⁇ between the position of the point 216 and an expected position 218.
  • the deviation ⁇ is a vector.
  • Ui, U2 such as the projector 121 and camera 111 for example
  • only the component of the deviation ⁇ perpendicular to the epipolar lines "e" is known.
  • the component parallel to the epipolar lines "e” vanishes when determining the 3D coordinates.
  • the components of deviation ⁇ in both dimensions of the planes may be determined due to the redundant measurements (redundancies in detecting deviations and in determining 3D coordinates). Having deviations ⁇ for several selected points, all determined deviations ⁇ may be drawn into a map shown in FIG.
  • FIG. 13 illustrates an example of an error field that is generated by the rotation of the first camera 111 about the direction of view, such as when the calibration parameter for the roll angle of the first camera 111 is incorrect.
  • FIGS. 12-14 the deviations ⁇ are now described with respect to epipolar constraints. In general, there are two possibilities for the involved units (cameras and projectors). One possibility is that one of the units Ui, U 2 is a camera and the other is a projector.
  • both units Ui, U 2 are cameras. It should be appreciated that the use of a single projector and two cameras is for exemplary purposes and the claimed invention should not be so limited. In other embodiments additional projectors or cameras may be used. Having three of more units (for example, having two cameras and one projector) gives additional capability in automatically determining calibration parameters, as discussed in more detail herein.
  • Each of the units Ui, U 2 has an origin point sometimes referred to as the perspective center point Oi, 0 2 or center of projection. This point represents a point through which all rays pass out of the unit (for a projector) or into the unit (for a camera). It should be appreciated that in an actual device, not all of the rays pass through the perspective center points, however corrections may be made in software to the calibration parameters of the camera system to bring the corrected rays through these points.
  • the two perspective center points Oi, 0 2 define the baseline distance 208 between the units Ui, U 2 .
  • Each of the units Ui, U 2 also has a plane 210, 230 in which images are formed.
  • this plane is known as the projector plane Pi 2 i and, in a camera, it is known as an image plane Bm, Bn 2 .
  • the projector plane Pi 2 i or image plane Bm, Bn 2 is behind the perspective center Oi, 0 2 rather than in front of it as illustrated in FIG. 14.
  • a hardware device such as a photosensitive array (in a camera) or a pattern generator (in a projector) is placed at the position of the plane behind the perspective center.
  • the position of the planes in front of the perspective centers as shown in FIG. 14 is mathematically equivalent to the planes being positioned on the other side of the perspective centers.
  • the perspective centers Oi, 0 2 are separated by a baseline distance B.
  • the baseline 208 that connects the perspective centers Oi, 0 2 intersects the planes 230, 210 in points E l5 E 2 .
  • the points of intersection are referred to as epipolar points, also known as epipoles.
  • a line drawn through one of the epipoles on a corresponding plane is referred to as an epipolar line.
  • the epipolar line is 212.
  • a point Pi on the plane 230 lies on the epipolar line 212.
  • each ray such as ray 232 passes through a perspective center point Oi to arrive at a plane such as 230 in which images are formed.
  • the plane 230 is a projector plane
  • the point Pi is projected onto an object at a point such as P A , P B , Pes OR ? D , depending on the distance to the object.
  • P A , P B , Pc, P D which share the common ray 232, fall onto the epipolar line 212 at corresponding points Q A , Q B , Q C , or Q D on unit U 2 , which in this example is a camera.
  • the ray 232 and the epipolar line 212 are both on the plane that includes the points Oi, 0 2 , and P D . If the plane 230 is a camera plane rather than a projector plane, then the point Pi received by the camera image plane may arrive from any point on the epipolar line 212, for example, from any of the points Q A , Q B , Q C , or Q D .
  • FIG. 13 shows an epipolar line 234 on the plane 230 of unit Ui in addition to the epipolar line 212 of the plane 210 of unit Ui.
  • Any point Vi (and W A , W B , W C ) on the epipolar line 212 must have a corresponding point (image or projection point) U A , U B , U C , U D on the epipolar line 234.
  • any point U A , U B , U C , U D on the epipolar line 234 must have a corresponding point W A , W B , W C , V I on the epipolar line 212.
  • the set of points 240 represent points, e.g. V A , V B , V C , V D , in space that may intersect with an object O.
