A three-dimensional scanner according to the present invention comprises: a camera arranged to receive incident light; an optical projector which is arranged on one side of the camera and irradiates light to an object; and a polarization filter which is spaced a certain set distance from the front surface of the camera, wherein the polarization filter is formed to be inclined by a certain set angle with respect to a plane that is perpendicular to an optical path of the light irradiated from the optical projector, so that at least some of the light irradiated from the optical projector passes through the polarization filter and the remaining light is reflected by the surface of the polarization filter and proceeds to outside of the lens of the camera.

A 3D measuring instrument and method of operation is provided that includes a registration camera and a an autofocus camera. The method includes capturing with the registration camera a first registration image of a first plurality of points and a first image with the first camera with the instrument in a first pose. A plurality of three-dimensional (3D) coordinates of points are determined based on the first image. A second registration image of a second plurality of points is captured in a second pose and a focal length of the autofocus camera is adjusted. A second surface image is captured with the first camera having the adjusted focal length. A compensation parameter is determined based in part on the captured second surface image. The determined compensation parameter is stored.

A 3D measuring system includes a first projector that projects a first line onto an object at a first wavelength, a second projector that projects a second line onto the object at a second wavelength, a first illuminator that emits a third light onto some markers, a second illuminator that emits a fourth light onto some markers, a first camera having a first lens and a first image sensor, a second camera having a second lens and a second image sensor, the first lens operable to pass the first wavelength, block the second wavelength, and pass the third light to a first image sensor, the second lens operable to pass the second wavelength, block the first wavelength, and pass the fourth light. The system further includes one or more processors operable to determine 3D coordinates based on images captured by the first image sensor and the second image sensor.

An intraoral scanning system comprises and intraoral scanner and a processor. The intraoral scanner comprises one or more cameras and one or more structured light projectors, the intraoral scanner to generate a series of images using the one or more cameras, each image including at least a portion of a pattern projected by the one or more structured light projectors onto an intraoral three-dimensional surface. The processor runs a correspondence algorithm to compute respective three-dimensional positions of a plurality of features of the pattern on the intraoral three-dimensional surface, as captured in the series of images. The processor identifies the computed three-dimensional position of a detected feature of the pattern as corresponding to a particular projector ray r, in at least a subset of the series of images. The processor tracks the particular projector ray r across one or more additional images of the series of images.

A three-dimensional geometry measurement apparatus including: a preliminary measurement part that creates a plurality of pieces of preliminary measurement data indicating three-dimensional coordinates of a reference point on a reference instrument; a reference data creation part that creates reference data; a calculation part that calculates a correction value on the basis of the reference data and the preliminary measurement data which does not match the reference data; a target measuring part that creates target measurement data indicating results of measuring a measurement point of the object to be measured; a correction part that corrects the target measurement data in the measurement system corresponding to the preliminary measurement data that does not match the reference data, on the basis of the correction value; and a geometry identification part that identifies a geometry of the object to be measured using the corrected target measurement data.

An apparatus for intraoral scanning includes an elongate handheld wand that has a probe. One or more light projectors and two or more cameras are disposed within the probe. The light projectors each has a pattern generating optical element, which may use diffraction or refraction to form a light pattern. Each camera may be configured to focus between 1 mm and 30 mm from a lens that is farthest from the camera sensor. Other applications are also described.

An imaging device assembly includes a light source, an imaging device formed with a plurality of imaging elements, and a control device. Each imaging element (10) includes a light receiving portion (21), a first charge storage portion (22) and a second charge storage portion (24), and a first charge transfer control means (23) and a second charge transfer control means (24). Under the control of the control device, the imaging element (10) captures an image of an object on the basis of high-intensity light and stores first image signal charge into the first charge storage portion (22) during a first period, and captures an image of the object on the basis of low-intensity light and stores second image signal charge into the second charge storage portion (24) during a second period. The control device obtains an image signal on the basis of the difference between the first image signal charge and the second image signal charge.

A 3D measurement method including; projecting a pattern sequence onto a moving object; capturing a first image sequence with a first camera and a second image sequence synchronously to the first image sequence with a second camera; determining corresponding image points in the two sequences; computing a trajectory of a potential object point from imaging parameters and from known movement data for each pair of image points that is to be checked for correspondence, The potential object point is imaged by both image points in case they correspond. Imaging object positions derived therefrom at each of the capture points in time into image planes respectively of the two cameras. Corresponding image points positions are determined as trajectories in the two cameras and the image points are compared with each other along predetermined image point trajectories and examined for correspondence; lastly performing 3D measurement of the moved object by triangulation.

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.

A device and method for scanning and measuring an environment is provided. The method includes providing a three-dimensional (3D) measurement device having a controller. Images of the environment are recorded and a 3D scan of the environment is produced with a three-dimensional point cloud. A first movement of the 3D measurement device is determined and then an operating parameter of the 3D measurement device is changed based at least in part on the first movement.