Three dimensional (3d) measurements using structured lights (laser line)

摘要

An apparatus for 3 dimensional measurements of an unknown (test) object adapted to move in an object plane, said apparatus comprising: laser triangulation setup with a laser line source to generate a laser plane; camera setup with a predetermined angle of camera and predetermined FOV (field of view) settings of the camera adapted to generate an image plane; calibration means adapted to perform calibration of said laser triangulation setup using a calibration object of a known size and known measurements in order to define an area bound by X-axis. Y-axis. Z-axis, said calibration means includes: video means to record movement of aid calibration object; X-axis calibration means adapted to calibrate said X-axis along said laser line with respect to said recorded video; Y-axis calibration means adapted to calibrate said Y-axis perpendicular to said laser line and parallel to motion of said unknown (test) object with respect to said recorded video; Z-axis calibration means adapted to calibrate said Z-axis along height of said unknown (test) object with respect to said recorded video; means to move said unknown (test) object along said calibrated Y-axis valid profile extraction means adapted to extract valid profiles of said unknown (test) object; height map generation means adapted to generate height map for said laser plane; width map generation means to generate width map for said laser plane; aligned line generation means adapted to generate an aligned line in vertical direction of said laser plane; camera distortion estimation means adapted to estimate camera distortion based on predefined parameters; and 3D cloud point generation means adapted to generate 3D cloud points for a test object under said calibrated setup using said generated height map, said generated width map, said aligned line, said calibrated axes, and said estimated camera distortion in order to determine dimensions of said unknown (test) object.