Abstract: A method and system of correcting a point cloud is provided. The method includes selecting a region within the point cloud. At least two objects within the region are identified. The at least two objects are re-aligned. At least a portion of the point cloud is aligned based at least in part on the realignment of the at least two objects.

Abstract: A handheld device has a projector that projects a pattern of light onto an object, a first camera that captures the projected pattern of light in first images, a second camera that captures the projected pattern of light in second images, a registration camera that captures a succession of third images, one or more processors that determines three-dimensional (3D) coordinates of points on the object based at least in part on the projected pattern, the first images, and the second images, the one or more processors being further operable to register the determined 3D coordinates based at least in part on common features extracted from the succession of third images, and a mobile computing device operably connected to the handheld device and cooperating with the one or more processors, the mobile computing device operable to display the registered 3D coordinates of points.

Abstract: A three-dimensional (3D) measurement system, a method of measuring 3D coordinates, and a method of generating dense 3D data is provided. The method of measuring 3D coordinates includes using a first 3D measurement device and a second 3D measurement device in a cooperative manner is provided. The method includes acquiring a first set of 3D coordinates with the first 3D measurement device. The first set of 3D coordinates are transferred to the second 3D measurement device. A second set of 3D coordinates is acquired with the second 3D measurement device. The second set of 3D coordinates are registered to the first set of 3D coordinates in real-time while the second 3D measurement device is acquiring the second set of 3D coordinates.

Abstract: A method includes capturing a frame including a 3D point cloud and a 2D image. A key point is detected in the 2D image, the key point is a candidate to be used as a feature. A 3D patch of a predetermined dimension is created that includes points surrounding a 3D position of the key point. The 3D position and the points of the 3D patch are determined from the 3D point cloud. Based on a determination that the points in the 3D patch are on a single plane based on the corresponding 3D coordinates, a descriptor for the 3D patch is computed. The frame is registered with a second frame by matching the descriptor for the 3D patch with a second descriptor associated with a second 3D patch from the second frame. The 3D point cloud is aligned with multiple 3D point clouds based on the registered frame.

Abstract: A handheld device has a projector that projects a pattern of light onto an object, a first camera that captures the projected pattern of light in first images, a second camera that captures the projected pattern of light in second images, a registration camera that captures a succession of third images, one or more processors that determines three-dimensional (3D) coordinates of points on the object based at least in part on the projected pattern, the first images, and the second images, the one or more processors being further operable to register the determined 3D coordinates based at least in part on common features extracted from the succession of third images, and a mobile computing device operably connected to the handheld device and cooperating with the one or more processors, the mobile computing device operable to display the registered 3D coordinates of points.

Abstract: A three-dimension scanning apparatus and method of use is disclosed. The system includes a light intensity meter for measuring a level of light intensity at a first camera of the 3D scanning apparatus. The first camera has an adjustable aperture. A processor is provided that is configured to adjust the adjustable aperture of the first camera automatically based on the measured light level.

Abstract: A system and method of determining three-dimensional coordinates is provided. The method includes, with a projector, projecting onto an object a projection pattern that includes collection of object spots. With a first camera, a first image is captured that includes first-image spots. With a second camera, a second image is captured that includes second-image spots. Each first-image spot is divided into first-image spot rows. Each second-image spot is divided into second-image spot rows. Central values are determined for each first-image and second-image spot row. A correspondence is determined among first-image and second-image spot rows, the corresponding first-image and second-image spot rows being a spot-row image pair. Tach spot-row image pair having a corresponding object spot row on the object. Three-dimensional (3D) coordinates of each object spot row are determined on the central values of the corresponding spot-row image pairs. The 3D coordinates of the object spot rows are stored.

Abstract: A three-dimensional (3D) measurement system, a method of measuring 3D coordinates, and a method of generating dense 3D data is provided. The method of measuring 3D coordinates includes using a first 3D measurement device and a second 3D measurement device in a cooperative manner is provided. The method includes acquiring a first set of 3D coordinates with the first 3D measurement device. The first set of 3D coordinates are transferred to the second 3D measurement device. A second set of 3D coordinates is acquired with the second 3D measurement device. The second set of 3D coordinates are registered to the first set of 3D coordinates in real-time while the second 3D measurement device is acquiring the second set of 3D coordinates.

Abstract: A three-dimensional (3D) measurement system, a method of measuring 3D coordinates, and a method of generating dense 3D data is provided. The method of measuring 3D coordinates includes using a first 3D measurement device and a second 3D measurement device in a cooperative manner is provided. The method includes acquiring a first set of 3D coordinates with the first 3D measurement device. The first set of 3D coordinates are transferred to the second 3D measurement device. A second set of 3D coordinates is acquired with the second 3D measurement device. The second set of 3D coordinates are registered to the first set of 3D coordinates in real-time while the second 3D measurement device is acquiring the second set of 3D coordinates.

