A measurement apparatus, comprising: a projection apparatus configured to project a predetermined pattern on a subject; and an image capturing system configured to capture a group of images from at least two different viewpoints, wherein the distance between the viewpoints is shorter than the distances between the projection apparatus and the viewpoints, the measurement apparatus further comprising: relative position calculation means for obtaining a relative position of the projection apparatus relative to at least one of the viewpoints from pattern image positions on the group of images and a positional relationship between the viewpoints, wherein distance information regarding the subject is acquired from the relative position and a pattern image position on an image at the viewpoint.

The invention relates to a displacement sensor, for example as used in 3D sensors for measuring the three-dimensional shape of an object. A diffraction grating is used to reduce the angle of incidence of measurement light on a light sensor, such as an image sensor, thereby improving the performance of the light sensor. The displacement sensors of the present invention include sensors based on triangulation and coaxial sensors.

A system for dynamic profilometric imaging using multiscale pattern(s) is described. The system may include a projector that projects a multiscale pattern on an environment including a target of interest. The system may also include an imaging sensor that receives reflections of the projected multiscale pattern from the target of interest. The system may further include a controller of the camera and the projector which performs profilometric imaging of the target of interest by dynamically adjusting an operational parameter of the camera, the projector, and/or the controller. The multiscale pattern(s) may contain useful features at multiple scales and/or may be optimal at predetermined depths and/or resolutions. By dynamically adjusting the operational parameter, such a profilometric imaging system may perform there-dimensional (3D) scene reconstruction while maintaining optimal performance, power efficiency and profilometric resolution.

A stereoscopic scanning device is applied by a stereoscopic scanning method and includes a projection module and an imaging module. The projection module includes a pattern creator, a visible light source and an invisible light source. The pattern creator and the visible light source create a structured light pattern projected onto a target object. The invisible light source emits an invisible light beam to the target object for generating an excitation light beam. The imaging module is disposed adjacent to the projection module and includes a light splitting component, a first optical sensor and a second optical sensor. The light splitting component respectively reflects the structured light pattern and the excitation light beam and allows passing of the structured light pattern and the excitation light beam. The first optical sensor receives light reflected from the light splitting component. The second optical sensor receives light passing through the light splitting component.

The systems and methods described herein include a device that can scan the surrounding environment and construct a 3D image, map, or representation of the surrounding environment using, for example, invisible light projected into the environment. In some implementations, the device can also project into the surrounding environment one or more visible radiation pattern patterns (e.g., a virtual object, text, graphics, images, symbols, color patterns, etc.) that are based at least in part on the 3D map of the surrounding environment.

A computer assisted system is disclosed that includes an optical tracking system and one or more computing devices. The optical tracking system includes an RGB sensor and is configured to capture color images of an environment in the visible light spectrum and tracking images of fiducials in the environment in a near-infrared spectrum. The computer assisted system is configured to generate a color image of the environment using the color images, identify fiducial locations using the tracking images, generate depth maps from the color images, reconstruct three-dimensional surfaces of structures based on the depth maps, and output a display comprising the reconstructed three-dimensional surface and one or more surgical objects that are associated with the tracked fiducials. The computer assisted system can further include a monitor or a head-mounted display (HMD) configured to present augmented reality (AR) images during a procedure.

A three dimensional scanning apparatus is used to detect a contour of an object, and includes an illumination light source, a first aperture element, a reference pattern generator and an optical receiver. The illumination light source emits an illumination beam. The reference pattern generator provides a reference pattern by projection of the illumination beam, and transmits the reference pattern toward the object via the first aperture element. The optical receiver receives a detection pattern reflected from the object, so as to analyze difference between the reference pattern and the detection pattern for acquiring the contour. The first aperture element has two first lateral sides and two second lateral sides opposite to each other. A first length of one of the first lateral sides is greater than a second length of one of the second lateral sides.

A scanner for a tracking three-dimensional scanning system includes: a frame configured as an integral structure and defining an inner cavity and an outer periphery; and a plurality of marker modules disposed at the outer periphery of the frame and configured to be detected by a tracker.

Shape measuring systems are disclosed. In one example, a shape measuring system includes a light source part with a light source, a waveform control lens, and a scan mechanism. It also includes light receiving parts that each include a light receiving lens on which reflected light reflected by the measurement target among measurement light from the light source part is incident, an EVS, which is an asynchronous imaging device that is a light receiving element, an event issuing part that detects an event on the basis of output data from the EVS and outputs event data, and a transmitting part that outputs the event data to the signal processing part. A signal processing part includes an unwanted signal removing part that removes an unwanted signal resulting from incidence of secondary reflected light, and a three-dimensional calculating part that calculates a three-dimensional shape of the measurement target.

A system includes a projector configured to project a plurality of non-coded elements onto an object, the projector having a first optical axis. The system includes a first camera having a first lens and a first sensor. The first lens defines a second optical axis. The system includes a second camera having a second lens and a second sensor. The second lens defines a third optical axis. The projector, the first camera, and the second camera are disposed on a substantially straight line in a first direction. The first optical axis is substantially parallel to the second optical axis, which is substantially parallel to the third optical axis. A center of the first sensor is displaced along the first direction away from the second optical axis, and a center of the second sensor is displaced along the first direction away from the third optical axis.