WO2004111571A1 - Apparatus for determining shape and size of three-dimensional objects - Google Patents

Apparatus for determining shape and size of three-dimensional objects Download PDF

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Publication number
WO2004111571A1
WO2004111571A1 PCT/SI2004/000022 SI2004000022W WO2004111571A1 WO 2004111571 A1 WO2004111571 A1 WO 2004111571A1 SI 2004000022 W SI2004000022 W SI 2004000022W WO 2004111571 A1 WO2004111571 A1 WO 2004111571A1
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WO
WIPO (PCT)
Prior art keywords
projector
camera
light
measuring devices
acquiring
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Application number
PCT/SI2004/000022
Other languages
French (fr)
Inventor
Matija Jezersek
Janez Mozina
Original Assignee
UNIVERZA V LJUBLJANI, Fakulteta za strojnistvo
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Publication of WO2004111571A1 publication Critical patent/WO2004111571A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G01B11/2509—Color coding

Definitions

  • the invention belongs to the field of optical three-dimensional measurement of body shapes, more precisely, to the field of measuring systems, which are composed of a proper number of body-shape measuring devices, where each device measures the shape and dimensions of only one part of body surface and where each device is composed of at least one camera and also of at least one laser projector for structured illumination.
  • the invention is based on the problem of how to develop an apparatus for determining the shape and size of three-dimensional objects that would enable simultaneous action of all required or available measuring devices, which is related ' to substantial shortening of measuring time and also to significant reduction of control over the measuring devices.
  • Projector emits laser light in form of multiple light planes, by means of which the sole surface is illuminated in such a manner, that one projector illuminates the front half and the other the back half of the sole.
  • a desired result would be to establish an apparatus that could measure three dimensionally shaped objects by using multiple measuring devices, which would be arbitrarily positioned around the measured object.
  • all the projectors would be turned on simultaneously (instead of switching the projectors on and off for structured light) and thus all the cameras would acquire a picture of the illuminated object at the same time.
  • the present invention concerns an apparatus for determining an object three- dimensional shape and size, i.e. a measured object. It comprises a particular number of measuring devices, where each device comprises at least one projector and at least one camera, which are placed on a suitable connecting framework. Each of the previously mentioned projectors is intended for projecting a desired light pattern onto a portion of the measured surface, and the relevant camera is intended for acquiring the mentioned light pattern. Apparatus also includes a computer intended for acquisition, storing and processing of data, which originates from the mentioned pattern, and also a control unit, which synchronizes all measuring devices.
  • the apparatus comprises a particular number of measuring devices, where each device consists of at least one projector and at least one camera, hi our invention, each projector of particular measuring device is adapted to emitting laser light of a certain wavelength, and its corresponding camera is adapted to acquiring the light of the same wavelength. AU other projectors with corresponding cameras are adapted to emitting and acquiring the light patterns of different wavelengths - specific to each separate projector.
  • the apparatus can optionally include, apart from a computer, also a control unit, which is intended for -simultaneous activation or deactivation of all the cameras belonging to all measuring devices.
  • a narrowband filter i.e. an interference filter
  • the spectral bandwidth of its filter is greater than the spectral bandwidth of the projector.
  • Fig. 1 is a schematically presented embodiment of an apparatus for three-dimensional measurement of object shape, composed of four measuring devices, which enable simultaneous illumination and measurement of separate parts of . measured object surface
  • Fig. 2 is a schematically presented shape of the laser light spectrum, and transmission of the narrowband filter as well as a presentation of the spectral bandwidth