  • a 3D measuring device 100 is self-calibrating or auto-calibrating if, in the routine performance of measurements by the 3D measuring device 100, the measurement results are also used to obtain corrected calibration parameters (i.e. a corrected calibration).
  • the first step to obtain corrected new calibration parameters is to detect inconsistencies in the positions of images of selected points on projection or image planes in relation to the positions expected based on epipolar constraints.
  • An example of such an inconsistency is shown in FIG. 14.
  • a point 236 on the plane 230 intersects an object at the point 238. According to epipolar geometrical constraints, the point 238 should appear on the epipolar line 212 and specifically at the point 218.
  • the actual point was observed at the position 216.
  • a corresponding point should fall on the epipolar line 212. That the point 216 does not fall on the epipolar line 212 indicates that there is a problem with the calibration parameters, although whether the calibration parameter(s) at fault is an extrinsic parameter, intrinsic parameter, or operating parameter is difficult to say based on an observation of a single point 216.
  • FIG. 14 shows some errors that may be seen in extrinsic calibration parameters.
  • One type of error that may be seen is in the baseline 208, not only the baseline distance B, but also the specific position of the perspective centers Oi, 0 2 .
  • error 252 the coordinates of the perspective center points along the direction of the nominal baseline 208
  • error 254 the coordinates of the perspective center points along the direction of the nominal baseline 208
  • error 254 the coordinates of unit Ui or unit U 2 .
  • One way to characterize the orientation is in terms of a pitch angle 256 about an axis 255 and a yaw angle 258 about an axis 257.
  • Unit Ui and unit U 2 may also have incorrect calibration parameters for the roll angle of the camera or projector. Such errors may be detected and corrected in an auto-calibration procedure as discussed further herein.
  • the roll angle calibration parameter is sometimes considered to be an intrinsic calibration parameter rather than an extrinsic parameter.
  • the pattern X consists of a large number (e.g. 10,000) of spots with a low optical intensity and a smaller number (e.g. 1,000) of spots with a high optical intensity. With this variation in optical intensities, the 3D measuring device 100 may recognize objects having surfaces with high or low reflectance. If difficulties in finding the correspondences occur, it is possible to space the spots projected in the pattern X farther apart to reduce ambiguity in determining correspondences during the fourth process block.
  • the spots with the lower intensity can be filtered out or at least be reduced by reducing the exposure times and/or reducing the total power of the projector 121. In this instance, only the spots with high optical intensity (which have a higher spacing) are visible on the cameras 111, 112. This reduces the ambiguities in determining correspondences .
  • FIG. 19 shows (schematically), how the relative geometry of the two cameras 111 and 112 is verified.
  • the two points X l5 X 2 are selected with a different distance to the 3D measuring device 100 (i.e. with a different depth).
  • the points Xi or X 2 and the former calibration it can be verified whether the cameras 111 and 112 still provide consistent results.
  • the calibration parameters may be amended according to the determined deviations ⁇ , for example deviations detected by means of the selected points Xo, Xi or X 2 may be compensated.
  • new calibration parameters may be determined.
  • the calibration parameters may be changed (corrected) according to an optimization strategy until the deviations ⁇ are minimized or are less than a predetermined threshold.
  • the new calibration parameters are compared with the currently used calibration parameters and replace them, if appropriate, i.e. if the deviation between the (corrected) new calibration parameters and the currently used calibration parameters exceeds a given threshold.
  • the calibration is corrected. It should be appreciated that many of the deviations due to mechanical issues are single events and may be fixed by a permanent correction of the calibration parameters, in particular the extrinsic or intrinsic parameters.
  • an operating parameter to be checked is the wavelength of the light source 121a.
  • the wavelength can change due to the warming up of the light source 121a or changes in the pump current for example.
  • An embodiment is shown in FIG. 20 (schematically).
  • the pattern X generated by the diffractive element 124 changes in scale with the change in wavelength.
  • the center of the pattern X such as the position with the zeroth order of diffraction of the laser beam, there is no deviation in the position of the central pattern element if the wavelength changes.
  • the deviations ⁇ appear at locations with higher orders of diffraction, such as in the more peripheral pattern elements for example, as a shift in position.
  • Such a shift in position of individual diffraction of the pattern elements can be recognized with a single camera 111 or 112.
