Generate one or more brightness edges to form a three-dimensional model of the object

Abstract

The present application relates to generating one or more brightness edges to form a three-dimensional model of an object. Various embodiments disclosed herein generally relate to computer vision, graphics, image scanning and image processing and associated mechanical, electrical and electronic hardware, computer software and systems, and wired and wireless network communications to form at least a three-dimensional model or image of an object and an environment.

Description

[0001] This application is a divisional application of an application filed on October 5, 2018, with application number 201880063651.1, and invention name “Generating one or more brightness edges to form a three-dimensional model of an object (the changed name is “Device for generating sharp shadows”)”.

[0002] CROSS-REFERENCE TO RELATED APPLICATIONS

[0003] This application claims the benefit of U.S. Provisional Patent Application No. 62 / 569,353, filed October 6, 2017, the contents of which are incorporated herein by reference in their entirety. STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT

[0004] not applicable

[0005] List of references to sequences, tables, or computer programs CD-ROM appendix

[0006] not applicable Background of the Invention 1. Technical Field

[0008] The present invention relates to the technical field of scanning devices. More specifically, preferred embodiments of the present invention generally relate to scanning devices that generate a three-dimensional model of a scanned object. Even more specifically, preferred embodiments of the present invention generally relate to apparatus, systems, and methods for generating a three-dimensional model of a scanned object or area using a shadow caster.

[0009] 2. Related technical description

[0010] Advances in computing hardware and software have facilitated the generation of three-dimensional models and digital images that convey the shape of objects in three-dimensional space. Conventional computing techniques and equipment are implemented as three-dimensional ("3D") scanners to form a three-dimensional model of the surface of the scanned object. Among them, structured light scanner systems typically use complex light patterns and one or more camera systems to capture images representing the shape of the three-dimensional object. Although conventional structured light scanner systems are functional, they are not well suited for a wide range of applications because these systems generally require costly materials and resources for the scanner. For example, such scanners employ lasers and / or liquid crystal display ("LCD") projectors, as well as other computing hardware and algorithms needed to process the complex light patterns and imaging techniques associated with such scanners.

[0011] In at least one approach, scanning techniques using "weakly structured" light have been developed to address one of the limitations of structured light scanner systems. Conventional scanners based on weakly structured light typically employ a simple incandescent lamp and / or a rod (e.g., a pencil) to capture an image of a surface from which an object can be derived. Examples of such scanner systems are Figure 11. The simplified diagram 100 depicts a simple incandescent light bulb 102 and a rod 114, or any other cylindrical object (such as a pencil) for casting a shadow onto a plane 110 to capture the shape of an object 116. The light bulb 102 includes a filament 104 extending a distance ("d") 106 between supports within a glass housing, which may be formed of clear, non-ground glass. The filament 104 generally generates light along a relatively wide range of distances relative to the width of the rod 114. Typically, the filament 104 may be positioned in a plane that is not parallel to the rod 114. The camera 101 may be used to capture an image of a point that may be used to calculate the surface of the object 116. To capture the image of the point, the rod 114 is used to cast a shadow on the object 116 in an attempt to determine the relative depth of a pixel on the surface of the object 116 captured by the camera 101 (e.g., the relative depth of a pixel at a point in the absence of the object 116).

[0012] Figure 1 The scanner in has many disadvantages. Figure 1 While the scanner is functional, the system of schematic diagram 100 may not be well-suited for creating 3D image models of three-dimensional objects. Bulb 102 and rod 114 can generate a shadow 120, which includes a region 121 of minimum illumination for a given bulb 102. At greater distances 122 from rod 114, the boundary between region 121 and illuminated portion 111 of plane 110 becomes increasingly diffuse. An example of increasing illumination diffusivity can be depicted as increasing from line 122 outward along line 119 within distance ("b") 126, which illustrates a diffuse boundary between region 121 of minimum illumination and illuminated portion 111. To combat the detrimental effects of diffuse boundaries, conventional 3D scanning methods rely on illumination thresholds and time or video frame coordinates, along with associated algorithms that define boundaries based on sufficient differences between dark and light. Diffuse boundaries can reduce the accuracy of surfaces calculated from captured images of object 116. Similarly, using illumination thresholds during operation may require ignoring the effects of different colors, shades, or textures. For example, the color "yellow" may have a higher brightness that can be distinguished from the effects of a diffusion boundary, while the color "blue" may have a relatively low brightness that can be detected as part of a diffusion boundary. In this way, due to the implementation of traditional illumination thresholding, the blue portion 117 of the object 116 can be ignored. Therefore, color and other lighting effects often lead to such omissions, i.e., to inaccuracies that are obvious in conventional 3D scanning. In some methods, algorithmic calculations are used to classify whether a pixel is illuminated. However, these known algorithms are generally limited to distinguishing between relatively large swings between brightness and darkness. Such thresholding may require resources to customize the scanner of the schematic 100 and adapt the scanner to a specific scanning application.

[0013] Therefore, a solution is needed for a technique that facilitates the generation of three-dimensional models or images of objects and environments without the limitations of conventional techniques. Summary of the Invention

[0014] Various embodiments generally relate to computer vision, graphics, image scanning, and image processing, as well as associated mechanical, electrical, and electronic hardware, computer software, and systems, as well as wired and wireless network communications, to at least form three-dimensional models or images of objects and environments. Broad embodiments of the present invention generally relate to apparatus, methods, and systems for generating one or more luminance edges to form a three-dimensional model of an object or environment. In broad embodiments, the present invention includes: one or more light sources and one or more shadow casters that generate one or more luminance edges on a modeled object or area; one or more devices for detecting the one or more luminance edges; a device for moving the one or more luminance edges relative to the modeled object or area; and an apparatus for generating a three-dimensional model of the modeled object or area; and related methods and systems. Some embodiments move the one or more shadow casters, some embodiments move the one or more light sources, and some embodiments cause the object to move through the one or more luminance edges. These embodiments are exemplary of the scope and spirit of the present invention; however, the foregoing embodiments and examples should not be limiting, and one of ordinary skill in the art will understand and appreciate that there are variations, combinations, and equivalents to the specific embodiments, methods, and examples herein.

[0015] In a preferred embodiment, the present invention broadly relates to an apparatus and method for moving one or more shadow casters to move one or more brightness edges relative to a modeled object or area. This embodiment generally relates to an apparatus for generating one or more brightness edges to form a three-dimensional model of an object, the apparatus comprising: one or more light sources; one or more shadow casters, the one or more shadow casters comprising: a shape having at least one straight edge when the shape is projected onto a plane; one or more actuators, the actuators capable of moving the one or more shadow casters; one or more image capture devices; a memory, the memory being stored in a non-transitory computer-readable medium; a processor, the processor comprising: the computer-readable medium; and a display; wherein the one or more light sources illuminate the one or more shadow casters to cast high-contrast shadows of known geometric shapes, which form the one or more brightness edges on the object; wherein the one or more actuators move the one or more shadow casters so as to sweep the one or more brightness edges across the object; wherein the one or more image capture devices capture images of the one or more brightness edges on the object and record the images to the memory; wherein the processor forms a three-dimensional data representation based on the recorded images; wherein the processor uses the three-dimensional data representation to generate the three-dimensional model of the object; and wherein the three-dimensional model is displayed on the display using the processor. This preferred embodiment also generally relates to a method for generating one or more brightness edges to form a three-dimensional model of an object, the method comprising: providing one or more light sources; providing one or more shadow-casting elements, the one or more shadow-casting elements comprising: a shape having at least one straight edge when projected onto a plane; using the one or more light sources and the one or more shadow-casting elements to cast a high-contrast shadow of a known geometry to form the one or more brightness edges on the object; moving the one or more shadow-casting elements to move the one or more brightness edges across the object; capturing an image of the one or more brightness edges on the object; forming a three-dimensional data representation based on the captured image; using the three-dimensional data representation to generate the three-dimensional model of the object; and displaying the three-dimensional model. Other versions of this broad embodiment have one or more light sources that are discrete or continuous, linear, or comprise one or more light arrays. Other versions of this embodiment build the shape of the one or more shadow throwers onto the scanned and modeled object, such as by three-dimensional printing. Additionally, some versions of this embodiment use one or more shadow throwers that further comprise a configurable shape, configurable opacity, or color filter.Other versions of this embodiment use one or more actuators to rotate the one or more shadow casters. Furthermore, some versions of this embodiment use a display that is an augmented reality headset that can overlay the three-dimensional model on the field of view of a user of the headset.