  • Fig. 3 is a schematically presented time-based diagram of- the object shape measurement using four measuring devices simultaneously.
  • An apparatus for determining shape and dimensions of three-dimensional objects i.e. of a measuring object 5 according to fig. 1, is generally composed of a certain number of measuring devices 1, 2, 3, 4, which are positioned around the measured object 5 in such a way that each measuring device covers certain part of surface of the measured object 5.
  • Each measuring device 1, 2, 3, 4 is comprised of at least one camera 11, 21, 31, 41, of at least one projector 12, 22, 32, 42 and of a proper connecting framework 13, 23, 33, 43, which connects each camera 11, 21, 31, 41 and each projector 12, 22, 32, 42 of every measuring device 1, 2, 3, 4 in virtually rigid integrity.
  • Each camera 11, 21, 31, 41 is preferably a CCD camera (Charged-Couple Device), but generally, any device, which measures two-dimensional light intensity distribution can be used as well.
  • CCD camera Charged-Couple Device
  • Each projector 12, 22, 32, 42 emits a structured laser light with nominal wavelength ⁇ ] as .
  • Laser light bandwidth must be properly narrow, namely less than ⁇ i as compared to the nominal wavelength ⁇ i as .
  • Spectral bandwidth also named linewidth, is that region along spectral axis wherein the spectral transmittance is greater than one half of maximum value (Fig. 2).
  • the light pattern is preferably composed of multiple laser light planes, but it can also be of any form, as long as the measured geometry is correctly determined from the image of the illuminated measured object 5.
  • a narrowband filter 110, 210, 310, 410 the so-called interference filter, is placed, which transmits very narrow spectral bandwidth of light no greater than ⁇ fiite r compared to its nominal wavelength ⁇ fji te r.
  • the filter bandwidth should be greater than the projector bandwidth for the purpose of better efficiency:
  • Each camera 11, 21, 31,41 can sufficiently acquire the light pattern emitted by its corresponding projector 12, 22, 32, 42 if the difference between nominal wavelengths of the projector 12, 22, 32, 42 and the filter 110, 210, 310, 410 is no greater than one half of their average bandwidth:
  • indices i and j represent the numbers of the measuring devices.
  • an appropriate projector can be applied by using projectors currently available under the trade mark Lasiris® of the manufacturer Stocker Yale, Inc., which form illumination region of, for example, thirty-three equally separated light planes.
  • the manufacturer offers a wide selection of different laser wavelengths emitted by the mentioned projectors. Particularly useful for the given example are projectors with the nominal wavelength 635 an, 650 nm, 670 nm and 685 ran.
  • An integral part of the presented apparatus for three-dimensional object shape measurement is also the computer 6, which is used for gathering and storing image data, acquired with the measuring devices 1, 2, 3, 4, as well * as for image processing - with a purpose of light pattern recognition, and for reconstruction of the measured object 5 on the basis of the acquired pattern, and furthermore for executing other needed operations which lead to displaying the measured object 5 on the monitor 61.
  • the presented apparatus consists of a control unit 7 used for synchronous triggering of cameras 11, 21, 31, 41 and of all measuring devices 1, 2, 3, 4, which is selected according to the type of the cameras 11, 21, 31, 41.
  • Projectors 12, 22, 32, 42 are preferably active all the time while the apparatus is turned on. Consequently their operation is stable and the projector control may be omitted.
  • the synchronising can be conducted by generating synchronous trigger pulses 71, which are fired at the input trigger signal 72. Control of the trigger signal 72 is accommodated to the given requirements (i.g.: photocell, reed-switch, manual button etc.).
  • the time of the entire measurement in the above-described example is equal to the one-image-acquisition time.
  • symbol t e stands for exposure time of the sensor element
  • t f stands for the sum of time of the exposure and time of the image data transfer from the cameras 11, 21, 31, 41 to the memory of the computer 6.
  • the measuring time of the object 5 using all measuring devices 1,2,3,4 is equal to the time t e and the frequency of the repeated measuring is equal to 1/t f .