  • a selected point on the object O moves from a point with theoretical coordinates Xi (i.e. the coordinates determined by means of the latest used calibration) in the 3D scan to a point with actual coordinates X 2 which differ therefrom.
  • an expected point Xi becomes an actual point X 2 .
  • the actual 3D coordinates of the selected point X 2 may be determined from the frames of each single shot.
  • a deviation ⁇ of the actual coordinates of point X 2 from the theoretical coordinates Xi of the selected point a change of the wavelength is detected. The new wavelength is determined from the size of the deviation ⁇ .
  • two frames captured at different times are compared to detect a deviation of the actual coordinates of the selected point X 2 from theoretical coordinates Xi.
  • actions to counter the change can be taken or calibration can be corrected, if appropriate. Correction of calibration can be made by replacing the wavelength of the calibration by the new wavelength detected. In other words, the calibration parameter of the wavelength is changed. Actions to counter the change may include, for example, cooling the laser (if the light source 121a is a laser) or reducing the pump current, to return the wavelength to its unchanged (i.e. original) value. By applying feedback in a control loop to the pump current or to the laser cooling, the wavelength of the laser can be stabilized.
  • Some light sources 121a may drift in wavelength when no control system is used.
  • broad optical bandpass filters might be used to cover the range of possible wavelengths.
  • broad optical filters may pass more undesired ambient light, which may be an issue when working outdoors. Therefore in some applications a wavelength control system is desirable. It should be appreciated that the embodiments described herein of directly observing a change in wavelength provides advantages in simplifying a wavelength control systems, which ordinarily require stabilization of both temperature and current.
  • Some types of semiconductor lasers such as Fabry Perot (FP) lasers emit a single spatial mode but may support multiple longitudinal modes, where each longitudinal mode having a slightly different frequency.
  • current may be adjusted to switch between operation with single or multiple longitudinal modes.
  • the number of longitudinal modes of the laser may be an operating parameter of the projector 121. Ordinarily, one single wavelength is desired as this produces a single well defined pattern X. If two wavelengths are produced by the laser, the second wavelength produces a type of shadow in the desired pattern X. The result can be described with reference to FIG. 20.
  • a circular point may become an elliptical or a barbell shape or a point pair X l5 X 2 . These deviations can be detected by applying image processing to the received pattern X. If multiple modes are observed, pump current or cooling may be adjusted to reduce the number of longitudinal modes to one.
  • Deviations in the intrinsic parameters of the cameras 111 and 112, for example focal length may in some cases be automatically recognized and be compensated for. In other instances, deviations in intrinsic parameters may arise, not from thermal or mechanical causes, but due to deliberate actions by the operator or through the operation of the 3D measuring device 100. These actions may include a change in the optics of the cameras 111, 112, or by focusing or zooming the cameras 111, 112 for example.
  • An additional possibility of verifying calibration results is to combine the 3D scan data based on triangulation with 2D images captured by the 2D camera 113. These 2D images normally comprise colors and other features of the object O.
  • the projector 121 and the two cameras 111 and 112 are synchronized with the camera 113 to capture frames of the object O synchronously.
  • the projector 121 projects infrared light received by the cameras 111,
  • the 113 being regarded as one of the units U ⁇ , for example. Correspondences are detected in the captured frames and 3D-coordinates of the selected object features are determined. Due to the redundancies in determining the 3D coordinates, new calibration parameters may be determined, which are compared with the currently used calibration parameters. If the difference between the current calibration parameters and the new calibration parameters exceeds a threshold, the new calibration parameters replace the currently used ones. [0099] In another embodiment, the light received by camera 113 is not filtered to exclude infrared light. Rather, in this embodiment, the camera 113 capable of detecting and acquiring an image of the pattern X if present on the object O. The camera 113 may then operate in either of two modes.
  • the camera 113 collects images temporally in between pulsed projections of the pattern X by the projector 121. In this mode, the camera 113 captures images of features that may be compared to the features calculated by the triangulation system that includes 111, 112, and 121 to determine errors in the calibration parameters. In a second mode, the camera 113 acquires images when the pattern X is projected onto the object O. In this case, errors in the relative alignment of the six degrees-of-freedom of the camera 113 to the triangulation elements 111, 112, and 121 may be determined.
  • an interpolation of 3D and 2D coordinate data may be made to account for the interleaving of images.
  • Such interpolations may be mathematical.
