Abstract: A method for matching points between two images of a scene acquired by two cameras, the method including: extracting blobs from the reflection in the images and individually labelling the blobs with a unique identifier; selecting a selected epipolar plane and defining a conjugate epipolar line on each of the images; identifying plausible combinations including a light sheet label of the projected pattern and the unique identifier for a plausible blob selected from the blobs in each of the images; calculating a matching error for each of the plausible combinations; repeating the steps of selecting, identifying and calculating for at least some epipolar planes; determining a most probable combination by computing a figure of merit for the plausible combinations; identifying matching points in the frame from the most probable combination.

Abstract: A method for matching points between two images of a scene acquired by two cameras, the method including: extracting blobs from the reflection in the images and individually labelling the blobs with a unique identifier; selecting a selected epipolar plane and defining a conjugate epipolar line on each of the images; identifying plausible combinations including a light sheet label of the projected pattern and the unique identifier for a plausible blob selected from the blobs in each of the images; calculating a matching error for each of the plausible combinations; repeating the steps of selecting, identifying and calculating for at least some epipolar planes; determining a most probable combination by computing a figure of merit for the plausible combinations; identifying matching points in the frame from the most probable combination.

Abstract: A method for obtaining a refined pose for a 3D sensor for online 3D modeling of a surface geometry of an object, the pose encompassing six degrees of freedom (DOF) including three translation parameters and three orientation parameters, the method comprising: providing the 3D sensor, the 3D sensor being adapted to capture 3D point measurements of the surface of the object from a viewpoint; providing a geometry model of at least part of the surface; observing a portion of the surface of the object with the 3D sensor; measuring an initialization pose for the 3D sensor by at least one of positioning device pose measurement, predicted pose tracking and target observation; finding a best fit arrangement of the 3D point measurements in the geometry model using the initialization pose; generating the refined pose for the 3D sensor using the best fit arrangement.

Abstract: A method for obtaining a refined pose for a 3D sensor for online 3D modeling of a surface geometry of an object, the pose encompassing six degrees of freedom (DOF) including three translation parameters and three orientation parameters, the method comprising: providing the 3D sensor, the 3D sensor being adapted to capture 3D point measurements of the surface of the object from a viewpoint; providing a geometry model of at least part of the surface; observing a portion of the surface of the object with the 3D sensor; measuring an initialization pose for the 3D sensor by at least one of positioning device pose measurement, predicted pose tracking and target observation; finding a best fit arrangement of the 3D point measurements in the geometry model using the initialization pose; generating the refined pose for the 3D sensor using the best fit arrangement.

Abstract: There are provided systems and methods for obtaining a three-dimensional surface geometric characteristic and/or texture characteristic of an object. A pattern is projected on a surface of said object. A basic 2D image of said object is acquired; a characteristic 2D image of said object is acquired; 2D surface points are extracted from said basic 2D image, from a reflection of said projected pattern on said object; a set of 3D surface points is calculated in a sensor coordinate system using said 2D surface points; and a set of 2D surface geometric/texture characteristics is extracted.

Abstract: An auto-referenced sensing device for scanning an object to provide three-dimensional surface points, including: a Light-Emitting Diode (LED) light source emitting light for illuminating and enabling image acquisition of retro-reflective target positioning features provided at a fixed position on the object; a laser pattern projector, additional to the LED light source, for providing a projected laser pattern on a surface of the object for illuminating and enabling image acquisition of dense points between the retro-reflective target positioning features; at least a pair of cameras for simultaneously acquiring a 2D image of the object, the projected laser pattern and the retro-reflective target positioning features are apparent on the image, wherein the simultaneous images contain both positioning measurements from the retro-reflective target positioning features and dense surface measurements from the points enabled by the projected laser pattern.

Abstract: A method and hand-held scanning apparatus for three-dimensional scanning of an object is described. The hand-held self-referenced scanning apparatus has a light source for illuminating retro-reflective markers, the retro-reflective markers being provided at fixed positions on or around the object, a photogrammetric high-resolution camera, a pattern projector for providing a projected pattern on a surface of the object; at least a pair of basic cameras, the basic camera cooperating with light sources, the projected pattern and at least a portion of the retro-reflective markers being apparent on the 2D images, a frame for holding all components in position within the hand-held apparatus, the frame having a handle, the frame allowing support and free movement of the scanning apparatus by a user.

Abstract: A method for obtaining three-dimensional surface points of an object in an object coordinate system having two groups of steps. The method includes providing a set of target positioning features on the object. In a first group of steps, acquiring 2D first images of the object, extracting 2D positioning features; calculating a first set of calculated 3D positioning features; computing first transformation parameters, cumulating the first set of transformed 3D positioning features to provide and augment the set of reference 3D positioning features. In a second group of steps, providing a projected pattern on a surface of the object; acquiring 2D second images of the object, extracting 2D surface points and second sets of 2D positioning features; calculating a set of 3D surface points; calculating a second set of calculated 3D positioning features; computing second transformation parameters, transforming the 3D surface points into transformed 3D surface points.