[0016] In another preferred embodiment, the present invention broadly relates to an apparatus and method for moving one or more light sources to move one or more brightness edges relative to a modeled object or area. This embodiment generally relates to an apparatus for generating one or more brightness edges to form a three-dimensional model of an object, the apparatus comprising: one or more light sources; one or more shadow casters, the one or more shadow casters comprising: a shape having at least one straight edge when the shape is projected onto a plane; one or more actuators, the actuators capable of moving the one or more light sources; one or more image capture devices; a memory, the memory being stored in a non-transitory computer-readable medium; a processor, the processor comprising: the computer-readable medium; and a display; wherein the one or more light sources illuminate the one or more shadow casters to cast high-contrast shadows of known geometric shapes, which form the one or more brightness edges on the object; wherein the one or more actuators move the one or more light sources so as to sweep the one or more brightness edges across the object; wherein the one or more image capture devices capture images of the one or more brightness edges on the object and record the images to the memory; wherein the processor forms a three-dimensional data representation based on the recorded images; wherein the processor uses the three-dimensional data representation to generate the three-dimensional model of the object; and wherein the three-dimensional model is displayed on the display using the processor. This preferred embodiment also generally relates to a method for generating one or more brightness edges to form a three-dimensional model of an object, the method comprising: providing one or more light sources; providing one or more shadow-casting elements, the one or more shadow-casting elements comprising a shape having at least one straight edge when projected onto a plane; using the one or more light sources and the one or more shadow-casting elements to cast a high-contrast shadow of a known geometry to form the one or more brightness edges on the object; moving the one or more light sources to move the one or more brightness edges across the object; capturing an image of the one or more brightness edges on the object; forming a three-dimensional data representation based on the captured image; using the three-dimensional data representation to generate the three-dimensional model of the object; and displaying the three-dimensional model. Other versions of this broad embodiment have one or more light sources that are discrete or continuous, linear, or comprise one or more light arrays. Other versions of this embodiment build the shape of the one or more shadow throwers onto the scanned and modeled object, such as by three-dimensional printing. Additionally, some versions of this embodiment use one or more shadow throwers that further comprise a configurable shape, configurable opacity, or color filter.Additionally, other versions of this embodiment use one or more actuators to rotate the one or more shadow casters. Furthermore, some versions of this embodiment use a display that is an augmented reality headset that can overlay the three-dimensional model on the field of view of a user of the headset.

[0017] In another preferred embodiment, the present invention broadly relates to an apparatus and method for causing the modeled object to move through one or more brightness edges. This embodiment generally relates to an apparatus for generating one or more brightness edges to form a three-dimensional model of an object, the apparatus comprising: one or more light sources; one or more shadow casters, the one or more shadow casters comprising: a shape having at least one straight edge when the shape is projected onto a plane; one or more image capture devices; a memory, the memory being stored in a non-transitory computer-readable medium; a processor, the processor comprising: the computer-readable medium; and a display; wherein the one or more light sources illuminate the shadow casters to cast a high contrast shadow of a known geometric shape, which forms the one or more brightness edges; wherein the object moves through the one or more brightness edges so as to sweep the one or more brightness edges across the object. or multiple brightness edges; wherein the one or more image capture devices detect the motion of the object moving through the one or more brightness edges and record the motion to the memory; wherein the one or more image capture devices capture images of the one or more brightness edges on the object moving through the one or more brightness edges and record the images to the memory; wherein the processor calculates the speed of the object moving through the one or more brightness edges based on the recorded motion; wherein the processor forms a three-dimensional data representation based on the recorded images and the calculated speed; wherein the processor uses the three-dimensional data representation to generate the three-dimensional model of the object; and wherein the three-dimensional model is displayed on the display. This preferred embodiment also generally relates to a method for generating one or more brightness edges to form a three-dimensional model of an object, the method comprising: providing one or more light sources; providing one or more shadow-casting elements, the one or more shadow-casting elements comprising: a shape having at least one straight edge when projected onto a plane; using the one or more light sources and the one or more shadow-casting elements to cast a high-contrast shadow of a known geometric shape to form the one or more brightness edges on the object; moving the object past the one or more brightness edges; detecting a speed at which the object moves past the one or more brightness edges; capturing an image of the one or more brightness edges on the object moving past the one or more brightness edges; forming a three-dimensional data representation based on the detected speed and the captured image; using the three-dimensional data representation to generate the three-dimensional model of the object; and displaying the three-dimensional model. Other versions of this broad embodiment have one or more light sources that are discrete or continuous, linear, or comprise one or more light arrays.Other versions of this embodiment base the shape of the one or more shadow throwers on the scanned and modeled object, such as through three-dimensional printing technology. Additionally, some versions of this embodiment use one or more shadow throwers that further include a configurable shape, a configurable opacity, or a color filter. Other versions of this embodiment use one or more actuators to rotate the one or more shadow throwers. Furthermore, some versions of this embodiment use a display that is an augmented reality headset that can overlay the three-dimensional model on the field of view of a user of the headset. Yet another version of this embodiment is installed in a room and mounted on the ceiling, where a similar version mounts one or more light sources to the ceiling.

[0018] In another preferred embodiment, the present invention broadly relates to an apparatus and method for modeling the surroundings of an object. This embodiment generally relates to an apparatus for generating one or more brightness edges to form, the apparatus comprising: one or more light sources, the one or more light sources being mounted on the object; one or more shadow casters, the one or more shadow casters being mounted on the object and comprising: a shape having at least one straight edge when the shape is projected onto a plane; one or more actuators, the actuators being capable of moving the one or more shadow casters; one or more image capture devices, the one or more image capture devices being mounted on the object; a memory, the memory being stored in a non-transitory computer-readable medium; and a processor, the processor comprising: the computer-readable medium; wherein the one or more light sources illuminate lighting the one or more shadow casters to cast high-contrast shadows of known geometric shapes, which form the one or more brightness edges on the surrounding environment of the object; wherein the one or more actuators move the one or more shadow casters to sweep the one or more brightness edges across the surrounding environment of the object; wherein the one or more image capture devices capture images of the one or more brightness edges on the surrounding environment of the object and record the images to the memory; wherein the processor forms a three-dimensional data representation based on the recorded images; wherein the processor uses the three-dimensional data representation to generate the three-dimensional model of the surrounding environment of the object; and wherein the three-dimensional model is stored in the memory. This preferred embodiment also generally relates to a method for generating one or more brightness edges to form a three-dimensional model of an object's surroundings, the method comprising: providing one or more light sources mounted on the object; providing one or more shadow-casting elements mounted on the object and comprising: a shape having at least one straight edge when projected onto a plane; using the one or more light sources and the one or more shadow-casting elements to cast a high-contrast shadow of a known geometry to form the one or more brightness edges on the object's surroundings; moving the one or more shadow-casting elements to move the one or more brightness edges across the object's surroundings; capturing an image of the one or more brightness edges on the object's surroundings; forming a three-dimensional data representation based on the captured image; using the three-dimensional data representation to generate the three-dimensional model of the object's surroundings; and storing the three-dimensional model in a non-transitory computer-readable medium. Other versions of this broad embodiment have one or more light sources that are discrete or continuous, linear, or comprise one or more light arrays.Additionally, some versions of this embodiment use one or more shadow casters that further include a configurable shape, a configurable opacity, or a color filter. Additionally, some versions of this embodiment use an augmented reality headset and display a model superimposed on an object's surroundings, while similar versions display the model superimposed on the augmented reality headset's surroundings. Furthermore, this embodiment of the invention can be used in vehicles, such as for artificial vision in self-driving cars or submersibles, in which case the device includes waterproof components. Similarly, this embodiment can be used for artificial vision in robots.

