US 12,112,498 B2
Photosensor processing for improved line scanner performance
Kishore Lankalapalli, Sanford, FL (US); Michael Shen, Lake Mary, FL (US); Paul C. Atwell, Lake Mary, FL (US); Keith G. Macfarlane, Lake Mary, FL (US); Jacint R. Barba, Lake Mary, FL (US); and Nitesh Dhasmana, Lake Mary, FL (US)
Assigned to FARO Technologies, Inc., Lake Mary, FL (US)
Filed by FARO Technologies, Inc., Lake Mary, FL (US)
Filed on Nov. 10, 2023, as Appl. No. 18/388,808.
Application 18/388,808 is a continuation of application No. 17/073,923, filed on Oct. 19, 2020, granted, now 11,854,219.
Claims priority of provisional application 63/031,974, filed on May 29, 2020.
Claims priority of provisional application 62/978,000, filed on Feb. 18, 2020.
Claims priority of provisional application 62/924,444, filed on Oct. 22, 2019.
Prior Publication US 2024/0095944 A1, Mar. 21, 2024
Int. Cl. G06T 7/70 (2017.01); G01B 11/25 (2006.01); G06T 7/00 (2017.01); H04N 23/667 (2023.01)
CPC G06T 7/70 (2017.01) [G01B 11/2518 (2013.01); G06T 7/97 (2017.01); H04N 23/667 (2023.01)] 20 Claims
OG exemplary drawing
 
1. A method performed by a device having a projector, a camera with a photosensitive array, and at least one processor, the method comprising:
projecting with the projector a first line of light onto an object;
capturing with the camera a first image of the first line of light on the object within a first window subregion of the photosensitive array, the first image producing at least two collections of pixel readout values from the photosensitive array, the at least two collections including a first collection of pixel readout values having a first exposure time and a second collection of pixel readout values having a second exposure time greater than the first exposure time, the first collection of pixel readout values being assigned to odd rows within the first window, the second collection of pixel readout values being assigned to even rows of the first window, wherein a first size of the first window subregion is based at least in part on a first number of rows and a first number of columns within the photosensitive array;
determining with the at least one processor a plurality of three-dimensional (3D) coordinates of points on the object based on the first line of light, the first image of the first line of light, the first exposure time, and the second exposure time;
determining with the at least one processor a second window subregion within the first window subregion based at least in part on the first image of the first line of light on the object, a second size of the second window subregion based on at least one of:
a second number of rows of the photosensitive array, that are different from the first number of rows of the photosensitive array, and
a second number of columns of the photosensitive array, that are different from the first number of columns of the photosensitive array; and
projecting with the projector a second line of light on the object;
capturing with the camera a second image of the second line of light on the object within the second window subregion;
determining with the at least one processor a plurality 3D coordinates of second points on the object based at least in part on the second line of light and the second image of the second line of light;
storing the plurality of 3D coordinates determined for the first image, and the plurality of 3D coordinates of second points on the object based on the second size of the second window subregion.