An imaging system is disclosed. The system comprises: a first imaging device and a second imaging device being spaced apart and configured to provide partially overlapping field-of-views of a scene over a spectral range from infrared to visible light. The system comprises at least one infrared light source constituted for illuminating at least the overlap with patterned infrared light, and a computer system configured for receiving image data pertaining to infrared and visible light acquired by the imaging devices, and computing three-dimensional information of the scene based on the image data. The image data optionally and preferably comprises the patterned infrared light as acquired by both the imaging devices.

There is an image processing device to obtain more accurate depth information, based on a pattern-irradiated infrared image and a pattern-irradiation-free infrared image. The image processing device includes a pattern irradiation unit that irradiates an infrared pattern onto a surface of a target object; and an infrared image capturing unit that captures an infrared image. The pattern irradiation unit performs irradiation at a predetermined timing corresponding to an infrared image capturing unit's image capturing timing. The infrared image capturing unit obtains a pattern-projected infrared image in which the pattern irradiated by the pattern irradiation unit is projected on the target object, and a pattern-free infrared image in which the pattern is not projected on the target object.

A device for three-dimensional imaging includes a structured light illuminator and an imaging sensor. The structured light illuminator has one or more movable illuminator lenses positioned proximate an output of the illuminator that are configured to vary a field of illumination of the illuminator. The imaging sensor has one or more movable imaging lenses positioned proximate an input of the imaging sensor that are configured to vary a field of view of the imaging sensor.

Disclosed is a 3D scanner comprising at least one scanning module for acquiring three-dimensional coordinates of a surface of an object and a positioning device on which the object is placeable or fixable, whereby the positioning device is movable relative to the at least one scanning module, and the 3D scanner further comprising at least one accelerometer, which is configured to measure a change of the position of the positioning device relative to the scanning module, and a first processing unit which is connected to the at least one scanning module and to the positioning device for receiving data. Also disclosed is a method for scanning a surface of an object to acquire three dimensional (3D) coordinates of the surface.

A triangulation scanner includes a projector, a camera, and a processor, the projector projecting a first pattern of light on a first point during first intervals and a no light during second intervals, the camera including an optical detector, a first accumulator, and a second accumulator, the optical detector receiving reflected light from the first point, the first and second accumulators summing signals from the optical detector during the first and second intervals, respectively, the processor determining 3D coordinates of the first point based at least in part on the first pattern, the summed signals from the first and second accumulators, and a speed of light in air.

A depth camera assembly includes an illumination source assembly, a projection assembly, and an imaging device. The illumination source assembly emits light in accordance with emission instructions. The illumination source assembly includes a plurality of emitters on a single substrate. The projection assembly projects light from the illumination source assembly into a local area. The projection assembly includes an optical element that is positioned to receive light from a first emitter at a first angle and project the received light from the first emitter to a first depth zone in the local area, and to receive light from a second emitter at a second angle and project the received light from the second emitter to a second depth zone in the local area. The imaging device captures one or more images of the local area illuminated with the light from the illumination source assembly.

A shape measuring device 100 includes a control section 200 for executing determination processing for determining an unmeasured region having height information is present outside a depth measurement range, which is a height range in which pattern light can be irradiated from a light projecting section, focal-position changing processing for controlling an optical-axis-direction driving section to change a focal position of a light receiving section when it is determined by the determination processing that the unmeasured region is present, and synthesis processing for generating synthesized stereoscopic shape data obtained by combining a plurality of stereoscopic shape data generated by automatically repeating the stereoscopic-shape-data acquisition processing, the determination processing, and the focal-position-changing processing until it is determined by the determination processing that the unmeasured region is absent or a predetermined end condition is satisfied.

A shape measuring device includes an optical-axis-direction driving section configured to minutely relatively displace a stage in an optical axis direction of a light receiving section with respect to a light projecting section and the light receiving section such that a phase of a projection pattern on the stage is shifted at a minute pitch finer than width of the phase of the projection pattern projected on the stage, the minute pitch being defined by controlling light projecting elements of a pattern generating section.

A control section 200 executes photographing processing for controlling the light projecting section and the light receiving section to photograph a measurement object placed on a stage, contour extracting processing for extracting a contour of the measurement object from an image of the measurement object, storing processing for determining whether the measurement object is present in rectangular regions adjacent to a photographing visual field and causing a storing section to store coordinate positions of one or more of the rectangular regions where it is determined that the measurement object is present, driving processing for driving the stage-plane-direction driving section to move the photographing visual field to any one of the coordinate positions stored in the storing section by the storing processing, and coupled-image generation processing for generating a coupled image by coupling images of the rectangular regions adjacent to one another obtained by repeatedly executing the photographing processing.

A shape measuring device includes a stereoscopic-shape-data generating section 212 configured to generate stereoscopic shape data indicating a shape of the measurement object with a pattern projection method, a measurement-setting automatically adjusting section 217 configured to automatically adjust measurement setting for the partial regions on the basis of at least one of stereoscopic shape data of the partial regions and light reception data acquired in the partial regions when the stereoscopic shape data is generated, and a stereoscopic-shape-data coupling section 219 configured to couple, according to the measurement setting for the partial regions adjusted by a measurement setting adjusting section, the stereoscopic shape data of the partial regions generated again by the stereoscopic-shape-data generating section 212 and generate coupled stereoscopic shape data corresponding to the coupled region.