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  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The object of the invention is an apparatus for determining shape and size of three-dimensional objects, which enables shortening of time required for measuring, and besides, controlling thereof may also be simplified. The apparatus comprises a desired number of measuring devices (1, 2, 3, 4), each of them consists of at least one projector (12, 22, 32, 42) as well as of at least one camera (11, 21, 31, 41). Each projector (12, 22, 32, 42) and the corresponding camera (11, 21, 31, 41) of each particular measuring device (1, 2, 3, 4) are adapted for emitting/acquiring the light of certain wavelenght, while the other cameras (12, 22, 32, 42) and projectors (11, 21, 31, 41) of the other measuring devices (1, 2, 3, 4) are adapted for emitting/acquiring the light of any other wavelenghts.

Description

APPARATUS FOR DETERMINING SHAPE AND SIZE OF THREE-DIMENSIONAL OBJECTS
The invention belongs to the field of optical three-dimensional measurement of body shapes, more precisely, to the field of measuring systems, which are composed of a proper number of body-shape measuring devices, where each device measures the shape and dimensions of only one part of body surface and where each device is composed of at least one camera and also of at least one laser projector for structured illumination.
The invention is based on the problem of how to develop an apparatus for determining the shape and size of three-dimensional objects that would enable simultaneous action of all required or available measuring devices, which is related' to substantial shortening of measuring time and also to significant reduction of control over the measuring devices.
When multiple measuring devices, which are based on the structured illumination principle, are used, the problem of light patterns overlapping between adjacent measuring devices often appears. Such overlapping may cause improper pattern recognition, at image processing phase and consequently caμse a- faulty measurement. To avoid the mentioned overlapping problem, the existing systems with multiple measuring devices operate in succession mode, which means that at a given moment only the structured light projector, which belongs to the currently active camera, emits light. The mentioned principle is used for instance in patent US 5,753,931, where the apparatus for measuring the shape of a human sole is described. It consists of two measuring devices (a combination of a camera and a projector), which are positioned under a transparent plate. Projector emits laser light in form of multiple light planes, by means of which the sole surface is illuminated in such a manner, that one projector illuminates the front half and the other the back half of the sole. A desired result would be to establish an apparatus that could measure three dimensionally shaped objects by using multiple measuring devices, which would be arbitrarily positioned around the measured object. In the previously mentioned apparatus all the projectors would be turned on simultaneously (instead of switching the projectors on and off for structured light) and thus all the cameras would acquire a picture of the illuminated object at the same time.
The present invention concerns an apparatus for determining an object three- dimensional shape and size, i.e. a measured object. It comprises a particular number of measuring devices, where each device comprises at least one projector and at least one camera, which are placed on a suitable connecting framework. Each of the previously mentioned projectors is intended for projecting a desired light pattern onto a portion of the measured surface, and the relevant camera is intended for acquiring the mentioned light pattern. Apparatus also includes a computer intended for acquisition, storing and processing of data, which originates from the mentioned pattern, and also a control unit, which synchronizes all measuring devices.
In the present invention, the apparatus comprises a particular number of measuring devices, where each device consists of at least one projector and at least one camera, hi our invention, each projector of particular measuring device is adapted to emitting laser light of a certain wavelength, and its corresponding camera is adapted to acquiring the light of the same wavelength. AU other projectors with corresponding cameras are adapted to emitting and acquiring the light patterns of different wavelengths - specific to each separate projector. The apparatus can optionally include, apart from a computer, also a control unit, which is intended for -simultaneous activation or deactivation of all the cameras belonging to all measuring devices. In the present invention there are, in addition to the previously mentioned components, also narrowband filters which are placed on all cameras. It is preferred that a narrowband filter, i.e. an interference filter, is placed on each camera and that the spectral bandwidth of its filter is greater than the spectral bandwidth of the projector. In such a way, the problem of identification of crossing patterns which appear at the same time and at the same location on the measuring surface and are generated using different measuring devices, i.e. their projectors, is solved by the so called wavelength modulation, where different measuring devices use projectors with different wavelengths which are equipped with narrowband filters, where each filter is placed in front of the sensor element (usually CCD) of each camera. These filters transmit only light of the same wavelength as the wavelength of the light that the corresponding projector emits. Difference between nominal wavelengths of neighbouring measuring devices should be at least twice of their average spectral bandwidth so that the camera of a particular measuring device does not capture a wavelength of a neighbouring device.
Such a solution has beside the shorter measuring time also other benefits. One important fact is that a relatively complicated electronic component for switching the projectors on and off is no longer needed. Consequently, the measuring apparatus is greatly simplified and less expensive.