  • the interpolations may be based at least in part on a Kalman filter calculation.
  • the 3D measuring device 100 is provided with an inertial measurement unit (or another position tracking device).
  • the inertial measurement unit measures accelerations in the three directions of space with three sensors (accelerometers) and, with three further sensors (gyroscopes), the angular velocities around three coordinate axes. Movements can thus be measured on short time scales.
  • These movement measurements allow for a compensating offset in terms of time between distance measured by the projector and cameras 111, 112 and the image acquired by the 2D camera 113. This compensating offset allows for the combination of the data.
  • the display 130 shown in Fig. 7 illustrates a subdivided image or subdivided screen.
  • the display 130 is divided into a first display part 130a and a second display part 130b.
  • the first display part 130a is a (rectangular) central part of the display 130
  • the second display part 130b is a peripheral area around the first display part 130a.
  • the two display parts may be columns.
  • the first display part 130a is shown as having a rectangular shape, however this is for exemplary purposes and the claimed invention should not be so limited.
  • the first display part 130a may have other shapes, including but not limited to circular, square, trapezoid, trapezium, parallelogram, oval, triangular, or a polygon having any number of sides. In one embodiment, the shape of the first display part 130a is user defined or selectable.
  • the video live image VL is displayed, such as that captured by 2D camera 113 for example.
  • an image of the latest 3D scan (or a plurality of 3D scans that have been registered) is displayed as at least part of a view of the three-dimensional point cloud 3DP.
  • the size of the first display part 130a may be variable, and the second display part 130b is arranged in the area between the first display part 130a and the border 131 of the display 130.
  • video live image VL changes, such as when the user moves the device 100, the image of the three-dimensional point cloud 3DP changes correspondingly to reflect the change in position and orientation of the device 100.
  • the placement of the image of the three- dimensional point cloud 3DP around the periphery of the video live image VL provides advantages in allowing the user to easily see where additional scanning may be required without taking their eyes off of the display 130.
  • the image acquired by the camera 113 is a two-dimensional (2D) image of the scene.
  • a 2D image that is rendered into a three-dimensional view will typically include a pincushion- shaped or barrel-shaped distortion depending on the type of optical lens used in the camera.
  • FOV field of view
  • the image of the three-dimensional point cloud data may appear distorted depending on how the image is processed for the display.
  • the point cloud data 3DP may be viewed as a planar view where the image is obtained in the native coordinate system of the scanner (e.g. a spherical coordinate system) and mapped onto a plane.
  • the images within the first display part 130a appear to be similar to that in the second display part 130b to provide a continuous and seamless image experience for the user.
  • the image of three-dimensional point cloud 3DP is significantly distorted, it may make it difficult for the user to determine which areas could use additional scanning.
  • the planar image of the point cloud data 3DP could be distorted relative to the 2D camera image, one or more processing steps may be performed on the image generated from the point cloud data 3DP.
  • the field of view (FOV) of the second display part 130b is limited so that only the central portion of the planar image is shown. In other words, the image is truncated or cropped to remove the highly distorted portions of the image.
  • the distortion is limited and the planar view of the point cloud data 3DP will appear as desired to the user.
  • the planar view is processed to scale and shift the planar image to provide to match the camera 113 image in the first display part 130a.
  • the three-dimensional point cloud data 3DP is processed to generate a panoramic image.
  • panoramic refers to a display in which angular movement is possible about a point in space (generally the location of the user).
  • a panoramic view does not incur the distortions at the poles as is the case with a planar view.
  • the panoramic view may be a spherical panorama that includes 360 degrees in the azimuth direction and +/- 45 degrees ion the zenith.
  • the spherical panoramic view may be only a portion of a sphere.
  • the point cloud data 3DP may be processed to generate a 3D display.
  • a 3D display refers to a display in which provision is made to enable not only rotation about a fixed point, but also translational movement from point to point in space. This provides advantages in allowing the user to move about the environment and provide a continuous and seamless display between the first display part 130a and the second display part 130b.
  • the video live image VL in the first display part 130a and the image of the three-dimensional point cloud 3DP in the second display part 130b match together seamlessly and continuously (with respect to the displayed contents).
  • a part of the three-dimensional point cloud 3DP is first selected (by the control and evaluation device 122) in such a way, as it is regarded from the perspective of the 2D camera 113 or at least from a position aligned with the 2D camera 113. Then, the selected part of the three-dimensional point cloud 3DP is selected in such a way that it adjoins continuously the video live image VL.
