US 11,908,162 B2
Line scanner having target-tracking and geometry-tracking modes
Francesco Bonarrigo, Ghedi (IT); Paul C. Atwell, Lake Mary, FL (US); John Lucas Creachbaum, Deltona, FL (US); Nitesh Dhasmana, Lake Mary, FL (US); Fabiano Kovalski, Sanford, FL (US); Andrea Riccardi, Rezzato (IT); William E. Schoenfeldt, Oviedo, FL (US); Marco Torsello, Brescia (IT); and Christopher Michael Wilson, Lake Mary, FL (US)
Assigned to FARO Technologies, Inc., Lake Mary, FL (US)
Filed by FARO Technologies, Inc., Lake Mary, FL (US)
Filed on Dec. 20, 2021, as Appl. No. 17/556,083.
Claims priority of provisional application 63/130,006, filed on Dec. 23, 2020.
Prior Publication US 2022/0198704 A1, Jun. 23, 2022
Int. Cl. G06T 7/73 (2017.01); G01C 11/02 (2006.01); H04N 23/55 (2023.01); H04N 23/56 (2023.01); H04N 23/80 (2023.01); H04N 13/239 (2018.01)
CPC G06T 7/74 (2017.01) [G01C 11/02 (2013.01); H04N 23/55 (2023.01); H04N 23/56 (2023.01); H04N 23/80 (2023.01); G06T 2207/10012 (2013.01); G06T 2207/30204 (2013.01); H04N 13/239 (2018.05)] 7 Claims
OG exemplary drawing
 
1. A system comprising:
a first target-mode projector operable to project a first line of light onto an object;
a first illuminator operable to illuminate markers on or near the object;
a first geometry-mode projector operable to project a first multiplicity of lines onto the object;
a first camera operable to capture a first target-mode image of the first line of light on the object and the illuminated first markers;
the first camera further operable to receive a first geometry-mode image of the projected first multiplicity of lines;
a second camera operable to receive a second geometry-mode image of the projected first multiplicity of lines, the first geometry-mode projector being a different distance from the second camera than from the first camera; and
one or more processors operable to determine first three-dimensional (3D) coordinates of points on the object based at least in part on the captured first target-mode image, the one or more processors being further operable to determine second 3D coordinates of points on the object based at least in part on the captured first geometry-mode image and the captured second geometry-mode image,
wherein at least the first target rode projector and the first camera operate in a target tracking mode and wherein at least the first geometry-mode projector, the first camera, and the second camera operate in a geometry tracking mode, the target tracking mode and the geometry tracking mode being user selectable.