[0019] In another preferred embodiment, the present invention broadly relates to an apparatus and method for modeling an object's surroundings using static shadow casters. This embodiment generally relates to an apparatus for generating one or more brightness edges to form a three-dimensional model of an object's surroundings, the apparatus comprising: one or more light sources mounted on the object; one or more shadow casters mounted on the object and comprising: a shape having at least one straight edge when the shape is projected onto a plane; one or more image capture devices mounted on the object; a memory stored in a non-transitory computer-readable medium; and a processor comprising: the computer-readable medium; wherein the one or more light sources illuminate the one or more a shadow caster to cast a high-contrast shadow of a known geometric shape, which forms the one or more brightness edges on the surrounding environment of the object; wherein the object moves through the surrounding environment of the object so as to sweep the one or more brightness edges throughout the surrounding environment of the object; wherein the one or more image capture devices capture images of the one or more brightness edges on the surrounding environment of the object and record the images to the memory; wherein the processor forms a three-dimensional data representation based on the recorded images; wherein the processor uses the three-dimensional data representation to generate the three-dimensional model of the surrounding environment of the object; and wherein the three-dimensional model is stored in the memory. This preferred embodiment also generally relates to a method for generating one or more brightness edges to form a three-dimensional model of an object's surroundings, the method comprising: providing one or more light sources mounted on the object; providing one or more shadow-casting elements mounted on the object and comprising: a shape having at least one straight edge when projected onto a plane; using the one or more light sources and the one or more shadow-casting elements to cast a high-contrast shadow of a known geometry to form the one or more brightness edges on the object's surroundings; moving the object so as to move the one or more brightness edges throughout the object's surroundings; capturing an image of the one or more brightness edges on the object's surroundings; forming a three-dimensional data representation based on the captured image; using the three-dimensional data representation to generate the three-dimensional model of the object's surroundings; and storing the three-dimensional model in a non-transitory computer-readable medium. Other versions of this broad embodiment have one or more light sources that are discrete or continuous, linear, or comprise one or more light arrays.Additionally, some versions of this embodiment use one or more shadow casters that further include a configurable shape, a configurable opacity, or a color filter. Additionally, some versions of this embodiment use an augmented reality headset and display a model superimposed on an object's surroundings, while similar versions display the model superimposed on the augmented reality headset's surroundings. Furthermore, this embodiment of the invention can be used in vehicles, such as for artificial vision in self-driving cars or submersibles, in which case the device includes waterproof components. Similarly, this embodiment can be used for artificial vision in robots.

[0020] In a most preferred embodiment, the present invention is generally directed to an apparatus for generating one or more brightness edges to form a three-dimensional model of an object, the apparatus comprising: a housing, the housing comprising: a back panel, the back panel comprising: a camera opening, a top panel, and two side panels, the side panels comprising: a pivot point; a shadow caster, the shadow caster comprising: a front section, the front section being rectangular; two side sections, each of the side sections depending vertically from opposite ends of the front section, each of the side sections comprising: a triangular shape; and a shoulder mount, each of the shoulder mounts comprising: a shoulder screw hole; and a shoulder screw rotatably attached to the side panel using a nut; and a tab depending from one of the side segments; an actuator assembly comprising: an actuator arm depending from the housing; an actuator motor depending from the actuator arm; and an actuator connector depending from the actuator motor and connected to the tab of the shadow thrower; a light source, the light source being discrete, continuous, linear, and disposed on the shoulder mount of the side segment of the shadow thrower; extending between the shoulder screws; a video camera assembly, the video camera assembly extending through the camera opening of the back panel of the housing, the video camera assembly comprising: a video camera support platform and a video camera, the video camera being mounted on the video camera support platform, the video camera comprising: a camera lens, a camera sync port, a video output port, and a control port; a memory stored in a non-transitory computer-readable medium; a processor, the processor comprising: the computer-readable medium; and a display; wherein the light source illuminates the shadow caster to cast a high-contrast shadow of a known geometric shape, which forms the one or more brightness edges on the object; wherein the actuator motor moves the shadow caster so as to sweep the one or more brightness edges across the object; wherein the video camera captures an image of the one or more brightness edges on the object and records the image to the memory; wherein the processor forms a three-dimensional data representation based on the recorded image; wherein the processor uses the three-dimensional data representation to generate the three-dimensional model of the object; and wherein the three-dimensional model is displayed on the display using the processor. Other versions of this embodiment may include modeling the shape of the one or more shadow casters on the scanned and modeled object, such as by 3D printing. Additionally, some versions of this embodiment may utilize one or more shadow casters that further include a configurable shape, a configurable opacity, or a color filter.Furthermore, some versions of this embodiment use a display that is an augmented reality headset that can overlay the three-dimensional model on the field of view of the user of the headset. Other versions of this embodiment use a front segment of the shadow caster having multiple front segments and a side segment having multiple side segments. Additional versions are used in a room where the device is mounted on the ceiling. For specific applications, versions of this embodiment can be used to scan the entire body and generate a three-dimensional model of the person's skin, such as for use in dermatology to create a map of moles or skin lesions, or to screen a patient for skin cancer or similar diseases. As another specific application of a most preferred embodiment of the present invention, the device can be used during brain surgery on a patient, wherein the device further includes a drape that conforms to the housing of the device and is capable of protecting the patient from contamination and a clamp assembly that is capable of fixing the position of the device relative to the patient. This preferred embodiment also generally relates to a method for performing brain surgery on a patient using the device, the method comprising: covering the device with a cover cloth that conforms to the housing of the device and is capable of protecting the patient from contamination; aligning the device with the patient; focusing the video camera of the device on the patient; starting to record video of the patient using the video camera; using the actuator motor to sweep the one or more brightness edges across the patient; capturing an image of the one or more brightness edges on the patient using the video camera; stopping recording video of the patient; using the processor to collect and analyze the images; using the processor to form a three-dimensional data representation based on the images; using the processor to generate the three-dimensional model of the patient using the three-dimensional data representation; and using the processor to display the three-dimensional model on the display.This preferred embodiment also generally relates to a method for performing robotic automated brain surgery on a patient using the device, the method comprising: providing a robot for controlling the device, the robot being capable of controlling the video camera and the actuator motor and being capable of interacting with the processor, the robot comprising: a navigation computer, the navigation computer being capable of navigating the robot, the navigation computer comprising: the memory and the computer-readable medium, one or more positioning robot motors, one or more alignment robot motors, and one or more focusing robot motors; covering the device with a drape that conforms to the housing of the device and is capable of protecting the patient from contamination; positioning the device above the patient using the one or more positioning robot motors; using the one or more positioning robot motors multiple alignment robotic motors to align the device with the patient; use the one or more focus robotic motors to focus the video camera of the device on the patient; use the robotically controlled video camera to record video of the patient; use the robotically controlled actuator motors to sweep the one or more brightness edges across the patient; use the robotically controlled video camera to capture images of the one or more brightness edges on the patient; use the processor to collect and analyze the images; use the processor to form a three-dimensional data representation from the images; use the processor to generate the three-dimensional model of the patient using the three-dimensional data representation; and store the three-dimensional model to the navigation computer of the robot for use during the robotic automated brain surgery. In addition, this preferred embodiment generally also relates to a method for performing brain surgery on a patient using the device, the method comprising: before the brain surgery, scanning the patient's brain using other scanning techniques to generate a priori model of the brain, the other scanning techniques comprising: MRI scan, CT scan, PET scan or ultrasound scan; using the processor to store the priori model in the memory; covering the device with a cover cloth, the cover cloth conforming to the housing of the device and capable of protecting the patient from contamination; aligning the device with the patient; focusing the video camera of the device on the patient; starting to record video of the patient using the video camera; using the actuator motor to sweep the one or more brightness edges across the patient; capturing an image of the one or more brightness edges on the patient using the video camera; stopping recording video of the patient; using the processor to collect and analyze the images; using the processor to form a three-dimensional data representation based on the images; using the processor to generate the three-dimensional model of the patient using the three-dimensional data representation; using the processor to compare the three-dimensional model with the priori model; and using the processor to display the three-dimensional model superimposed with the priori model on the display.This preferred embodiment also generally relates to a method for performing brain surgery on a patient with a rhythmic beating brain using the device, the method comprising: covering the device with a drape that conforms to the housing of the device and is capable of protecting the patient from contamination; aligning the device with the rhythmic beating brain of the patient; focusing the video camera of the device on the rhythmic beating brain of the patient; starting to record a video of the rhythmic beating brain of the patient using the video camera; measuring the patient's blood pressure waveform profile, the blood pressure waveform profile comprising: the rhythmic beating of the patient's blood pressure; using the actuator motor to sweep the one or more brightness edges across the rhythmic beating brain of the patient ; using the video camera to capture an image of the one or more brightness edges on the rhythmic beating brain of the patient; stopping recording the video of the rhythmic beating brain of the patient; using the processor to collect and analyze the image; using the blood pressure waveform profile and the processor to eliminate the rhythmic movement of the rhythmic beating brain of the patient; using the processor to record the scanning movement of the shadow caster; using the processor to form a three-dimensional data representation based on the image and the eliminated rhythmic movement of the rhythmic beating brain of the patient; using the processor and the three-dimensional data representation to generate the three-dimensional model of the patient; and using the processor to display the three-dimensional model on the display.

