USING TWO-DIMENSIONAL CAMERA IMAGES TO SPEED REGISTRATION OF THREE-DIMENSIONAL SCANS

摘要

A method for measuring and registering 3D coordinates has a 3D scanner measure a first collection of 3D coordinates of points from a first registration position and a second collection of 3D coordinates of points from a second registration position. In between these positions, the 3D scanner collects 2D camera images. A processor determines first and second translation values and a first rotation value based on the 2D camera images. The processor adjusts the second collection of points relative to the first collection of points based at least in part on the first and second translation values and the first rotation value. The processor identifies a correspondence among registration targets in the first and second collection of 3D coordinates, and uses this correspondence to further adjust the relative position and orientation of the first and second collection of 3D coordinates.