A method is provided of determining three-dimensional coordinates of an object surface with a laser tracker and structured light scanner. The method includes providing the scanner having a body, a pair of cameras, a projector, a retroreflector and a processor. The projector and cameras are positioned in a non-collinear arrangement. The projector is configured to project a pattern onto the surface. The method also includes providing the tracker which emits a beam of light onto the retroreflector and receives a reflected beam of light. The first location and orientation is measured with the tracker. The first surface pattern is projected onto the surface. A pair of images of the surface pattern is acquired with cameras. The processor determines the 3D coordinates of a first plurality of points in the tracker frame of reference.

Methods and systems for depth sensing are provided. A system includes a first and second optical sensor each including a first plurality of photodetectors configured to capture visible light interspersed with a second plurality of photodetectors configured to capture infrared light within a particular infrared band. The system also includes a computing device configured to (i) identify first corresponding features of the environment between a first visible light image captured by the first optical sensor and a second visible light image captured by the second optical sensor; (ii) identify second corresponding features of the environment between a first infrared light image captured by the first optical sensor and a second infrared light image captured by the second optical sensor; and (iii) determine a depth estimate for at least one surface in the environment based on the first corresponding features and the second corresponding features.

The subject disclosure is directed towards loading parallel memories (e.g., in one or more FPGAs) with multidimensional data in an interleaved manner such that a multidimensional patch/window may be filled with corresponding data in a single parallel read of the memories. Depending on the position of the patch, the data may be rotated horizontally and/or vertically, for example, so that the data in each patch is consistently arranged in the patch regardless of from which memory each piece of data was read. Also described is leveraging dual ported memory for multiple line reads and/or loading one part of a buffer while reading from another.

An irradiation apparatus includes a light source unit to emit light, a light condenser, disposed on a light path of the light emitted from the light source unit, to condense the light emitted from the light source unit, a first diffuser, disposed on a light path of the light exiting from the light condenser, to diffuse the light condensed by the light condenser, an optical equalizer, disposed downstream of the first diffuser, to equalize a luminance distribution of the light entering the optical equalizer from the first diffuser and to output the light having the equalized luminance distribution, and a second diffuser, disposed downstream of the optical equalizer, to diffuse the light exiting from the optical equalizer.

Structured light approaches utilize a laser to project features, which are then captured with a camera. By knowing the disparity between the laser emitter and the camera, the system can triangulate to find the range. Four, 185 degree field-of-view cameras provide overlapping views over nearly the whole unit sphere. The cameras are separated from each other to provide parallax. A near-infrared laser projection unit sends light out into the environment, which is reflected and viewed by the cameras. The laser projection system will create vertical lines, while the cameras will be displaced from each other horizontally. This relative shift of the lines, as viewed by different cameras, enables the lines to be triangulated in 3D space. At each point in time, a vertical stripe of the world will be triangulated. Over time, the laser line will be rotated over all yaw angles to provide full a 360 degree range.

A computer numerical control (CNC) machining center is provided. The CNC machining center includes a spindle that receives a cutting tool. A work surface is operably arranged adjacent the spindle. A non-contact three-dimensional (3D) measurement device is operably coupled to the tool mount, the 3D measurement device including a projector and at least one device camera, the at least one camera being arranged to receive light from the light source that is reflected off of a surface. A plurality of targets is provided with at least one of the targets coupled to the 3D measurement device. At least two photogrammetry cameras are provided having a orientation and a field of view to acquire images of the targets. A controller is coupled for communication to the 3D measurement device and the at least two cameras, the controller determining the position of the 3D measurement device within the machining center during operation.

A device for optically scanning and measuring an environment is provided. The device includes at least one projector for producing at least one uncoded pattern on an object in the environment. A first camera is provided for recording at least one first image of the object provided with the pattern, the first camera having a first image plane. A second camera is provided for recording at least one second image of the object provided with the uncoded pattern, the second camera being spaced apart from the first camera in order to acquire the uncoded pattern on a second image plane. A controller is provided having a processor configured to determine the three-dimensional coordinates of points on the surface of the object based at least in part on the uncoded pattern, the at least one first image and the at least one second image.

Systems and methods for applying cosmetics are provided using an area light projector shining light on the face, capturing the reflected light using a camera and using a depth processor, and communicating with the camera(s) and the projector(s) to generate a depth image output. A control device communicates with the depth processor to receive the output, to receive the face profiles and generate motion trajectory commands, and a robot communicates with the control device to receive the commands to apply the cosmetics to the face in accordance with the face profiles. Methods for applying the cosmetics include receiving a face profile, receiving a depth processor input representing a face, extracting face features, receiving an initial robot position or extracting a robot position from input, matching the face profile to the face features, and generating and outputting robot trajectory to the robot to apply the cosmetics.

The subject disclosure is directed towards communicating image-related data between a base station and/or one or more satellite computing devices, e.g., tablet computers and/or smartphones. A satellite device captures image data and communicates image-related data (such as the images or depth data processed therefrom) to another device, such as a base station. The receiving device uses the image-related data to enhance depth data (e.g., a depth map) based upon the image data captured from the satellite device, which may be physically closer to something in the scene than the base station, for example. To more accurately capture depth data in various conditions, an active illumination pattern may be projected from the base station or another external projector, whereby satellite units may use the other source's active illumination and thereby need not consume internal power to benefit from active illumination.

Methods and systems for depth sensing are provided. A system includes a first and second optical sensor each including a first plurality of photodetectors configured to capture visible light interspersed with a second plurality of photodetectors configured to capture infrared light within a particular infrared band. The system also includes a computing device configured to (i) identify first corresponding features of the environment between a first visible light image captured by the first optical sensor and a second visible light image captured by the second optical sensor; (ii) identify second corresponding features of the environment between a first infrared light image captured by the first optical sensor and a second infrared light image captured by the second optical sensor; and (iii) determine a depth estimate for at least one surface in the environment based on the first corresponding features and the second corresponding features.