[0021] In another preferred embodiment, the present invention generally relates to an endoscopic device. This embodiment generally relates to an apparatus for generating one or more brightness edges to form a three-dimensional model of an object, the apparatus comprising: an endoscope body, the endoscope body comprising: a proximal end; a distal end; an endoscope sleeve, the endoscope sleeve spanning between the proximal end and the distal end; a tapered fiber optic bundle disposed within the endoscope sleeve and gradually narrowing toward the distal end; and an endoscope camera disposed within the endoscope sleeve and facing outward from the distal end; a shadow caster, the shadow A shadow thrower is mounted on the distal end of the endoscope body above the tapered fiber optic bundle, the shadow thrower comprising: a semicircular piece; a light emitting device comprising: a horizontal platform; a vertical seat extending from the horizontal platform; a stepper motor linear actuator extending from the horizontal platform; a translation platform connected to the stepper motor linear actuator; a light source suspended from the translation platform; a fiber optic bundle suspended from the light source; a square to round cone, the square to round cone a circular cone suspended from the fiber optic bundle; and a slit mounted on the square-to-circular cone; a memory stored in a non-transitory computer-readable medium; a processor, the processor comprising: the computer-readable medium; and a display; wherein the light emitting device is connected to the proximal end of the endoscope body; wherein the light source illuminates the fiber optic bundle, the square-to-circular cone, the slit, the tapered fiber optic bundle, and the shadow caster to cast a high-contrast shadow of a known geometric shape, which forms the one or more brightness edges on the object; wherein the stepper motor linear actuator moves the translation stage with the light source so as to sweep the one or more brightness edges across the object; wherein the endoscope camera captures an image of the one or more brightness edges on the object and records the image to the memory; wherein the processor forms a three-dimensional data representation from the recorded image; wherein the processor uses the three-dimensional data representation to generate the three-dimensional model of the object; and wherein the three-dimensional model is displayed on the display using the processor.This preferred embodiment generally also relates to an apparatus for generating one or more brightness edges to form a three-dimensional model of an object, the apparatus comprising: an endoscope body, the endoscope body comprising: a proximal end; a distal end; an endoscope sleeve, the endoscope sleeve spanning between the proximal end and the distal end; a tapered optical fiber bundle, the tapered optical fiber bundle being arranged in the endoscope sleeve and gradually narrowing toward the distal end; and an endoscope camera, the endoscope camera being arranged in the endoscope sleeve and facing outward from the distal end; a shadow projection device; a shadow thrower mounted on the distal end of the endoscope body above the tapered fiber optic bundle, the shadow thrower comprising: a semicircular sheet; a light emitting device comprising: a horizontal platform; a vertical seat extending from the horizontal platform; a stepper motor linear actuator extending from the horizontal platform; a support platform suspended from the vertical seat; a light source suspended from the support platform; a fiber optic bundle suspended from the light source; a square to round taper, the square to round taper being suspended from the fiber optic bundle; and a slit being mounted to the stepper motor linear actuator; a memory stored in a non-transitory computer readable medium; a processor comprising: the computer readable medium; and a display; wherein the light emitting device is connected to the proximal end of the endoscope body; wherein the light source illuminates the fiber optic bundle, the square to round taper, the slit, the tapered fiber optic bundle, and the shadow caster to cast a high contrast shadow of a known geometric shape, which forms the one or more brightness edges on the object; wherein the stepper motor linear actuator moves the slit to sweep the one or more brightness edges across the object; wherein the endoscope camera captures an image of the one or more brightness edges on the object and records the image to the memory; wherein the processor forms a three-dimensional data representation based on the recorded image; wherein the processor uses the three-dimensional data representation to generate the three-dimensional model of the object; and wherein the three-dimensional model is displayed on the display using the processor. Other versions of this embodiment use a tapered fiber bundle that is rectangular or rounded-rectangular. Additionally, some versions of this embodiment use one or more shadow casters that further include a configurable shape, configurable opacity, or color filter.

[0022] In another preferred embodiment, the present invention generally relates to a system for modeling an area using drones. This embodiment generally relates to a system for generating one or more brightness edges to form a three-dimensional model of an area, the system comprising: a plurality of shadow drones, each of the shadow drones comprising: a drone, the drone comprising: a remotely controlled aircraft and a shadow thrower, the shadow thrower comprising: a panel, the panel suspended from the drone; a plurality of camera drones, each of the camera drones comprising: the drone and an image capture device, the image capture device suspended from the drone; a memory stored in a non-transitory computer-readable medium; a processor capable of controlling the shadow drones and the camera drones, the processor comprising: the computer-readable medium; and a display; wherein the plurality of shadow drones are aligned in a flight formation such that the shadow thrower forms a substantially continuous uniform shadow cast. wherein the unified shadow caster comprises aligned shadow casters; wherein the sun illuminates the unified shadow casters to cast high-contrast shadows of known geometric shapes, which form the one or more brightness edges on the area; wherein the plurality of shadow drones aligned in the flight formation move in formation over the area so as to sweep the one or more brightness edges over the area; wherein the image capture devices of the camera drones capture images of the one or more brightness edges on the area and record the images into the memory; wherein the processor forms a three-dimensional data representation based on the recorded images; wherein the processor uses the three-dimensional data representation to generate the three-dimensional model of the area; and wherein the three-dimensional model is displayed on the display using the processor.This preferred embodiment also generally relates to a system for generating one or more brightness edges to form a three-dimensional model of an area, the system comprising: a plurality of shadow drones, each of the shadow drones comprising: a drone, the drone comprising: a remote-controlled aircraft and a shadow thrower, the shadow thrower comprising: a panel, the panel suspended from the drone; a plurality of light drones, each of the light drones comprising: the drone and a light source, the light source suspended from the drone; a plurality of camera drones, each of the camera drones comprising: the drone and an image capture device, the image capture device suspended from the drone; a memory stored in a non-transitory computer-readable medium; a processor capable of controlling the shadow drones, the light drones, and the camera drones, the processor comprising: the computer-readable medium; and a display; wherein the plurality of shadow drones are aligned in a flight formation, The shadow throwers are configured to form a substantially continuous unified shadow thrower, the unified shadow thrower comprising the aligned shadow throwers; wherein the light drones illuminate the unified shadow throwers to cast high-contrast shadows of a known geometric shape, which form the one or more brightness edges on the area; wherein the plurality of shadow drones aligned in the flight formation move in formation over the area so as to sweep the one or more brightness edges over the area; wherein the image capture devices of the camera drones capture images of the one or more brightness edges on the area and record the images to the memory; wherein the processor forms a three-dimensional data representation from the recorded images; wherein the processor uses the three-dimensional data representation to generate the three-dimensional model of the area; and wherein the three-dimensional model is displayed on the display using the processor. Other versions of this embodiment use one or more shadow throwers that further include a configurable shape, a configurable opacity, or a color filter. Additionally, some versions of this embodiment use a display that is an augmented reality headset that can overlay the three-dimensional model on the field of view of a user of the headset.

