Image analysis – Applications – 3-d or stereo imaging analysis
Reexamination Certificate
1998-05-22
2001-01-16
Boudreau, Leo H. (Department: 2721)
Image analysis
Applications
3-d or stereo imaging analysis
C382S152000
Reexamination Certificate
active
06175647
ABSTRACT:
BACKGROUND OF THE INVENTION
1. Field of the Invention
The invention relates to the online detection and measurement of three dimensional (3D) spatial points of an object surface in a 3D reference system.
2. Description of the Related Art
In a conventional photogrammetric offline system, the object to be measured is recorded by a user, who holds the camera freely, from various directions. In this case, the measurement points on the surface have to be signalled physically beforehand. In a later evaluation step, the 3D coordinates are then calculated for these signalled measurement points.
The photogrammetric offline system has the disadvantage that the measurement points have to be signalled physically. This requires a great deal of time. A further disadvantage is that the 3D coordinates of the measurement points are not available until significantly later in time than the actual recording of the object to be measured. This is because the recorded images cannot be subjected to further processing in the computer until later.
In order to determine coordinates in only one plane or in only one direction, German patent document DE 195 14 815 A1 discloses a coordinate measuring device having a measuring head, which can be moved on a guide unit along a scale on a slide, and having a probe for measuring a workpiece. The probe is fastened to a swivel body which is arranged such that it can swivel about a pivot on a slide which can be moved on the guide unit. Arranged on the swivel body are measuring heads assigned to the scale on both sides of the pivot, the measuring heads being arranged at a distance from the scale and from the pivot, in such a way that during measurement, the swivel body is displaced parallel to the scale, one coordinate being detected as a dimension in the longitudinal direction of the scale and evaluated for the purpose of coarse positioning. Once the probe has been placed onto the surface of the workpiece, the swivel body is swivelled about its pivot. For the purpose of fine positioning, one coordinate at right angles to the surface of the scale is detected as a measure of the distance between the measuring heads and the scale and evaluated. The measuring heads are designed as measuring cameras in which defined markings of the scale are projected, with the aid of an optical system, onto an image plane formed by a CCD linear array. The position and the height of the projection center of the measuring heads are determined from the measurement signals with the aid of a computer.
A conventional photogrammetric online system is described in, for example, U.S. Pat. No. 5,440,392, in which it has usually been necessary for arranging at least two cameras on a tripod or a similar device to be installed permanently, with installed cameras observing the object to be measured. The measurement points on the object to be measured are touched by a user with a mechanical probe on which there are measuring marks. The coordinates of these measuring marks are automatically determined and, therefore, so too is the position of the measuring tip and the coordinates of the measurement point.
A significant disadvantage of this online system is that the cameras have to be constructed such that they are stable and stationary at all times, and that the cameras permit only a limited volume to be measured, specifically only the area which is covered at least by two cameras. At present, this area is only approximately 1 m
2
in size if accuracies in the region of less than {fraction (1/10)} mm are to be achieved. Since, in practice, this volume to be measured is frequently insufficient, the position of the cameras must be changed in order to be able to detect a wider area in the volume to be measured, for example, in the case of an object to be measured formed by a vehicle. However, this moving of the cameras requires that the system be completely recalibrated each time, and is thus particularly time-consuming and inconvenient.
SUMMARY OF THE INVENTION
Therefore, it is a general object of the invention to alleviate the problems and shortcomings identified above.
Another one of the objects of the present invention is improving the conventional online method and system such that even large volumes to be measured can be measured with little measurement outlay, with the measurement accuracy remaining the same.
These and other objects are achieved by providing a probe rigidly connected to an electronic camera, the camera being pointed away from the object to be measured at a target area which completely or partially covers the volume to be measured, at a distance from the object to be measured, and has reference points which are known in terms of their spatial position and in this respect are, invariant within the measurement accuracy during measurement and are extensively distributed, with the reference points forming the reference system.
To achieve the objects of the invention, a system is also provided that has the following features:
a) an electronic camera rigidly connected to a probe;
b) a reference system on a stationary target area, which completely or partially covers the volume to be measured, at a distance from the object to be measured, and has a plurality of reference points, which are known in terms of their spatial position, can be optically distinguished and are extensively distributed; and
c) the electronic camera is directed at the target area.
This arrangement makes it possible to detect any volume to be measured with the measurement accuracy being the same. The volume to be measured is no longer limited by the position and recording direction of cameras but rather by the volume covered by the target area with its reference points. This target area may be a simple dimensionally stable wall in front of which the object to be measured is set up. Alternatively, the target area may be formed by portable plates which can be set up in the vicinity of the object to be measured. It is also possible to equip an entire production facility with reference points, with the result that at any location within the production facility, the 3D coordinates can be determined by the method or the system according to the invention.
In a preferred embodiment, the target area may be formed by a target canopy which spans the volume to be measured. In all the embodiments, the reference points need to be determined only once during the set up of the system. It is important that the reference points, which are known in terms of their spatial position, are invariant within the measurement accuracy (tolerance) during measurement. Moreover, the reference points must be created such that with their identification, despite their extensive arrangement on the target area, a position point can be assigned to each reference point unambiguously with the desired measurement accuracy.
The method according to the invention also permits the 3D coordinates of a measurement point to be determined immediately (online), and, therefore, complicated calculation processes such as in offline photogrammetry are unnecessary.
The measuring probe according to the invention also affords a cost-effective alternative to previously known methods in that higher accuracy that can be achieved not only by high sensor resolutions but can also be realized using standard CCD cameras.
The method according to the invention can be implemented using just a single camera. Preferably, however, the probe is equipped with three electronic cameras, which are arranged such that they are peripherally offset with reference to a peripheral line about the probe axis. The optical axis of each camera forms an acute angle with the probe axis.
Constant calibration during measurement presupposes the identification of three reference points in each camera. Should such calibration be unnecessary during continuous measurement on account of a sufficiently rigid structure of the measuring probe, it suffices to identify two reference points per camera. The calibration could then be performed once daily or else before each measurement task in a separate calibration st
Boesemann Werner
Schick Jens
Boudreau Leo H.
Daimler-Benz Aktiengesellschaft
Foley & Lardner
Werner Brian P.
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