  • the displayed image of the three-dimensional point cloud 3DP becomes a continuation of the video live image VL for the areas beyond the field of view of the 2D camera 113 on the left, on the right, top and bottom relative to the field of view of the 2D camera).
  • the selected portion of the three-dimensional point cloud 3DP may be processed to reduce or eliminate distortions.
  • the representation may correspond to the representation of a fish-eye lens, but preferably it is undistorted. The part of the three-dimensional point cloud 3DP which is located in the area occupied by the first display part 130a, in other words the portion beneath or hidden by the video live image VL, is not displayed.
  • the density of the points in the three-dimensional point cloud 3DP in the area where the first display part 130a is located will not be visible to the user.
  • the video live image VL is displayed using the natural coloring.
  • the coloring of the video live image VL may be changed artificially such as by overlaying for example.
  • the artificial color (and, if appropriate, the intensity) used for representing the artificially colored video live image VL corresponds to the density of the points.
  • a green coloring to the video live image VL may indicate a (sufficiently) high density while a yellow coloring may be used to indicate a medium or low point density (e.g. areas which still the scan data can be improved).
  • the distant-depending precision of the data points could be displayed using this color- coding.
  • flags or marks 133 may be inserted in the first display part 130a to indicate structures (i.e. possible targets) recognized by the control and evaluation device 122.
  • the marks 133 may be a symbol, such as a small "x" or "+” for example.
  • the recognizable structures can be points, corners, edges or textures of objects.
  • the recognizable structures may be found by the latest 3D scan or the video live image VL being subjected to the beginning of the registering process (i.e. to the localization of targets). The use of the latest video live image VL provides advantages in that the registration process does not have to be performed as frequently.
  • the marks 133 have a high density, it is considered to be a successful registration of the 3D scans. If, however, a lower density of the marks 133 is recognized, additional 3D scans may be performed using a relatively slow movement of the 3D measuring device 100. By slowing the movement of the device 100 during the scan, additional or higher density points may be acquired. Correspondingly, the density of the marks 133 may be used as a qualitative measure for the success of the registration. Similarly, the density of the points of the three- dimensional point cloud 3DP may be used to indicate a successful scan. As discussed above, the density of points in the scan may be represented by the artificial coloring of the video live image VL.
  • the movement of the 3D measuring device 100 and processing of the captured frames may also be performed by a tracking function, i.e. the 3D measuring device 100 tracks the relative movement of its environment with the methods used during tracking. If tracking gets lost, for example, if the 3D measuring device 100 has been moved too fast, there is a simple possibility of reassuming tracking.
  • the video live image VL as it is provided by the 2D camera 113 and the last video still image from tracking provided by it may be represented adjacent to each other in a side by side arrangement on the display 130 for the user. The user may then move the 3D measuring device 100 until the two video images coincide.
  • the movement of the 3D measuring device 100 is recorded, such as during the registration that occurs in process block 203 for example.
  • the movement evaluation step 312 determines the amount and the direction of speed or acceleration of the movement. This determination may also incorporate temporal aspects of the movement as well as the quality and quantity of the movement. In evaluating the quality, the movement may be compared with predetermined movements stored in memory. If a predetermined threshold value is exceeded (or not exceeded), then a defined movement is identified.
  • the control step 313, the operation of the 3D measuring device 100 is changed based on the evaluated movement. It should be appreciated that all three steps 311, 312, 314 may be performed by either the control and evaluation device 122 or via an external computer coupled for communication (e.g. through a serial or network connection) to the control and evaluation device 122.
  • the control of the 3D measuring device 100 can influence on at least three categories of control, namely measuring (e.g. the measuring process with the acquisition of measured data), visualization (e.g. the preliminary evaluation of measured data and the representation thereof) and post-processing (e.g. the final evaluation of measured data).
  • measuring e.g. the measuring process with the acquisition of measured data
  • visualization e.g. the preliminary evaluation of measured data and the representation thereof
  • post-processing e.g. the final evaluation of measured data.
  • the 3D measuring device 100 may use gestures to control one of or a combination of these categories.
  • the control functions performed in response to the gesture may be context sensitive.