[0023] In another preferred embodiment, the present invention generally relates to a system for modeling an area such as a large stadium. This embodiment generally relates to a system for generating one or more brightness edges to form a three-dimensional model of an area, the system comprising: a shadow thrower platform, the shadow thrower platform being horizontal and capable of rotating; a light source, the light source being suspended from the center of the shadow thrower platform; at least one shadow thrower, each of the shadow throwers being suspended from the shadow thrower platform around the light source and comprising: a vertical panel and an angled panel, the angled panel being angled toward the light source; a plurality of image capture devices, each of the image capture devices being mounted on a tripod; a memory, the memory being stored in a non-transitory computer readable medium; a processor, the processor comprising: the computer readable medium; and a display; wherein the plurality of image capture devices The apparatus is arranged around the shadow thrower platform; wherein the light source illuminates the shadow thrower to cast a high contrast shadow of a known geometric shape, which forms the one or more brightness edges on the area; wherein the shadow thrower platform is rotated, thereby rotating the shadow thrower around the light source so as to sweep the one or more brightness edges across the area; wherein the multiple image capture devices capture images of the one or more brightness edges on the area and record the images to the memory; wherein the processor forms a three-dimensional data representation based on the recorded images; wherein the processor uses the three-dimensional data representation to generate the three-dimensional model of the area; and wherein the three-dimensional model is displayed on the display using the processor.This preferred embodiment also generally relates to a system for generating one or more brightness edges to form a three-dimensional model of an area, the system comprising: a shadow thrower platform, the shadow thrower platform being horizontal; a light source, the light source being directional, rotatable, and suspended from the center of the shadow thrower platform; at least one shadow thrower, each of the shadow throwers being suspended from the shadow thrower platform around the light source and comprising: a vertical panel and an angled panel, the angled panel being angled toward the light source; a plurality of image capture devices, each of the image capture devices being mounted on a tripod; a memory, the memory being stored in a non-transitory computer readable medium; a processor, the processor comprising: the computer readable medium; and a display; wherein the plurality of image capture devices are arranged around the shadow thrower platform; wherein the light source illuminates the shadow thrower to cast a high-contrast shadow of a known geometric shape, which forms the one or more brightness edges on the area; wherein the light source is moved so as to sweep the one or more brightness edges across the area; wherein the plurality of image capture devices capture images of the one or more brightness edges on the area and record the images to the memory; wherein the processor forms a three-dimensional data representation from the recorded images; wherein the processor uses the three-dimensional data representation to generate the three-dimensional model of the area; and wherein the three-dimensional model is displayed on the display using the processor. Other versions of this embodiment use one or more shadow throwers, the one or more shadow throwers further comprising a configurable shape, a configurable opacity, or a color filter. Additionally, some versions of this embodiment use a display, the display being an augmented reality headset that can overlay the three-dimensional model on the field of view of a user of the headset.

[0024] In another preferred embodiment, the present invention is broadly directed to a method for generating a shaped shadow thrower, which is used in many of the preferred embodiments described above. This embodiment generally relates to a method for creating a customized shadow thrower to generate one or more luminance edges to form a three-dimensional model of an object, the method comprising: providing a three-dimensional printer; determining an outline of the object using photography, video, or shadow casting; three-dimensionally printing the customized shadow thrower in the shape of the outline using the three-dimensional printer; and placing the customized shadow thrower substantially adjacent to the object while generating the one or more luminance edges.

[0025] In another preferred embodiment, the present invention is directed to an apparatus, namely a slotted linear light source, which can be used in many of the preferred embodiments described above. This embodiment generally relates to an apparatus for generating light for a shadow caster, the apparatus comprising: a slotted tube, the slotted tube comprising: an interior, the interior being painted white; an exterior, the exterior being opaque; and a slit, the slit extending along the length of the slotted tube and comprising: a width; two light sources, the light sources suspended at opposite ends of the slotted tube; two heat sinks, the heat sinks suspended from the light sources; and two clamps, each of the clamps wrapping around the slotted tube and comprising: a screw; wherein the clamps are capable of adjusting the width of the slit. Other versions of this embodiment use a light source that is a group of LEDs or provided by a fiber optic bundle. Additionally, additional versions of this embodiment further comprise one or more lenses across the slit, the lenses having a negative focal length.

[0026] In another preferred embodiment, the present invention relates to an apparatus for generating sharp shadows, the apparatus comprising: two side shadow throwers, each of the side shadow throwers being triangular and comprising: a base; two sides extending from the base and meeting at a point; and a vertex comprising: the point where the two sides meet and a pivot point; a main shadow thrower disposed between the bases of the side shadow throwers, wherein the side shadow throwers are suspended from the main shadow thrower; an axis of rotation intersecting the pivot points of the side shadow throwers; and a light source being linear, spanning between the vertices of the side shadow throwers, and disposed along the axis of rotation; wherein the side shadow throwers and the main shadow thrower are rotatable about the axis of rotation; and wherein the light source casts light throughout the side shadow throwers and the main shadow thrower to generate the sharp shadows. Other versions of this embodiment use side shadow throwers and a main shadow thrower, wherein the shadow throwers further comprise a configurable shape. Still other versions of this embodiment use side shadow throwers and a main shadow thrower, the shadow throwers further including configurable opacity. Additional versions of this embodiment use side shadow throwers and a main shadow thrower, the shadow throwers further including a color filter. Still other versions of this embodiment use side shadow throwers and a main shadow thrower, the shadow throwers further including multiple segments. When used with a shadow thrower scanner, the camera must be separated from the light source.

[0027] Although the foregoing examples have been described in detail for purposes of clarity of understanding, the inventive technology described above is not limited to the details provided. There are many alternative ways to implement the inventive technology described above. The disclosed examples are illustrative and not restrictive. These embodiments are not intended to limit the scope of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Illustrative and preferred embodiments of the present invention are shown in the accompanying drawings, in which:

[0029] Figure 1 is a known scanner system;

[0030] Figure 2 is a simplified diagram depicting an example of a shadow caster according to some embodiments;

[0031] Figure 3 is a simplified diagram depicting a scanning system according to some examples;

[0032] Figure 4 is a simplified diagram depicting another example of a shadow caster according to some embodiments;

[0033] Figure 5 is a simplified diagram depicting another example of a shadow caster according to some embodiments;

[0034] Figure 6 is a simplified diagram depicting an example of a shadow caster that generates brightness edges to scan multiple objects according to some examples;

[0035] Figure 7A is a simplified diagram depicting a side view of a scanned object according to some examples;

[0036] Figure 7B is a simplified diagram depicting a perspective view of a scanned object according to some examples;

[0037] Figure 7C is an example flow chart for determining the spatial position of a point on a surface of an object according to some examples;

[0038] Figure 8 is a simplified diagram depicting an example of a shadow caster according to various embodiments;

[0039] Figure 9 is a simplified diagram depicting an example of a shadow caster according to various embodiments;

[0040] Figure 10 is a simplified diagram depicting an example of a shadow caster according to various embodiments;

[0041] Figure 10A is a simplified diagram depicting an example of a shadow caster according to various embodiments;

[0042] Figure 11A is a simplified diagram depicting examples of adaptable structural properties of a shadow caster for scanning a three-dimensional object according to some examples;

[0043] Figure 11B is a simplified diagram depicting examples of adaptable structural properties of a shadow caster for scanning three-dimensional objects according to some examples;

[0044] Figure 11C is a simplified diagram depicting examples of adaptable structural properties of a shadow caster for scanning a three-dimensional object according to some examples;

[0045] Figure 12 is a simplified diagram depicting an example of a configurable shadow caster according to some examples;

[0046] Figure 13 is a simplified diagram depicting an example of a scanning system according to some examples;

[0047] Figure 14 is a simplified diagram depicting yet another example of a scanning system according to some examples;

[0048] Figure 15 depicts an example of a scanning system configured to perform a medical application according to some examples;

[0049] Figure 16A is a simplified diagram depicting a specialized surgical microscope including a shadow caster system according to some examples;

[0050] Figure 16B is a simplified diagram depicting yet another specialized surgical microscope including at least one shadow caster according to some examples;

[0051] Figure 17 is a simplified diagram depicting a magnified image based on a three-dimensional scan feature according to some examples;

[0052] Figure 18 is a functional block diagram depicting in vivo three-dimensional scanning and image integration according to some examples;

[0053] Figure 19 is a diagram depicting yet another example of one or more shadow casters configured to generate one or more luminance edges according to some examples;

[0054] Figure 20 is a simplified diagram depicting examples of light projection patterns from a wearable shadow caster according to some examples;

[0055] Figure 21 is a simplified diagram depicting an image capture device implemented with a wearable shadow thrower according to some examples;

[0056] Figure 22 is a simplified diagram depicting multiple wearable shadow throwers collaborating in a common environment according to some examples;

[0057] Figure 23 Examples of various computing platforms configured to provide various functions to components for three-dimensional scanning are presented in accordance with various embodiments;

[0058] Figure 24 is a front perspective view of an apparatus of the present invention according to some examples;

[0059] Figure 25 Based on some examples Figure 24 A rear perspective view of the device;

[0060] Figure 26 Based on some examples Figure 24 An exploded view of the device;

[0061] Figure 27 is a front perspective view of a shadow thrower of the present invention according to various embodiments;

[0062] Figure 28 is a front perspective view of another shadow thrower of the present invention according to various embodiments;

[0063] Figure 29 is a front perspective view of another shadow thrower of the present invention according to various embodiments;

[0064] Figure 30 Described according to some examples Figure 24 a flowchart of the operation of the apparatus;

