Three-dimensional measuring system

Patent metadata

Field	Value
Publication number	US-2020318954-A1
Application number	US-201916376521-A
Country	US
Kind code	A1
Filing date	Apr 5, 2019
Priority date	Apr 5, 2019
Publication date	Oct 8, 2020
Grant date	—

Abstract

A system includes a polarization target having two or more surfaces, a polarization camera that captures an image of the polarization target and records polarization of light that formed the image, and a processor that determines an orientation of the polarization target based at least in part on the captured image and the determined polarization.

First claim

1 . A system comprising:
a polarization target having two or more surfaces; a first polarization camera operable to capture a captured image of the polarization target and to record polarization of light that formed the captured image; and a processor operable to determine an orientation of the polarization target based at least in part on the captured image and the orientation of the polarization.

2 . The system of claim 1 wherein the polarization target includes a dielectric material.

3 . The system of claim 1 wherein the polarization target includes a non-metallic material.

4 . The system of claim 1 wherein the polarization target includes a marker.

5 . The system of claim 4 wherein the processor is operable to further determine a transverse position of the polarization target based at least in part on an image of the marker captured by the first polarization camera.

6 . The system of claim 1 wherein the processor is operable to further determine a transverse position of the polarization target based at least in part on a plurality of edge segments captured by the first polarization camera.

7 . The system of claim 4 wherein the polarization target further includes a second marker.

8 . The system of claim 1 wherein the processor is operable to determine the orientation of the polarization target further based on a geometrical representation of the polarization target.

9 . The system of claim 1 further comprising a noncontact three-dimensional (3D) measuring device operable to measure 3D coordinates of an object.

10 . The system of claim 9 wherein the noncontact 3D measuring device is a triangulation scanner having a projector and a scanner camera, the triangulation scanner operable to measure three-dimensional (3D) coordinates of the object.

11 . The system of claim 10 wherein the processor is further operable to register 3D coordinates obtained by the triangulation scanner in a first scan and a second scan based at least in part on a first image and a second image of the polarization target obtained by the first polarization camera.

12 . The system of claim 1 wherein the processor is further operable to determine a normal vector of a surface of the polarization target, the normal vector based at least in part on a determined polarization of light that formed an image of the surface.

13 . The system of claim 12 wherein the processor is further operable to determine the normal vector of the surface of the polarization target based at least in part on a determined angle of polarization of the surface of the polarization target.

14 . The system of claim 12 wherein the processor is further operable to determine a normal vector of a plurality of surfaces of the polarization target.

15 . The system of claim 8 wherein the processor is further operable to determine the orientation of the polarization target based on an optimization program to minimize residual errors in the orientation.

16 . The system of claim 1 wherein the system further includes a second polarization target.

17 . The system of claim 11 wherein the polarization target is coupled to the triangulation scanner.

18 . The system of claim 17 further comprising a second polarization target coupled to the triangulation scanner.

19 . The system of claim 17 further comprising a second polarization camera, the first polarization camera and the second polarization camera being part of a stereo polarization camera.

20 . A method comprising:
in a first instance, measuring first three-dimensional (3D) coordinates of an object with a noncontact 3D measuring device; in the first instance, with a polarization camera, capturing an image of a polarization target and recording polarization of light that formed the image; in a second instance, measuring second 3D coordinates of the object with the noncontact 3D measuring device; in the second instance, with the polarization camera, capturing a captured image of the polarization target and recording polarization of light that formed the captured image; with a processor, determining an orientation and a position of the polarization target based at least in part on the captured image in the first instance, the captured image in the second instance, the recorded polarization in the first instance, and the recorded polarization in the second instance; with the processor, registering the first 3D coordinates and the second 3D coordinates in a common coordinate system to obtain registered 3D coordinates, the registering based at least in part on the first 3D coordinates, the second 3D coordinates, and the orientation and the position of the polarization target; and storing the registered 3D coordinates.

21 . The method of claim 20 wherein the noncontact 3D measuring device is a triangulation scanner.

22 . The method of claim 20 further comprising:
in the first instance, capturing with the polarization camera a first image of a marker on the polarization target;
in the second instance, capturing with the polarization camera a second image of the marker on the polarization target; and
with the processor, registering the first 3D coordinates and the second 3D coordinates in the common coordinate system, the registering further based on the first image of the marker and on the second image of the marker.

Assignees

• Faro Tech Inc

Inventors

• Wolke Matthias

Classifications

• G01B2210/52

  Combining or merging partially overlapping images to an overall image · CPC title

• G01B11/26

  for measuring angles or tapers; for testing the alignment of axes · CPC title

• G01B11/2518 Primary

  Projection by scanning of the object · CPC title

• G01B11/002 Primary

  for measuring two or more coordinates · CPC title

• G01B21/04

  by measuring coordinates of points · CPC title