The invention relates to the field of measurement technology and relates to methods for measuring profiles of three-dimensional objects. With the aid of a projector, a previously known image which comprises non-intersecting lines is projected onto an object. The reflected signal is recorded with the aid of two cameras which are arranged at different distances away from the projector and which form different triangulation angles between the central beam of the projector and the central beams of the cameras. The distance between the projector and the closest camera is selected in such a way that the triangulation angle of the central beam of this camera and of the central beam of the projector is equal to the arctangent of the ratio of the distance between the projected bands to the depth of field of the camera lens. With the aid of the image produced by the first camera, the longitudinal and vertical coordinates of the projected lines are determined, and then the vertical coordinates of the lines are made more precise with the aid of the image produced by the second camera. The technical result consists in simplifying and expediting the measurement process.

A method for matching points between three images of a scene comprises retrieving three images acquired by a sensor, extracting blobs from said reflection in said two images; for each given extracted blob of the first image: selecting a selected epipolar plane; identifying plausible combinations; calculating a matching error; repeating the steps of selecting, identifying and calculating for each epipolar plane of the set of epipolar planes; determining a most probable combination; identifying matching points between the two images; validating the matching points between the two images, said validating comprising for each pair of matching points, determining a projection of the pair of matching points in a third image of the third camera, determining if the projection of the pair of matching points in the third image of the third camera is located on a blob, identifying the pair of matching points as validated if the projection of the pair of matching points in the third image of the third camera is located on the blob; providing the validated pairs of matching points.

A depth data detection apparatus and monitoring apparatus are disclosed. The depth data detection apparatus has at least two infrared light generators (11, 12) alternately operating, thereby ensuring that each of the infrared light generators has a sufficient power-off time while ensuring continuous operation of the system, so that each infrared light generator can reach its service lift as much as possible. Different infrared light generators can project infrared beams with different angles and/or from different positions, and the depth information obtained can be fused with each other in order to acquire the depth information of the object to be measured more completely. In addition, different infrared light generators can also project infrared beams to different areas or the same area of the space to be measured for their respective purposes.

A three-dimensional shape measurement apparatus includes main pattern illumination parts, main image-capturing parts and a control part. The main pattern illumination parts obliquely illuminate grating pattern light in different directions toward a measurement target. The main image-capturing parts obtain a grating pattern image of the measurement target by receiving reflection light of the grating pattern light illuminated from the main pattern illumination parts and obliquely reflected by the measurement target. The control part produces height data of the measurement target using grating pattern images of the measurement target, or produces height data of the measurement target using image positions of plane images for the measurement target and texture information of the measurement target. The control part employs a grating pattern illuminated on the measurement target as the texture information to produce height data of the measurement target. Thus, a three-dimensional shape may be measured more easily and accurately.

A measuring system for measuring an object, the measuring system comprising a measuring device and a controlling and processing unit. The measuring device comprises at least one camera, a first optical sensor and a second optical sensor, the first optical sensor provides a first field of view and is configured for collecting first measuring data representing a first part of the object, the second optical sensor provides a second field of view and is configured for collecting second measuring data representing a second part of the object. The second optical sensor comprises at least three light sources configured for illuminating the object from at least three different poses. The controlling and processing unit comprises a second capturing mode.

Disclosed are methods and systems for 3D scanning.

A computer-implemented method of and system for measuring a three-dimensional surface are provided. The method includes projecting structured illumination on the surface and acquiring a plurality of sets of images. The sets of images are processed to obtain a plurality of point clouds. A spatial accumulator is defined. A first point cloud of the plurality of point clouds is combined with a second point cloud of the plurality of point clouds into the spatial accumulator. Spatial coordinates of the surface are generated based on the contents of the spatial accumulator.

A mobile terminal having a lighting device including a light emitting element, a diffractive optical element (DOE) to diffract a part of light output from the light emitting element, and a driving unit to move the diffractive optical element so as to vary a distance between the light emitting element and the diffractive optical element.

A three-dimensional (3D) coordinate measuring system is provided. The system includes an aerial measuring device that has an aerial drone and a 3D measurement device. The 3D measurement device being rotatably attached to the aerial drone, the aerial drone is movable from a first position to a stationary second position. The 3D measurement device being configured to optically measure points on the surface of an object. The system further includes one or more processors configured to execute nontransitory computer readable instructions. The computer readable instructions comprise: moving the aerial measuring device from the first position; landing the aerial measuring device at the second position; rotating the 3D measurement device to optically measure a first object point; and determining a first 3D coordinates of the first object point with the 3D measuring device.

A measurement processing device includes an imaging unit, an image acquisition unit, a display unit, a measurement point display control unit, a corresponding-point calculation unit, a corresponding-point image generation unit, and a corresponding-point image display control unit. The measurement point display control unit causes a measurement point indicating a measurement position designated by a user to be displayed on a first image. The corresponding-point image generation unit generates a corresponding-point image that includes the corresponding point calculated by the corresponding-point calculation unit and a region in the vicinity of the corresponding point in the second image and is constituted of all or a part of the second image. The corresponding-point image display control unit causes the corresponding-point image to be displayed so that a straight line passing through the measurement point and the corresponding point is orthogonal to the parallax direction on a display screen.