Scanning system and calibration method for capturing precise three-dimensional information of objects
A scanning system includes a hand-held scanning device that generates two-dimensional images of a pattern reflected off an object. The system also includes a memory and processing unit. The memory stores a calibration table for the scanner and received scanned bitmap images. The processing unit generates three-dimensional information as to a scanned object. The scanning can be performed without knowledge or even precise control of the position of the object relative to the scanner. Random movement of the object during scanning is also possible. Three-dimensional information of the object is obtained from the captured images using a calibration table for the scanner. A method of calibration of the scanner is also described. The illustrated embodiment is in-vivo scanning of human teeth for purposes of orthodontic treatment planning and diagnosis.
1. A scanner for capturing three-dimensional surface information of an object, comprising:
a flash lamp;
a slide containing a pattern;
wherein an illumination of said flash lamp causes said pattern contained in said slide to be projected onto the three-dimensional surface of the object along a first axis; and
an electronic imaging device comprising an array of pixels, said electronic imaging device oriented along a second axis different from said first axis, said second axis forming an angle Ψ with said first axis, wherein said electronic imaging device is oriented such that said angle Ψ is optimized to produce desired resolution of the three-dimensional surface of said object; said electronic imaging device forming an image of said pattern after reflection of said pattern off of said object.
2. The scanner of claim 1 , wherein said flash lamp is connected to a fiber-optic cable, wherein said fiber-optic cable carries illumination from said flash lamp to said slide.
3. The scanner of claim 1 , wherein said flash lamp is of high intensity.
4. The scanner of claim 1 , wherein said flash lamp illuminates in a series of flashes at a rate of at least one flash per second, and wherein said electronic imaging device captures a series of images of said pattern after reflection from said object at a frame rate substantially in synchronism with said rate.
5. The scanner of claim 1 , wherein said array of pixels comprise a color-sensitive, charged-coupled device (CCD) of a size of 1,028×1,028 pixels arranged in an array of rows and columns.
6. The scanner of claim 1 , wherein said image of said pattern is converted into a bitmap stream of digital data.
7. The scanner of claim 6 , wherein said bitmap stream of digital data is formatted into the IEEE 1394 “firewire” format.
8. The scanner of claim 1 , wherein a three-axis (X, Y and Z) coordinate system calibration relationship identifies: (1) pixel coordinates for said electronic imaging device for numerous portions of said pattern, and (2) distance information in X and Y directions, for said numerous portions of said pattern.
9. The scanner of claim 1 , wherein said flash lamp, said slide and said electronic imaging device are contained in a housing sized and shaped to be held in a human hand.
10. The scanner of claim 9 , wherein said housing further comprises a distal portion holding a mirror, and wherein said distal portion is sized and shaped so as to be insertable into and moveable within an oral cavity of a human so as to enable scanning of anatomical structures inside the oral cavity.