[0065] Figure 31 is a front perspective view of the apparatus of the present invention for use during brain surgery, according to various embodiments;

[0066] Figure 32 shows a flow chart describing the operation of the apparatus of the present invention for use during brain surgery, according to some examples;

[0067] Figure 33 shows a flow chart describing the operation of the apparatus of the present invention for use during brain surgery, according to some examples;

[0068] Figure 34 depicts a flowchart describing an algorithm used by the present invention according to some examples;

[0069] Figure 35 shows a flow chart describing the apparatus of the present invention for patient registration according to various embodiments;

[0070] Figure 36 A flow chart describing the operation of the apparatus of the present invention for use during robotic automated brain surgery according to some examples is presented;

[0071] Figure 37 is a front perspective view of an apparatus of the present invention according to various embodiments;

[0072] Figure 38 Based on some examples Figure 37 An exploded view of the device;

[0073] Figure 39 is a front perspective view of an apparatus of the present invention according to various embodiments;

[0074] Figure 40 shows front perspective and exploded views of the device of the present invention installed in the distal tip of an endoscope, according to various embodiments;

[0075] Figure 41 Depicted is a block diagram illustrating a Figure 40 device;

[0076] Figure 42 A flow chart describing the operation of an endoscopic version of the apparatus of the present invention is shown, according to various embodiments;

[0077] Figure 43 depicts a flow chart describing an algorithm used by an endoscopic version of the present invention, according to some examples;

[0078] Figure 44 shows a flow chart describing a shadow caster sweep of an endoscopic version of the apparatus of the present invention, according to some examples;

[0079] Figure 45 is a front perspective view of an apparatus of the present invention scanning a person according to various embodiments;

[0080] Figure 46 Shows a description based on some examples Figure 45 a flowchart of the operation of the apparatus;

[0081] Figure 47 is a front perspective view of another apparatus of the present invention scanning a walking person according to various embodiments;

[0082] Figure 48 It is described based on some examples Figure 47 a flowchart of the operation of the apparatus;

[0083] Figure 49 A front perspective view showing another device of the present invention incorporated into an automobile according to various embodiments;

[0084] Figure 50 Based on some examples Figure 49 A close-up view of the device;

[0085] Figure 51 Shows a description based on some examples Figure 49 a flowchart of the operation of the apparatus;

[0086] Figure 52 A flowchart describing the operation of the apparatus of the present invention incorporated into a robot according to various embodiments is shown;

[0087] Figure 53 is a flow chart describing the operation of the apparatus of the present invention incorporated into a submersible according to various embodiments;

[0088] Figure 54 A front perspective view illustrating a system using a drone according to various embodiments of the present invention is shown;

[0089] Figure 55 It is described based on some examples Figure 54 a flowchart of the operation of the system;

[0090] Figure 56 is a front perspective view of another system using a drone according to various embodiments of the present invention;

[0091] Figure 57 The description according to some examples is shown Figure 56 a flowchart of the operation of the system;

[0092] Figure 58 depicts a flow chart describing an algorithm used by the system of the present invention using a drone, according to various embodiments;

[0093] Figure 59 is a flow chart describing a shadow caster sweep of the system of the present invention using a drone, according to various embodiments;

[0094] Figure 60 is a perspective view of another system of the present invention being used to scan a stadium, according to various embodiments;

[0095] Figure 61 Based on some examples Figure 60 A perspective view of the system scanning the stadium;

[0096] Figure 62 shows a flow chart describing an algorithm used by an embodiment of the present invention using a single shadow caster, according to some examples;

[0097] Figure 63is a flow chart describing a shadow caster sweep used by an embodiment of the present invention using a single shadow caster, according to some examples;

[0098] Figure 64 A flow chart describing the operation of the apparatus or system of the present invention for desktop scanning is presented, according to various embodiments;

[0099] Figure 65 A flow chart describing the operation of an apparatus or system of the present invention, which may be used with a tripod to scan a room, is shown according to various embodiments;

[0100] Figure 66 depicts a flow chart describing the operation of an apparatus or system of the present invention, which may be used with an overhead light to scan a room, according to various embodiments;

[0101] Figure 67 shows a flow chart describing an algorithm used by an embodiment of the present invention using multiple cameras, according to some examples;

[0102] Figure 68 is a flow chart describing an algorithm used by an embodiment of the present invention using multiple cameras and a single static shadow caster, according to some examples;

[0103] Figure 69 A flowchart describing a method of creating a custom shadow caster according to some examples is shown;

[0104] Figure 70 is a perspective view of an apparatus of the present invention according to some examples, the apparatus being a light source with a slit; and

[0105] Figure 71 Shows some examples Figure 70 Exploded view of the device. DETAILED DESCRIPTION

[0106] For illustrative purposes, the present invention is presented in preferred embodiments of apparatus, methods, and systems for generating one or more luminance edges to form a three-dimensional model of an object or environment. In broad embodiments, the present invention comprises: one or more light sources and one or more shadow casters that generate one or more luminance edges on a modeled object or area; one or more devices for detecting the one or more luminance edges; a device for moving the one or more luminance edges relative to the modeled object or area; and an apparatus for generating a three-dimensional model of the modeled object or area; and related methods and systems. Some embodiments move the one or more shadow casters, some embodiments move the one or more light sources, and some embodiments cause the object to move through the one or more luminance edges. Various embodiments or examples can be implemented in various ways, including as a system, process, method, apparatus, user interface, or as a series of program instructions on a computer-readable medium (such as a computer-readable storage medium or a computer network that transmits program instructions via an optical, electronic, or wireless communication link). Generally speaking, the operations of the disclosed processes may be performed in any order unless otherwise provided in the claims. These embodiments are not intended to limit the scope of the invention.

[0107] A detailed description of one or more examples is provided below along with the accompanying drawings. The detailed description is provided in conjunction with such examples, but is not limited to any particular example. The scope is limited only by the claims and their numerous alternatives, modifications, and equivalents. In order to provide a thorough understanding, numerous specific details are set forth in the following description. These details are provided for illustrative purposes, and the described technology can be practiced according to the claims without some or all of these specific details. For the sake of clarity, technical material known in the technical fields related to the examples has not been described in detail to avoid unnecessarily obscuring the description.

[0108] Referring now to the preferred embodiments of the present invention, Figure 22 is a simplified diagram depicting an example of a shadow thrower according to some embodiments. The simplified diagram 200 depicts an example of a shadow thrower 215 configured to form brightness edges 250a and 250b at or on a projection plane or object (not shown) or an environment (not shown), thereby facilitating a three-dimensional representation of the shape and image of the object or environment. In some examples, the shadow thrower 215 can be configured to receive photon emissions (e.g., as light) that can impinge on at least edge portions 211a and 211b of an edge 213a of the shadow thrower 215, which in turn can cause projections 204a and 204b of light originating from the edge portions 211a and 211b to form brightness edges 250a on the projection plane 210. Similarly, light can also impinge on edge portions 211aa and 211bb of edge 213b, which in turn can cause projections 204aa and 204bb of light originating from edge portions 211aa and 211bb to form another brightness edge 250b. According to various examples, either or both brightness edge 250a or brightness edge 250b can be used to facilitate three-dimensional scanning and digital copying. In the example shown, shadow caster 215 can be opaque to form umbra 220 based on brightness edges 250a and 250b. Umbra 220 can be associated with a relatively high degree of darkness (e.g., a low to negligible illumination level) relative to illuminated portion 299 of plane 210 (including illuminated plane portion 228).

[0109] In view of the foregoing, shadow thrower 215 can be implemented according to the various functions and / or structures described herein to form luminance edges to facilitate three-dimensional scanning and digital reproduction of spatial features associated with surfaces of objects and environments. According to some examples, shadow thrower 215 includes a triangular cross-sectional area that provides a triangular profile when projected onto plane YZ, and the shadow thrower casts sharp shadows, wherein each edge remains parallel to line 212 throughout the scanning process, wherein the sharp shadows are projected onto any plane parallel to line 212. That is, during scanning (e.g., when one or both of luminance edges 250a and 250b moves across the object, environment, and / or projection plane 210), the parallelism of one or both edges to line 212 can be maintained as projected onto plane 210. The geometry and dimensions of shadow thrower 215, light source 203, and luminance edge 250a (or luminance edge 250b) help maintain parallelism when, for example, one or more luminance edges move during the scanning process. Because the angle of shadow thrower 215 can be known a priori, parallelism can be maintained to one or more luminance edges used in the scan to facilitate accurate determination of the shadow plane, which in turn can improve the accuracy of the coordinates of the 3D object. In at least one example, for either or both edges 213a or 213b, shadow thrower 215 can be implemented to form a shadow plane parallel to line 212 passing through light source 203 at point L and vertex 262 of shadow thrower 215. An example shadow plane is formed by points L, A, and B, while an example second shadow plane is formed by points L, C, and D. Thus, according to some examples, luminance edge 250a between points A and B can be maintained parallel (or substantially parallel) to luminance edge 250b between points C and D. Note that, according to at least one example, line 212 passing through light source 203 does not necessarily pass through the shadow plane. In other examples, line 212 is parallel to the shadow plane, which can extend to line 212. However, the shadow thrower may not necessarily cast a shadow along this line.