Abstract: There are provided systems and methods for obtaining a three-dimensional surface geometric characteristic and/or texture characteristic of an object. A pattern is projected on a surface of said object. A basic 2D image of said object is acquired; a characteristic 2D image of said object is acquired; 2D surface points are extracted from said basic 2D image, from a reflection of said projected pattern on said object; a set of 3D surface points is calculated in a sensor coordinate system using said 2D surface points; and a set of 2D surface geometric/texture characteristics is extracted.

Abstract: An auto-referenced sensing device for scanning an object to provide three-dimensional surface points in an object coordinate system, comprising: a Light-Emitting Diode (LED) light source emitting light for illuminating and enabling image acquisition of at least a portion of a set of retro-reflective target positioning features, wherein each of the retro-reflective target positioning features is provided at a fixed position on the object; a laser pattern projector, additional to the LED light source, for providing a projected laser pattern on a surface of the object for illuminating and enabling image acquisition of dense points between at least two of the retro-reflective target positioning features in the portion of the set; at least a pair of cameras each for simultaneously acquiring a 2D image of the object, wherein both the projected laser pattern and the portion of the set of retro-reflective target positioning features are apparent on the simultaneous images, a spatial relationship between the pair of c

Abstract: There is provided a method for obtaining three-dimensional surface points of an object in an object coordinate system having two groups of steps. The method first comprises providing a set of target positioning features on the object.

Abstract: A system, apparatus and method for three-dimensional scanning and digitization of the surface geometry of objects are claimed. The system includes a hand-held apparatus that is auto-referenced. The system is auto-referenced since it does not need any positioning device to provide the 6 degree of freedom transformations that are necessary to integrate 3D measurements in a global coordinate system while the apparatus is manipulated to scan the surface. The system continuously calculates its own position and orientation from observation while scanning the surface geometry of an object. To do so, the system exploits a triangulation principle and integrates an apparatus that captures both surface points originating from the reflection of a projected laser pattern on an object's surface and 2D positioning features originating from the observation of target positioning features.

Abstract: A method and hand-held scanning apparatus for three-dimensional scanning of an object is described. The hand-held self-referenced scanning apparatus has a light source for illuminating retro-reflective markers, the retro-reflective markers being provided at fixed positions on or around the object, a photogrammetric high-resolution camera, a pattern projector for providing a projected pattern on a surface of the object; at least a pair of basic cameras, the basic camera cooperating with light sources, the projected pattern and at least a portion of the retro-reflective markers being apparent on the 2D images, a frame for holding all components in position within the hand-held apparatus, the frame having a handle, the frame allowing support and free movement of the scanning apparatus by a user.

Abstract: The present invention relates to a method and a system for creating three-dimensional models of objects from sets of arbitrary three-dimensional entities obtained from target surfaces. It also provides an efficient method for individually refining the alignment of curves to improve the accuracy of the surface model with a linear complexity with respect to the number of curves. The principle behind the invention is that a set of three-dimensional entities, at their approximate positions, creates a field from which the surface can be extracted. The field is constructed in a manner such that the three-dimensional entities are attracted toward the extracted surface. This attraction is used to accurately register each three-dimensional entity with respect to extracted surface. Through iterations, both the field and the entity positions are refined.

Abstract: A system, apparatus and method for three-dimensional scanning and digitization of the surface geometry of objects are claimed. The system comprises a hand-held apparatus that is auto-referenced. The system is auto-referenced since it does not need any positioning device to provide the 6 degree of freedom transformations that are necessary to integrate 3D measurements in a global coordinate system while the apparatus is manipulated to scan the surface. The system continuously calculates its own position and orientation from the reflection of a projected laser pattern on an object's surface and 2D positioning features originating from the observation of target positioning features. Using the described system, it is possible to simultaneously build and match a 3D representation of the positioning features while accumulating the 3D surface points describing the surface geometry.

Abstract: Unlike existing methods for three-dimensional seed reconstruction, the proposed method uses raw tomography data (sinograms) instead of reconstructed CT slices. The method is for three-dimensional reconstruction of an object inserted in a living or non-living body. It comprises obtaining raw tomography data for an area of the body where the object is inserted; detecting a trace of the object in the raw tomography data, by extracting points from the trace; and estimating at least one of a position and an orientation of the object using the points and a known shape of a trace of the object in the raw tomography data.

Abstract: The present invention relates to a method and a system for creating three-dimensional models of objects from sets of arbitrary three-dimensional entities obtained from target surfaces. It also provides an efficient method for individually refining the alignment of curves to improve the accuracy of the surface model with a linear complexity with respect to the number of curves. The principle behind the invention is that a set of three-dimensional entities, at their approximate positions, creates a field from which the surface can be extracted. The field is constructed in a manner such that the three-dimensional entities are attracted toward the extracted surface. This attraction is used to accurately register each three-dimensional entity with respect to extracted surface. Through iterations, both the field and the entity positions are refined.