The invention will be represented on the basis of an embodiment of such apparatus and in correlation with the appended drawing, where:
Fig. 1 is a schematically presented embodiment of an apparatus for three-dimensional measurement of object shape, composed of four measuring devices, which enable simultaneous illumination and measurement of separate parts of . measured object surface, Fig. 2 is a schematically presented shape of the laser light spectrum, and transmission of the narrowband filter as well as a presentation of the spectral bandwidth, Fig. 3 is a schematically presented time-based diagram of- the object shape measurement using four measuring devices simultaneously. .
An apparatus for determining shape and dimensions of three-dimensional objects i.e. of a measuring object 5 according to fig. 1, is generally composed of a certain number of measuring devices 1, 2, 3, 4, which are positioned around the measured object 5 in such a way that each measuring device covers certain part of surface of the measured object 5.
Each measuring device 1, 2, 3, 4 is comprised of at least one camera 11, 21, 31, 41, of at least one projector 12, 22, 32, 42 and of a proper connecting framework 13, 23, 33, 43, which connects each camera 11, 21, 31, 41 and each projector 12, 22, 32, 42 of every measuring device 1, 2, 3, 4 in virtually rigid integrity.
Each camera 11, 21, 31, 41 is preferably a CCD camera (Charged-Couple Device), but generally, any device, which measures two-dimensional light intensity distribution can be used as well.
Each projector 12, 22, 32, 42 emits a structured laser light with nominal wavelength λ]as. Laser light bandwidth must be properly narrow, namely less than ±Δλias compared to the nominal wavelength λias. Spectral bandwidth, also named linewidth, is that region along spectral axis wherein the spectral transmittance is greater than one half of maximum value (Fig. 2). The light pattern is preferably composed of multiple laser light planes, but it can also be of any form, as long as the measured geometry is correctly determined from the image of the illuminated measured object 5. On the camera 11, 21, 31, 41 a narrowband filter 110, 210, 310, 410, the so-called interference filter, is placed, which transmits very narrow spectral bandwidth of light no greater than ±Δλfiiter compared to its nominal wavelength λfjiter. The filter bandwidth should be greater than the projector bandwidth for the purpose of better efficiency:
Δλfiiter > Δλ]as
Each camera 11, 21, 31,41 can sufficiently acquire the light pattern emitted by its corresponding projector 12, 22, 32, 42 if the difference between nominal wavelengths of the projector 12, 22, 32, 42 and the filter 110, 210, 310, 410 is no greater than one half of their average bandwidth:
|λ)as " λfjiterl < 0.5-(Δλias + Δλfiiter) The camera 11, 21, 31, 41 of the corresponding measuring device 1,2,3,4 cannot acquire the light patterns emitted by the projectors 12, 22, 32, 42 of the remaining measuring devices 1, 2, 3, 4 if the nominal wavelengths of the filters λfiuer and of the remaining measuring devices 1, 2, 3, 4 differentiate one from another for at least twice of their average bandwidth:
|λfilter.i " λfiiter.jl > 2>(Δλfjiter.i + Δλfjiter.j); ϊ ≠ j
where indices i and j represent the numbers of the measuring devices.
For this purpose an appropriate projector can be applied by using projectors currently available under the trade mark Lasiris® of the manufacturer Stocker Yale, Inc., which form illumination region of, for example, thirty-three equally separated light planes. The manufacturer offers a wide selection of different laser wavelengths emitted by the mentioned projectors. Particularly useful for the given example are projectors with the nominal wavelength 635 an, 650 nm, 670 nm and 685 ran. There are also some narrowband filters currently available on the market, such as from the Melles Griot or Edmund Industrie Optik GmbH. Spectral bandwidths of those filters amount to approximately ±5 nm, which meets the above-prescribed criteria.
An integral part of the presented apparatus for three-dimensional object shape measurement is also the computer 6, which is used for gathering and storing image data, acquired with the measuring devices 1, 2, 3, 4, as well* as for image processing - with a purpose of light pattern recognition, and for reconstruction of the measured object 5 on the basis of the acquired pattern, and furthermore for executing other needed operations which lead to displaying the measured object 5 on the monitor 61.
Furthermore the presented apparatus consists of a control unit 7 used for synchronous triggering of cameras 11, 21, 31, 41 and of all measuring devices 1, 2, 3, 4, which is selected according to the type of the cameras 11, 21, 31, 41. Projectors 12, 22, 32, 42 are preferably active all the time while the apparatus is turned on. Consequently their operation is stable and the projector control may be omitted. If the cameras operate according to the IEEE 1394 standard, the synchronising can be conducted by generating synchronous trigger pulses 71, which are fired at the input trigger signal 72. Control of the trigger signal 72 is accommodated to the given requirements (i.g.: photocell, reed-switch, manual button etc.).
The time of the entire measurement in the above-described example is equal to the one-image-acquisition time. On fig. 3, where the time diagram of simultaneous acquisition is shown, symbol te stands for exposure time of the sensor element, and tf stands for the sum of time of the exposure and time of the image data transfer from the cameras 11, 21, 31, 41 to the memory of the computer 6. In the present example the measuring time of the object 5 using all measuring devices 1,2,3,4, is equal to the time te and the frequency of the repeated measuring is equal to 1/tf. Considering the fact that modern CCD cameras achieve very short exposure times (typically from 1/100 sec to 1/10000 sec), it is obvious, that extremely fast phenomena can be measured three- dimensionally.