[0110] For example, luminance edge 250a can be associated with a relatively steep rate of change from the absence (or relatively low amount) of reflected light or photon emission in umbra 220 (e.g., a relatively low brightness or luminance level) to a relatively high level of reflected light or photon emission at illuminated planar portion 228 within distance unit 226. According to some examples, luminance edge 250a can be described as being associated with a gradient indicating unit distance 226. Pixel characteristics can include, but are not limited to, pixel intensity, such as gray pixel intensity, brightness value, luminance, and the like. In one example, the gradient can specify the distance at which one or more pixel characteristics of the associated umbra 220 change from a pixel value of 000 (e.g., no illumination or "black") to a pixel value of 255 (e.g., fully illuminated or "white"). In at least some cases, according to at least some examples, the cross-sectional area associated with shadow thrower 215 can produce sharper luminance edges and higher contrast than, for example, a cylindrical rod or pencil arranged such that no shadow-casting edge lies entirely within a single plane containing the light source. In other words, any edge that lies entirely within a single plane (where that plane also contains the light source) will cast a sharp, high-contrast shadow, which is a particular advantage of embodiments of the present invention.

[0111] In some examples, luminance edges can provide a relatively sharp contrast between the illuminated surface and the generated shadow. Thus, the example of luminance edges can facilitate capturing the spatial characteristics of 3D surfaces and the color associated with those surfaces, where the color can be derived from the illuminated surface closest to the shadow edge. Consequently, color determinations can be made relatively close to luminance edges during scanning compared to other circumstances, accurately representing the color during scanning. For example, determining color need not rely on registering 3D data with separate color information, which may be obtained using a separate camera or at a different time than when scanning or otherwise capturing data representing the 3D information.

[0112] Still refer to Figure 2, diagram 200 depicts light source 203 arranged in a region associated with a negative X-plane (e.g., "-X") portion of projection plane 210, wherein shadow thrower 215 (or its projection) is arranged in a plane (e.g., the YZ plane). A portion 260 of shadow thrower 215 can be arranged at or near line 212. Line 212 can also include light source 203 positioned thereon. In at least one example, portion 260 can be coextensive with line 212. In one example, line 212 can coincide with one or more points of shadow thrower 215, which can include points at vertices 262 of the triangular shadow thrower 215 shown in diagram 200. In at least some cases, line 212 can be parallel to the XY plane and orthogonal to the YZ plane. Another portion of shadow thrower 215 can be arranged distally, such as at end portion 230. For example, end portion 230 can be arranged at or near projection plane 210.

[0113] In some examples, the depiction of shadow thrower 215 may represent a cross-sectional area or projection thereof associated with a plane (e.g., the YZ plane) that may form brightness edges 250a and 250b. Alternatively, shadow thrower 215 (or a cross-sectional area thereof) may be positioned or oriented at an angle relative to a plane (e.g., at angle 280 relative to a plane coextensive with the XY plane). Thus, the structure and function of shadow thrower 215 need not be limited to the following. Figure 2those depicted and described herein. For example, a rectangular shadow thrower can be implemented utilizing one or more features, functions, and / or structures described herein, such as one or more light sources 203 (e.g., light points), whereby the rectangular shadow thrower can be rotated about a point on its edge (e.g., about an axis of rotation parallel to line 212) to form at least one relatively sharp shadow edge (or brightness edge). According to some examples, the shadow thrower 215 can be opaque, where the opacity is configurable or programmable. Note that in some examples, the penumbra can be implemented as an umbra 220, whereby the partial amount of illumination from the light source 203 (or any other light source) can modify or limit the maximum darkness (e.g., the partial amount of illumination can cause the pixel intensity value to increase above 000 (which can represent complete darkness)). Regardless, according to some examples, the brightness edges 250a and 250b can be detected as a transition from a first range of one or more pixel values ​​associated with the penumbra to a second range of one or more pixel values ​​associated with the illuminated portion 228 of the projection plane 210. According to some examples, a transition can be detected or determined in a single frame where adjacent pixels can be compared. Alternatively, a transition can be determined as a change in the brightness of a pixel over time (e.g., over multiple frames). In at least one instance, a luminance (or shadow) edge can be resolved at a finer scale than a pixel (e.g., during one or more frames where pixel values ​​may change relatively slowly as a shadow edge moves across pixels during a scan). Thus, a luminance edge can be determined with sub-pixel accuracy.

[0114] Figure 3 is a simplified diagram depicting a scanning system according to some examples. The simplified diagram 300 depicts another example of a shadow thrower 315 as a component of a scanning system that also includes an image capture device 301 and a light source 303 or multiple light sources 303 (not shown) arranged on a line 312. The line 312 can extend through a vertex 362 of the shadow thrower 315 and the one or more light sources 303. In some examples, the shadow thrower 315 can be configured to receive photon emissions (e.g., as light) that can impinge on at least edge portions 311a and 311b of an edge 313a of the shadow thrower 315, which in turn can cause projections 304a and 304b of light originating from the edge portions 311a and 311b, respectively, to form a brightness edge 350a on a projection plane 310. Similarly, light can also impinge on edge portions 311aa and 311bb of edge 313b, which in turn can cause projections 304aa and 304bb of light originating from edge portions 311aa and 311bb to form another brightness edge 350b. One or more brightness edges 350a and 350b can be formed at or on projection plane 310 to facilitate generating a three-dimensional representation of the shape of object 370.

[0115] According to various functions and structures, brightness edges 350a and 350b can transition or move on the surface of object 370 to determine the three-dimensional spatial characteristics of the surface. Any amount or type of motive force (not shown) can be generated by a device such as an electromechanical motor (not shown) or by gravity to move one of shadow thrower 315 and object 370 relative to the other, thereby achieving movement of brightness edge 350 relative to object 370. For example, the motive force can cause angular displacement of shadow thrower 315 in a plane (e.g., a YZ plane) (e.g., a rotation 384 having at least some rotational component about an axis parallel to line 312). In some examples, the above-mentioned parallelism can be maintained so that by moving shadow thrower 315 around Figure 3 The vertices 362 of are rotated to provide parallel brightness edges that move (eg, synchronously) throughout the scan. Similarly, Figure 2 262 to maintain parallelism. Note that the width of the bottom portion 331 (e.g., in the Y-axis direction) can be depicted as being equal to the width of one or more squares of the checkerboard pattern depicted in diagram 300. However, here, or in any other example described herein, the width of the bottom portion 331 can be less than or greater than the width of any number of checkerboard squares. Thus, the dimensions of the shadow caster 315 shown in diagram 300 are exemplary. In various examples, any number of configurations and widths can be used to form any distance 333 between parallel brightness edges 350a and 350b.

[0116] To implement the scanning, angular displacement of the shadow thrower 315 in the YZ plane can cause the luminance edge 350 and the umbra 320 to move in a direction parallel to, for example, the Y axis and on the projection plane 310 by 380. As another example, the motive force can cause the shadow thrower 315 to translate (e.g., non-rotately) in the orientation shown along the Y axis, thereby moving the luminance edges 350a and 350b and the umbra 320 in the direction 380. In yet another example, the motive force can cause the object 370 to rotate 382 or translate 383 (e.g., linear displacement parallel to the Y axis) relative to the shadow thrower 315, such that the luminance edges 350a and 350b contact different portions of the object 370 at different points in time. In another example, the motive force can cause the object 370 to move relative to the shadow thrower 315 to induce motion of the luminance edge.