  • the control step 313 may provide only storing of the result of the movement evaluation step 312 otherwise it will be carried out after the measuring process is finished.
  • the three control categories may interact with any of the components, subcomponents or auxiliary components, such as but not limited to the 3D measuring device 100, the control and evaluation device 122, the display 130 or a computing device connected locally or remotely (such as via a serial or network connection).
  • the gestures and the evaluation of movement can be subdivided into three groups represented in FIGS. 16-18. It should be appreciated that while embodiments herein describe the movements as being discrete motions, these movements may also be combined or performed in series. In one embodiment the user interface may be selected based on the motion or gesture, such as selecting the configuration of the control knob 106.
  • the 3D measurement device 100 is moved in the direction Vi.
  • the motion VI is measured both in terms of velocity and acceleration.
  • different control functions that change the measurements being acquired or visualization of the data on display 130 for example.
  • a standstill of movement of the 3D measuring device 100 may be used to capture a sequence of images of one or multiple cameras 111, 112, 113 with a low dynamic range, but with different exposure times of the cameras 111, 112, 113.
  • the standstill gesture may cause different illumination intensity to be emitted from light source 121a or LEDs 114.
  • the standstill movement may cause a different illumination time (pulse length) from light source 121a within the sequence and to acquire an image using high dynamic range (HDR) techniques.
  • the term “standstill” means to stop moving the 3D measuring device 100, in other words to have zero velocity in any direction.
  • the term “standstill” includes when the user reduces the velocity of the 3D measurement device 100 to less than a threshold.
  • the scale of representation of the video image VL and/or of the three-dimensional point cloud 3DP on the display 130 may depend on the speed and/or acceleration of the movement of the 3D measuring device 100.
  • scale is defined as the ratio between the size (either linear dimension or area) of the first display part 130a and the size of the complete display 130, being denoted as a percentage.
  • a small field of view of the 2D camera 113 is assigned to a small scale.
  • this first display part 130a then may be of smaller size than in the standard case, and the second display part 130b (about the periphery of the first display part 130a) shows a bigger part of the three-dimensional point cloud 3DP.
  • a larger field of view is assigned to a large scale.
  • the video live image VL may fill the whole display 130.
  • the scale of the representation may be configured smaller than with low speeds and vice versa. Similarly, this may apply to accelerations of the movement of the 3D measuring device 100. For example, the scale of the displayed image is reduced in the case of positive accelerations, and the scale is increased in the case of negative accelerations.
  • the scale may also depend on a component of the speed and/or acceleration of the movement of the 3D measuring device 100, for example on a component which is arranged perpendicular or parallel to the alignment of the 3D measuring device 100. If the scale is determined based on a component of the movement, parallel to the alignment (i.e. in the direction of the alignment), the scale can also be made dependent on the change of an average distance to objects O from the 3D measuring device 100.
  • the change of the scale due to movement, a standstill of the movement of the 3D measuring device 100 or a threshold speed of movement value not being achieved can be used to record a sequence of still images of the camera 113 with a low dynamic range. These images may be captured at low dynamic range but with different exposure times or illumination intensities within the sequence to generate a high dynamic range image therefrom.
  • the second group of movements comprises the gestures or motions as indicated by arrow V 2 .
  • the user carries out certain small movements with the 3D measuring device 100 such as a circular movement.
  • This circular movement may be within an area of space having a radius of at least approximately an arm's length of the user.
  • FIG. 17 illustrates the motion V 2 as being about an axis extending normal to the front of the 3D measuring device 100, this is for exemplary purposes and the claimed invention should not be so limited.
  • the axis about which the rotation takes place could be different, such as an axis extending from the sides of the device 100 or vertically through the center of the device 100.
  • the evaluation of the gestures V 2 takes place preferably in terms of quality, by comparing the movements with stored types of movement and by thus identifying the gestures v 2 .
  • gestures V 2 By means of the gestures V 2 , either alone or in combination with gesture Vi, the user can activate all three categories of control, such as the acquisition of data and operation of the 3D measuring device 100 or display 130. The user can switch between discrete states or adjust values step by step or continuously.
  • the gestures V 2 may be used to control functions of the 3D measurement device 100. These control functions include, but are not limited to: selecting the measurement method (e.g. between photogrammetry, pattern detection, fringe projection and combined methods); selecting the properties of acquisition (e.g. power of the projector 121, exposure time, object distances, pattern or point density); and switching additional measurement properties on and off (e.g. 3D recognition of contours or a flash).
