Portable three-dimensional scanner and method of generating a three-dimensional scan result corresponding to an object

1. A portable three-dimensional scanner, comprising:

at least two image sensors, wherein when the portable three-dimensional scanner is moved around an object, a first image sensor of the at least two image sensors captures a plurality of first images comprising the object, and a second image sensor of the at least two image sensors captures a plurality of second images comprising the object, wherein each first image of the plurality of first images corresponds to a second image of the plurality of second images, and when the first image sensor captures the each first image, a corresponding distance exists between the portable three-dimensional scanner and the object, wherein the plurality of first images or the plurality of second images are color images, and the corresponding distance is varied with time; and

a depth map generator coupled to the at least two image sensors, wherein the depth map generator spatially processes the each first image and the second image together to generate a corresponding depth map through each scan line of the each first image and a corresponding scan line of the second image in turn according to a first synchronization signal inputted to the each first image and a second synchronization signal inputted to the second image, wherein a plurality of depth maps generated by the depth map generator according to the plurality of first images and the plurality of second images, the plurality of first images, and the plurality of second images are used for generating a color three-dimensional scan result corresponding to the object.

2. The portable three-dimensional scanner of claim 1 , wherein when the first image sensor captures the each first image, a corresponding angle exists between the first line and the second line.

3. The portable three-dimensional scanner of claim 2 , further comprising:

a lookup table storing relations between the corresponding distance, the corresponding angle, and the corresponding depth map.

4. The portable three-dimensional scanner of claim 2 , wherein when the first image sensor captures the each first image, a corresponding baseline exists between the first image sensor and the second image sensor.

5. The portable three-dimensional scanner of claim 4 , further comprising:

a lookup table storing relations between the corresponding distance, the corresponding angle, the corresponding baseline, and the corresponding depth map.

6. The portable three-dimensional scanner of claim 1 , wherein when the first image sensor captures the each first image, a corresponding baseline exists between the first image sensor and the second image sensor.

7. The portable three-dimensional scanner of claim 6 , further comprising:

a lookup table storing relations between the corresponding distance, the corresponding baseline, and the corresponding depth map.

8. The portable three-dimensional scanner of claim 1 , wherein the plurality of first images and the plurality of second images are RGB images or YUV images.

9. The portable three-dimensional scanner of claim 1 , further comprising:

a filter coupled to the first image sensor, the second image sensor, and the depth map generator, wherein the filter converts the plurality of first images and the plurality of second images into monochrome images.

10. A portable three-dimensional scanner, comprising:

at least two image sensors, wherein when the portable three-dimensional scanner is moved around an object, a first image sensor of the at least two image sensors captures a plurality of first images comprising the object, and a second image sensor of the at least two image sensors captures a plurality of second images comprising the object, wherein each first image of the plurality of first images corresponds to a second image of the plurality of second images, and when the first image sensor captures the each first image, a corresponding distance exists between the portable three-dimensional scanner and the object, wherein the plurality of first images or the plurality of second images are color images, and the corresponding distance is varied with time;

a depth map generator spatially processing the each first image and the second image together to generate a corresponding depth map through each scan line of the each first image and a corresponding scan line of the second image in turn according to a first synchronization signal inputted to the each first image and a second synchronization signal inputted to the second image, wherein a plurality of depth maps generated by the depth map generator according to the plurality of first images and the plurality of second images, the plurality of first images, and the plurality of second images are used for generating a color three-dimensional scan result corresponding to the object; and

a synchronization circuit coupled between the first image sensor, the second image sensor, and the depth map generator, wherein the synchronization circuit outputs the first synchronization signal to the each first image and the second synchronization signal to the second image.

11. The portable three-dimensional scanner of claim 10 , wherein the first synchronization signal corresponds to an image block of a plurality of image blocks included in the each first image, and the second synchronization signal corresponds to a corresponding image block of a plurality of image blocks included in the second image.

12. The portable three-dimensional scanner of claim 1 , further comprising:

a register storing an image block of the each first image corresponding to each scan line of the first image sensor and a corresponding image block of the second image, wherein after the register completely stores image blocks of the each first image corresponding to scan lines of the first image sensor and corresponding image blocks of the second image, the register outputs the each first image and the second image.

13. The portable three-dimensional scanner of claim 1 , further comprising:

a calibration circuit coupled to the first image sensor and the second image sensor, wherein before the first image sensor outputs the each first image and the second image sensor outputs the second image, the calibration circuit executes calibration processing on the each first image and the second image.

14. The portable three-dimensional scanner of claim 13 , wherein the calibration processing comprises a combination of a color space calibration and an assembly calibration.

15. The portable three-dimensional scanner of claim 10 , further comprising:

a memory coupled to the synchronization circuit and the depth map generator, wherein the memory stores the plurality of first images, the plurality of second images, and the plurality of depth maps.

16. The portable three-dimensional scanner of claim 15 , further comprising:

an image processor coupled to the memory, wherein the image processor generates and outputs the color three-dimensional scan result according to the plurality of first images, the plurality of second images, and the plurality of depth maps.