Abstract: According to one or more embodiments, a system includes a scanner device configured to capture a set of point clouds comprising 3D points. The system further includes one or more processors that detect, during the capture of the set of point clouds, at least one first anchor object in a first part of a first point cloud. The first part belongs to a first time interval centered at time t1. A second anchor object is detected in a second part of the first point cloud, the second part belonging to second time interval centered at time t2. Further, at least one correspondence is identified between the first anchor object and the second anchor object. The first part of the first point cloud is aligned with the second part of the first point cloud based on the at least one correspondence between the first anchor object and the second anchor object.

Abstract: A method and system of correcting a point cloud is provided. The method includes selecting a region within the point cloud. At least two objects within the region are identified. The at least two objects are re-aligned. At least a portion of the point cloud is aligned based at least in part on the realignment of the at least two objects.

Abstract: A three-dimension scanning apparatus and method of use is disclosed. The system includes a light intensity meter for measuring a level of light intensity at a first camera of the 3D scanning apparatus. The first camera has an adjustable aperture. A processor is provided that is configured to adjust the adjustable aperture of the first camera automatically based on the measured light level.

Abstract: Provided are embodiments for a device and method for measuring three-dimensional (3D) coordinates. Embodiments include a projector having a projector optical axis on a first plane, the projector operable to project a collection of laser beams on a surface of an object, and a first camera having a first-camera optical axis on the first plane, the first camera operable to capture a first image of the collection of laser beams on the surface of the object. Embodiments also include one or more processors, the one or more processors are operable to generate a first distance profile for the object using a first laser beam of the collection of laser beams and generate a second distance profile for the object using a second laser beam of the collection of laser beams, estimate the velocity of the object based on the first and second distance profile, and provide the estimated velocity.

Abstract: A system and method of determining three-dimensional coordinates is provided. The method includes, with a projector, projecting onto an object a projection pattern that includes collection of object spots. With a first camera, a first image is captured that includes first-image spots. With a second camera, a second image is captured that includes second-image spots. Each first-image spot is divided into first-image spot rows. Each second-image spot is divided into second-image spot rows. Central values are determined for each first-image and second-image spot row. A correspondence is determined among first-image and second-image spot rows, the corresponding first-image and second-image spot rows being a spot-row image pair. Tach spot-row image pair having a corresponding object spot row on the object. Three-dimensional (3D) coordinates of each object spot row are determined on the central values of the corresponding spot-row image pairs. The 3D coordinates of the object spot rows are stored.

Abstract: A method and system for inspecting an object is provided. The system includes a measurement device that measures 3D coordinates of points on a surface of the object. A display is coupled to the device and is sized to be carried by an operator. One or more processors cooperate with the measurement device, to perform a method comprising: determining 3D coordinates of the points while the object is being measured; aligning an electronic model of the object to the points while the object is being measured; determining a variance between the electronic model and the points while the object is being measured; and displaying on the display an indicator when the variance exceeds a threshold while the object is being measured.

Abstract: A triangulation scanner system and method of operation is provided. The system includes a projector that alternately projects a pattern of light and no light during first and second time intervals. A camera includes a lens and a circuit with a photosensitive array. The camera captures an image of an object. The photosensitive array has a plurality of pixels including a first pixel. The first pixel including an optical detector and a first and second accumulator. The optical detector produces signals in response to a light levels reflected from a point on the object. The first accumulator sums the signals during the first time intervals to obtain a first summed signal. The second accumulator sums the signals during the second time intervals obtain a second summed signal. A processor determines 3D coordinates of the point based on the projected pattern of light and on the first and second summed signals.

Abstract: Three-dimensional (3D) measurement systems and methods are provided. The systems and methods include a 3D imager and a marker. The marker includes an adapter and a marker element, wherein the adapter is arranged to be at least one of installed, placed, and attached to a fixed object of a scanned environment and the marker element includes a coded identifier that is detectable by the 3D imager, wherein the coded identifier identifies the specific location of the fixed object within the scanned environment.

Abstract: A calibration plate and a method of calibrating a 3D measurement device is provided. The calibration plate includes a planar body having a surface. A plurality of marks are arranged on the surface. The plurality of marks being configured to be recorded by the camera and can be identified in the resulting recorded images during operation of the 3D measurement device. A mirror is positioned on the surface that reflects incident beams from the 3D measurement device.

Abstract: A triangulation scanner system and method of operation is provided. The system includes a projector that projects a first pattern of light at a first light level during first time intervals and project the first pattern of light at a second light level during second time intervals, the second light level being different than the first light level. A first camera has a first photosensitive array, the first photosensitive array having a first pixel with an optical detector, a first memory, and a second memory. The first memory storing a first stored signal from the optical detector during the first time intervals, the second memory storing a second signal from the optical detector during the second time intervals. A processor determines three-dimensional coordinates of the first point based at least in part on the projected first pattern of light, the first stored signal, and the second stored signal.

Abstract: A three-dimensional (3D) measuring device and a method are provided. The measuring device includes a processor system including a scanner controller. A housing is provided with a 3D scanner that is coupled to the processor system. The scanner determining a first distance to a first object point and cooperating with the processor system to determine 3D coordinates of the first object point. The measuring device further includes a photogrammetry camera coupled to the housing, the photogrammetry camera having a lens and an image sensor that define a field of view. The photogrammetry camera is arranged to position the field of view at least partially in a shadow area, the shadow area being outside of the scan area.