  • selecting the measurement method e.g. between photogrammetry, pattern detection, fringe projection and combined methods
  • selecting the properties of acquisition e.g. power of the projector 121, exposure time, object distances, pattern or point density
  • switching additional measurement properties on and off e.g. 3D recognition of contours or a flash.
  • the gestures V 2 may be used to control visualization functions of the display 130 or an external computing device.
  • These visualization functions include, but are not limited to: selecting the user interface (e.g. the button arrangement, selection between 2D, 3D and combined view during scanning); selecting the representation (e.g. point size, viewing angle, kind of projection such as orthographic or perspective, or a map view); selecting navigation (e.g.
  • the 3D measuring device 100 uses the 3D measuring device 100 as a mouse with six degrees of freedom (x-direction, y-direction- z-direction, yaw angle, roll angle and pitch angle) for navigating through the common coordinate system with the three-dimensional point cloud 3DP; and interacting with the representation on the display 130 and with further user interfaces in the manner of a mouse (e.g. shifting the contents of the display 130 aside with a movement)
  • the gestures V 2 may be used to control post-processing functions of the display 130 or an external computing device.
  • These post-processing functions include, but are not limited to: setting marks (marking points of interest, such as by encircling the point); setting a viewpoint or a rotation point into the center of a volume of interest; defining a location for the navigation through the common coordinate system with the three- dimensional point cloud 3DP (e.g. by a gesture with a change of the pitch angle, corresponding to clicking with a mouse key); and defining the (approximate) gravitational direction (z-direction).
  • the direction of gravity may be defined at the beginning of the registration process by a defined movement of the 3D measuring device 100. This defined movement is carried out by the user by moving the device 100 in a vertical upward and downward movement over a predetermined distance, such as 20 cm for example.
  • the direction of gravity may be determined from a set of statistics of all movements during the registration process. A plane may be averaged from the coordinates of the positions taken by the device 100 while recording process along a path of movement through space. It is assumed that the averaged plane is located horizontally in space, meaning that the direction of gravity is perpendicular to it. As a result, the use of inclinometer 119 for determining the direction of gravity may be avoided.
  • a third group of movements comprises the gestures or motions as indicated by arrow V 3 .
  • the motion V 3 is a path through space.
  • this group of gestures may be evaluated by determining the coordinates of the positions of the 3D measuring device 100, such as during the measuring process.
  • the evaluation of the path of motion V 3 may be used to determine the kind of scene and, if appropriate, to offer different representations or operating functions.
  • properties of the path of motion V 3 and of the alignment of the 3D measuring device 100 are evaluated and compared with predetermined motions. It should be appreciated this evaluation may be statistically based, in an embodiment the comparison determines which of the predetermined motions has the highest probability of corresponding to the path of motion V 3 .
  • function selected from the evaluation of the motion V 3 is based on the probability of the path of motion V 3 being greater than a threshold.
  • the gestures V 2 may be distinguished by the change of position of the 3D measuring device 100 in space during a movement between two standstill gestures.
  • the path of motion V 3 may also be used for determining the kind of scene and, if appropriate, to offer different representations or operating possibilities.
  • a path of movement around a center location suggests an image of a single object O (object-centered image).
  • a path of movement that orients the device 100 towards the outside makes reference to an image of rooms.
  • an image of a floor plan top view may be inserted into the display 130.
  • the gestures V 3 may be used to control measurement functions of the 3D measurement device 100. These functions include, but are not limited to: selecting the measurement method (as indicated for V 2 ), for example by virtue of the distance of the captured objects to the path of motion V 3 ; and selecting data for tracking or registration.
  • the gestures V 3 may be used to control visualization functions of the 3D measurement device 100. These functions include, but are not limited to: selecting the representation by virtue of the measurement, particularly with regard to zoom and orientation; defining the volume of interest with respect to the background; displaying a floor plan (top view) as a map on the display 130; defining the walls of the room into a volume of interest (e.g. when there is no floor plan); and selecting a user interface.