Claims

PATENT CLAIMS
1. Apparatus for determining shape and size of three-dimensional objects, namely of measured objects, (5) is composed of s desired number of measuring devices (1, 2, 3, 4), where each of them comprises at least one projector (12, 22, 32, 42) and at least one camera (11, 21, 31, 41) and where both projector and the camera are fixed into the connection framework (13, 23, 33, 43) which connects them into a virtually rigid functional integrity, where each of the said projectors (12, 22, 32, 42) is intended for projecting the desired light pattern towards the surface of the measured object (5), and where the camera (11, 21, 31, 41) relevant to the projector (12, 22, 32, 42) is intended for acquiring this pattern, and where the computer (6) is intended for acquisition, storing and processing the data of the image of the acquired light pattern, next the apparatus comprises a control unit (7) intended for synchronizing the projectors (12, 22, 32, 42) and the cameras (11, 21, 31, 41), the said apparatus is characterized by comprising a desired number of measuring devices (1, 2, 3, 4), where each consists of at least one projector (12, 22, 32, 42) and at least one camera (11, 21, 31, 41), and where each projector (12, 22, 32, 42) of selected measuring device (1, 2, 3, 4) is adapted to ' emitting a light with predetermined wavelength, and where the corresponding camera (11, 21, 31, 41) is adapted to acquiring the light with the same wavelength, while the remaining measuring devices (1, 2, 3, 4) with the corresponding projectors (12, 22, 32, 42) and cameras (11, 21, 31, 41) are adapted to emitting or acquiring the light patterns of different wavelengths - specific to each separate projector. , •• - ■
2. Apparatus according to Claim 1, characterized by comprising a desired number of measuring devices (1, 2, 3, 4), where each consists of at least one projector (12, 22, 32, 42) and at least one camera (11, 21, 31, 41), and where each projector (12, 22, 32, 42) of selected measuring device (1, 2, 3, 4) is adapted to emitting a light with predetermined wavelength, and where the corresponding camera (11, 21, 31, 41) is adapted to acquiring the light with the same wavelength, while the remaining measuring devices (1, 2, 3, 4) with the corresponding projectors (12, 22, 32, 42) and cameras (11, 21, 31, 41) are adapted to emitting or acquiring the light patterns of different wavelengths - specific to each separate projector, and that apart from the computer (6) the apparatus consists also of the control unit (7), which is intended for simultaneous activating and deactivating of the cameras (11, 21, 31, 41) of all the "measuring devices (1, 2, 3, 4) which are being used.
3. Apparatus according to claim 1 or claim 2, characterized in that on each camera (11, 21, 31, 41) a narrowband filter (110, 210, 310, 410) is placed.
4. Apparatus is, according to claim 3, characterized in that on each camera (11, 21, 31, 41) a narrowband filter (110, 210, 310, 410) is placed, namely the interference filter, where the spectral bandwidth of the filter (110, 210, 310, 410) is greater than the spectral bandwidth of the projector (12, 22, 32, 42).
PCT/SI2004/000022 2003-06-12 2004-06-09 Apparatus for determining shape and size of three-dimensional objects WO2004111571A1 (en)

Applications Claiming Priority (2)

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SI200300144A SI21521A (en) 2003-06-12 2003-06-12 Device for assessing the shape and dimension of 3d objects
SIP-200300144 2003-06-12

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Cited By (4)

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CN103148806A (en) * 2011-12-07 2013-06-12 史金龙 Ship steel plate dynamic three-dimensional measuring system based on projection and multi-view vision
JP2015114309A (en) * 2013-12-16 2015-06-22 株式会社オプトン Measuring device
EP2887010A1 (en) * 2013-12-20 2015-06-24 GOM Gesellschaft für optische Meßtechnik mbH Method and device for three dimensional optical measurement of objects with a topometric measuring method and computer programme for same
EP2896930A1 (en) * 2011-10-21 2015-07-22 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Device and method for measuring a plant

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