Abstract: A three-dimensional scanning system includes a scanning apparatus configured to acquire first raw image data of a scanning target. The three-dimensional scanning system further includes a first field programmable gate array (FPGA) module provided in the scanning apparatus and configured to perform computational preprocessing on the first raw image data to obtain valid first feature data. The three-dimensional scanning system further includes a modeling terminal connected to the scanning apparatus and configured to perform modeling processing based on the first feature data to generate a three-dimensional model of the scanning target.

Abstract: A multi-mode three-dimensional scanning method includes: obtaining intrinsic parameters and extrinsic parameters of a calibrated camera in different scanning modes, and upon switching between the different scanning modes, triggering a change of parameters of the camera to the intrinsic parameters and the extrinsic parameters in a corresponding scanning mode; and a user selecting to execute a laser-based scanning mode, a speckle-based scanning mode or a transition scanning mode according to a scanning requirement. In the continual fusion and conversion during the whole scanning process, the speckle reconstruction and the laser line reconstruction are unified to the same coordinate system, and the surface point cloud of the object being scanned is output. The present disclosure also provides a multi-mode three-dimensional scanning system.

Abstract: An object surface data detection method and system, an electronic apparatus, and a storage medium. The object surface data detection method, applied to a three-dimensional scanning system comprising detection auxiliary devices and a scanning device, includes: obtaining a unified coordinate system established for the detection auxiliary devices, wherein a number of the detection auxiliary devices is at least two; respectively obtaining first scan data of the scanning device scanning a surface of an object and tracking results of the detection auxiliary devices tracking the scanning device; and comprehensively calculating the tracking results, the first scan data, and the unified coordinate system to obtain an object surface detection result.

Abstract: A three-dimensional sensor system includes three cameras, a projector, and a processor. The projector simultaneously projects at least two linear patterns on the surface of an object. The three cameras synchronously capture a first two-dimensional (2D) image, a second 2D image, and a third 2D image of the object, respectively. The processor extracts a first set and a second set of 2D lines from the at least two linear patterns on the first 2D image and the second 2D image, respectively; generates a candidate set of three-dimensional (3D) points from the first set and the second set of 2D lines; and selects, from the candidate set of 3D points, an authentic set of 3D points that matches a projection contour line of the object surface by: performing data verification on the candidate set of 3D points using the third 2D image, and filtering the candidate set of 3D points.

Abstract: A handheld large-scale three-dimensional measurement scanner system simultaneously having photogrammetric and three-dimensional scanning functions includes: two cameras at fixed positions; at least one pattern projector; a photogrammetric module; and a three-dimensional scanning module, wherein at least one of the two cameras is a multipurpose camera that performs photogrammetry and three-dimensional scanning, wherein the photogrammetric module is configured to perform, by operating the multipurpose camera, global photogrammetry on a measured object and obtain three-dimensional coordinates of markers on a surface of the object, and wherein the three-dimensional scanning module is configured to perform, by operating the two cameras and the one pattern projector, three-dimensional scanning on the measured object by using the obtained markers as global positioning information of the measured object, and obtain three-dimensional contour data of the surface of the object.

Abstract: A three-dimensional (3D) scanning method is disclosed, including: projecting, by at least two laser projectors in a 3D scanner, laser contour lines onto a surface of a scanned object; capturing, by a first camera in the 3D scanner, a two-dimensional (2D) pattern of the laser contour lines projected onto the surface of the scanned object; identifying, by a processor in the 3D scanner, a 2D line set at a highlight center from the 2D pattern of the laser contour lines; generating, by the processor based on the 2D line set, 3D contour point cloud data of the surface of the scanned object according to triangulation, wherein a position of the first camera is fixed, the at least two laser projectors correspond to at least two different wavelengths, and a spatial position relationship between light planes projected by the at least two laser projectors and the first camera is predetermined.