| 摘要 |
The apparatus and method measure the three-dimensional surface shape of a surface without contact with the surface, and without any physical constraint on the device during measurement. The device is a range-sensor or scanner, and in one embodiment is a laser-camera sensor, which has a portable camera and multi-line light projector encased in a compact sensor head, and a computer. The apparatus provides three-dimensiona l coordinates in a single reference frame of points on the surface. The sensor head does n ot have to be physically attached to any mechanical positioning device such as a mechanica l arm, rail, or translation or rotation stage, and its position in three-dimensional space does not have to be measured by any position-tracking sensor. This allows unrestricted motion of the sensor head during scanning, and therefore provides much greater access to surfaces whic h are immovable, or which have large dimensions or complex shape, and which are in confined spaces such as interior surfaces. It also permits measurement of a surface t o be made by a continuous sweeping motion rather than in stages, and thus greatly simplifie s the process of measurement. The apparatus can be hand-held, mounted on any moving device whose motion is unknown or not accurately known, or airborne. The apparatus and method al so permit unknown and unmeasured movement of the object whose surface is to be measure d, which may be simultaneous with the movement of the range-sensor head.
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