17. The portable three-dimensional scanner of claim 1 , further comprising:

a memory coupled to the first image sensor, the second image sensor, and the depth map generator, wherein the memory stores the plurality of first images, the plurality of second images, and the plurality of depth maps.

18. The portable three-dimensional scanner of claim 17 , further comprising:

an image processor coupled to the memory, wherein the image processor generates and outputs the color three-dimensional scan result according to the plurality of first images, the plurality of second images, and the plurality of depth maps.

19. The portable three-dimensional scanner of claim 1 , wherein the plurality of first images, the plurality of second images, and the plurality of depth maps are transmitted to an operation apparatus coupled to the portable three-dimensional scanner through a mobile-industry-processor-interface (MIPI) or a universal serial bus (USB), and the operation apparatus generates the color three-dimensional scan result according to the plurality of first images, the plurality of second images, and the plurality of depth maps.

20. The portable three-dimensional scanner of claim 1 , wherein the plurality of first images, the plurality of second images, and the plurality of depth maps are transmitted to an operation apparatus located in a cloud through a Wireless Fidelity (WiFi), a wireless LAN (WLAN), a Zigbee (IEEE 802.15.4), a bluetooth, a Wireless Wide Area Network (WWAN), a Global System for Mobile Communications (GSM), a General Packet Radio Service (GPRS), a third generation (3G), a fourth generation (4G), a fifth generation (5G), or an actor network theory+ (Ant+), and the operation apparatus generates the color three-dimensional scan result according to the plurality of first images, the plurality of second images, and the plurality of depth maps.

21. The portable three-dimensional scanner of claim 1 , further comprising:

a light source emitting a predetermined light pattern to the object, wherein when the corresponding distance exists between the first image sensor and the object, a ratio is determined according to a size of a predetermined light pattern formed on a surface of the object and a size of the predetermined light pattern emitted by the light source, wherein the light source has an emitting angle.

22. The portable three-dimensional scanner of claim 21 , further comprising:

a lookup table storing relationships of the corresponding distance, the ratio, the emitting angle, and the corresponding depth map.

23. The portable three-dimensional scanner of claim 1 , wherein the object is moved or rotated.

24. A method of generating a three-dimensional scan result corresponding to an object, wherein a portable three-dimensional scanner applied to the method comprises at least two image sensors and a depth map generator, the method comprising:

when the portable three-dimensional scanner is moved around the object, a first image sensor of the at least two image sensors captures a plurality of first images comprising the object, and a second image sensor of the at least two image sensors captures a plurality of second images comprising the object, wherein each first image of the plurality of first images corresponds to a second image of the plurality of second images, and when the first image sensor captures the each first image, a corresponding distance exists between the portable three-dimensional scanner and the object, wherein the plurality of first images or the plurality of second images are color images, and the corresponding distance is varied with time;

the depth map generator spatially processing the each first image and the second image together to generate a corresponding depth map through each scan line of the each first image and a corresponding scan line of the second image in turn according to a first synchronization signal inputted to the each first image and a second synchronization signal inputted to the second image; and

generating and outputting a color three-dimensional scan result corresponding to the object according to a plurality of depth maps generated by the depth map generator, the plurality of first images, and the plurality of second images.

25. The method of claim 24 , wherein an image processor further comprised in the portable three-dimensional scanner generates and outputs the color three-dimensional scan result corresponding to the object according to the plurality of depth maps generated by the depth map generator, the plurality of first images, and the plurality of second images.

26. The method of claim 25 , wherein when the first image sensor captures the each first image, a corresponding angle exists between the first line and the second line.

27. The method of claim 26 , wherein when the first image sensor captures the each first image, a corresponding baseline exists between the first image sensor and the second image sensor.

28. The method of claim 25 , wherein when the first image sensor captures the each first image, a corresponding baseline exists between the first image sensor and the second image sensor.

29. The method of claim 25 , further comprising:

a light source emitting a predetermined light pattern to the object, wherein when the corresponding distance exists between the portable three-dimensional scanner and the object, a ratio is determined according to a size of a predetermined light pattern formed on a surface of the object and a size of the predetermined light pattern emitted by the light source, wherein the light source has an emitting angle.

30. The method of claim 24 , wherein an operation apparatus coupled to the portable three-dimensional scanner or an operation apparatus located in a cloud generates and outputs the color three-dimensional scan result corresponding to the object according to the plurality of depth maps generated by the depth map generator, the plurality of first images, and the plurality of second images.

31. The method of claim 30 , wherein when the first image sensor captures the each first image, a corresponding angle exists between the first line and the second line.

32. The method of claim 31 , wherein when the first image sensor captures the each first image, a corresponding baseline exists between the first image sensor and the second image sensor.

33. The method of claim 30 , wherein when the first image sensor captures the each first image, a corresponding baseline exists between the first image sensor and the second image sensor.

34. The method of claim 30 , further comprising:

a light source emitting a predetermined light pattern to the object, wherein when the corresponding distance exists between the portable three-dimensional scanner and the object, a ratio is determined according to a size of a predetermined light pattern formed on a surface of the object and a size of the predetermined light pattern emitted by the light source, wherein the light source has an emitting angle.