  • the gestures V 3 may be used to control post-processing functions of the 3D measurement device 100. These functions include, but are not limited to: detecting volumes of interest; selecting between the features of the volumes of interest; selecting between different options of post-processing (e.g. processing only volumes of interest); filling the gaps on object surfaces in the detected volumes of interest (video meshing, gap filling), as well as supporting interpolations and joining; detecting the position of the floor from the z-coordinates of the path of motion V 3 (e.g.
  • the z-coordinates on average are located on a horizontal plane, and limiting navigation to this plane); detecting a change of floors from the z-coordinates of the path of motion V 3 ; when a change in floor is detected, d separating the floors; and determining the absolute position of the floor (e.g. when the 3D measuring device includes an altimeter).
  • gestures may be combined together to assist the user in controlling the functionality of the 3D measuring device 100. For example, by evaluating the speed of the motion Vi, certain user interface elements (e.g. buttons, sliders, text boxes) may appear on display 130. These user interface elements may then be activated by the motion of a gesture V 2 .
  • certain user interface elements e.g. buttons, sliders, text boxes
  • the rule of correspondence may be defined that correlates the gesture with a control function, such as the gestures and control functions described herein.
  • the rule of correspondence may be any suitable means for correlating data, such as a look-up table or a database for example.
  • the rule of correspondence is stored in memory and retrievable by the control and evaluation device for determining a gesture based on velocity, acceleration, path of motion, direction of motion or type of motion for example.

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Abstract

L'invention concerne un procédé pour balayer et obtenir des coordonnées tridimensionnelles (3D). Le procédé consiste à utiliser un dispositif de mesure 3D comprenant un projecteur, une première caméra et une seconde caméra. Le procédé permet d'enregistrer des images de motif lumineux émis par le projecteur sur un objet. Le dispositif de mesure 3D est déplacé depuis une première position et une seconde position le long d'un second trajet. Un geste et une fonction de commande correspondante sont déterminés sur la base au moins partielle de la première position et de la seconde position.
PCT/US2015/048857 2014-09-10 2015-09-08 Procédé pour mesurer optiquement des coordonnées tridimensionnelles et commander un dispositif de mesures tridimensionnelles WO2016040271A1 (fr)

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Application Number Priority Date Filing Date Title
DE102014113015.4 2014-09-10
DE102014113015.4A DE102014113015B4 (de) 2014-09-10 2014-09-10 Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung, umfassend einen Handscanner mit Tragestruktur
DE102014013678.7 2014-09-10
DE102014013677.9 2014-09-10
DE102014013678.7A DE102014013678B3 (de) 2014-09-10 2014-09-10 Verfahren zum optischen Abtasten und Vermessen einer Umgebung mit einem Handscanner und Steuerung durch Gesten
DE102014013677.9A DE102014013677B4 (de) 2014-09-10 2014-09-10 Verfahren zum optischen Abtasten und Vermessen einer Umgebung mit einem Handscanner und unterteiltem Display
DE102015106836.2 2015-05-02
DE102015106837.0A DE102015106837B4 (de) 2014-09-10 2015-05-02 Verfahren zur Steuerung einer 3D-Messvorrichtung mittels Gesten und Vorrichtung hierzu
DE102015106837.0 2015-05-02
DE102015106836.2A DE102015106836B4 (de) 2014-09-10 2015-05-02 Verfahren zur Steuerung einer 3D-Messvorrichtung mittels momentaner Bewegung und Vorrichtung hierzu
DE102015106838.9 2015-05-02
DE102015106838.9A DE102015106838B4 (de) 2014-09-10 2015-05-02 Verfahren zur Steuerung einer 3D-Messvorrichtung mittels des Bewegungspfades und Vorrichtung hierzu
US201562161461P 2015-05-14 2015-05-14
US62/161,461 2015-05-14
US14/712,993 2015-05-15
US14/712,993 US10070116B2 (en) 2014-09-10 2015-05-15 Device and method for optically scanning and measuring an environment
US14/722,219 2015-05-27
US14/722,219 US9769463B2 (en) 2014-09-10 2015-05-27 Device and method for optically scanning and measuring an environment and a method of control
US14/826,859 2015-08-14
US14/826,859 US9671221B2 (en) 2014-09-10 2015-08-14 Portable device for optically measuring three-dimensional coordinates
US14/844,700 US9602811B2 (en) 2014-09-10 2015-09-03 Method for optically measuring three-dimensional coordinates and controlling a three-dimensional measuring device
US14/844,700 2015-09-03

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