[0117] In some examples, motive force can cause one of light source 303, shadow caster 315, and object 370 to move relative to the other to effect movement of brightness edges 350a and 350b. Note that the motive force on light source 303 or shadow caster 315 can be any type of motive force, examples of which include, but are not limited to, mechanical, electromechanical, electrical, magnetic, electromagnetic, electronic (e.g., an electric current or voltage used to activate elements of an LCD to effect movement of simulated shadow caster 315), or any other motive force. Furthermore, the device generating the motive force need not be limited to an electromechanical motor, but can be gravity or any known device for causing movement of brightness edge 350 relative to the surface of object 370.

[0118] Image capture device 301 can be configured to capture an image of a scene or environment including object 370 as brightness edges 350a and 350b travel or move across projection plane 310. Examples of image capture device 301 can include any type of camera, such as a digital video camera, a charge-coupled device (CCD)-based image sensor, and analog cameras. In the illustrated example, image capture device 301 can capture one or more image frames (e.g., video at a specific frame rate) as shadow 320 (e.g., umbra) passes over object 370, wherein one or more pixels 373 can be associated with brightness edges 350a and 350b. One or more pixels 373 can be pixels on the camera corresponding to points on object 370, depicted as one or more pixels 373. In this example, image capture device 301 can capture the change in reflected light brightness from dark to light or from light to dark for a given brightness edge. As detected from the viewpoint of image capture device 301, the surface of object 370 may cause a portion of brightness edges 350a and 350b (e.g., the portion that falls on object 370) to deviate from other, more straight portions of brightness edges 350a and 350b (e.g., in the XY plane). The deviation or deformation of brightness edges 350a and 350b may be due to a surface dimension (of object 370) extending along a positive value of the Z axis. In at least one embodiment, a single image capture device 301 (e.g., having a single lens) may be sufficient to implement at least some of the scanning functions described herein.

[0119] Figure 44 is a simplified diagram depicting another example of a shadow thrower according to some embodiments. The simplified diagram 400 depicts a system of shadow throwers 415a and 415b configured to form one or more brightness edges 450 at or above a projection plane 410 to facilitate three-dimensional object scanning. The simplified diagram 400 also depicts an arrangement in which shadow throwers 415a and 415b can be configured to throw brightness edges 451 and 453 to coincide with each other to form a common edge 450. The simplified diagram 400 also depicts an image capture device 401, a subset of one or more light sources 403a, and a subset of one or more light sources 403b. The subset of one or more light sources 403a is shown as being arranged in a zone 430 (e.g., on one side of the shadow thrower 415a), and the subset of one or more light sources 403b can be arranged in a zone 434. The zones 430, 432, and 434 can define a two-dimensional or three-dimensional space. The light sources of subsets 403a and 403b can be arranged axially on line 412 and can be any type of light emitting source that can emit any number of lumens (e.g., 200 lumens (or less) to 1300 lumens (or more)). Examples of light emitting sources can include, but are not limited to, LEDs, incandescent lamps, halogen lamps, lasers, etc., as well as any type of light conduit, lens (e.g., Fresnel lens), or light guide, such as an illuminated optical fiber (e.g., an optical fiber, such as a fiber optic cable). Each light source in subsets 403a and 403b can emit photon emissions (e.g., light) at the same or different wavelengths. For example, one or more light sources in each of subsets 403a and 403b can generate light within the visible spectrum and any other spectral range (e.g., ultraviolet spectrum, infrared spectrum, etc.), and can emit light within a relatively narrow spectral range. One or more wavelength ranges can be selectively implemented depending on the application of shadow casters 415a and 415b. In some cases, the light sources in subsets 403a and 403b can be implemented to emit wavelengths of light that constitute "white light" or "broadband light," which can reduce or eliminate diffraction effects at the edges of the shadow caster (e.g., one or more wavelength ranges combined can reduce or eliminate artifacts associated with light diffraction due to edges). Moreover, the light sources in subsets 403a and 403b can implement any number of wavelength ranges, whether or not those ranges are within the visible spectrum. The light sources in subsets 403a and 403b can be configured to emit light omnidirectionally, unidirectionally, or in any other light pattern.

[0120] In some cases, the light sources in subsets 403a and 403b can be relatively narrow or approximate points of light and / or can have a decreasing (or relatively short) radial dimension ("r") 499 about line 412 to, for example, achieve a relatively sharp transition from "light" to "dark" along edge 450. As the number of light sources (e.g., relatively narrow light sources) increases along the length ("L") 407 of a portion of line 412, the luminance edge 453 generated by shadow thrower 415b can become sharper (e.g., increasing the rate of transition from the umbra or shadow region 420 of region 432 to the illuminated portion of projection plane 410). In some examples, light sources such as subset 403b can be arranged at a greater distance 490 from shadow thrower 415b to sharpen luminance edge 453. Similarly, any number of light sources in subset 403a can be arranged along a corresponding portion of line 412 to generate an enhanced luminance edge 451 associated with shadow thrower 415a. In at least one example, a filament (e.g., in a halogen light bulb) can be used to act as a plurality of point light sources arranged in subset 403a such that they form a continuous set. In at least some examples, the radius of a halogen light bulb or filament, or any other light source described herein, can be referred to as a light source subset describing a "narrow light source" having a radius "r" 499.

[0121] According to some examples, shadow thrower 415a can be configured to receive photon emissions (e.g., from subset 403a of one or more light sources) at an edge portion to form at least two portions of brightness edge 451. The at least two portions of brightness edge 451 can be parallel or substantially parallel to each other when projected onto projection plane 410 (e.g., do not intersect on projection plane 410). Shadow thrower 415b can be configured to receive photon emissions (e.g., from subset 403b of one or more light sources) at an edge portion to form at least two portions of brightness edge 453. The at least two portions of brightness edge 453 can be parallel or substantially parallel to each other when projected onto projection plane 410.

[0122] Luminance edge 453 can be coextensive (or substantially coextensive) with luminance edge 451 to form luminance edge 450 based on shadow casters 415a and 415b. Thus, shadow caster 415b can form luminance edge 453 to enhance luminance edge 451 (e.g., adjacent shadow caster 415b), and similarly, shadow caster 415a can form luminance edge 451 to enhance luminance edge 453 (e.g., adjacent shadow caster 415a). According to at least one example, the enhanced luminance edge 453 can provide relatively sharper shadows for parallel shadows.

[0123] Because shadow throwers 415a and 415b have a common rotational component about line 412 as an axis, brightness edge 450 can be synchronously translated on projection plane 410, where line 412 can be maintained as extending along light source subsets 403a and 403b toward vertices 462a and 462b of shadow throwers 415a and 415b, respectively. In other examples, shadow throwers 415a and 415b and light source subsets 403a and 403b can be translated along the Y axis (e.g., along lines 431 and 433, respectively) together with some component. In other examples, shadow throwers 415a and 415b and light source subsets 403a and 403b can rotate together while maintaining common line 412. In this case, illumination edge 450 does not have to be translated along a single axis (e.g., as shown in FIG. 4 ). Figure 4 In other examples, shadow casters 415a and 415b and subsets of light sources 403a and 403b may all be translated and / or rotated in unison while maintaining common line 412.

[0124] Figure 5 is a simplified diagram depicting another example of a shadow thrower in accordance with some embodiments. The simplified diagram 500 depicts a system of shadow throwers 515a and 515b configured to form one or more brightness edges 550 at or above a projection plane 510 to facilitate three-dimensional object scanning. As shown, the shadow throwers 515a and 515b are depicted at different positions and / or orientations at different points in time as the shadow throwers 515a and 515b rotate about an axis 512 (e.g., a dashed line representing a previous position or orientation). Accordingly, the shadow throwers 515a and 515b can form moving brightness edges 550 as the umbra moves to position 520a at a first point in time, from position 520a to position 520 at a second point in time, from position 520 to position 520b at a third point in time, and to other positions at other points in time.

[0125] In some examples, light source 503 can be implemented as an elongated light source (e.g., an elongated light source) along axis 512. In some embodiments, a halogen lamp can be used with a filament that extends longitudinally along axis 512. As a halogen lamp, light source 503 can have a diameter ("d") 566, as shown in end view 556, and can be implemented as Figure 4'r'). Depending on the particular embodiment, the diameter 566 of the light source 503 may be two (2) mm or less. In some cases, the diameter 566 may be larger or otherwise sized depending on the type of light source implemented. Furthermore, the light source 503, in addition to being reflected, may also be a real or virtual image of the light source affected by a positive or negative lens or lens system (not shown), including an image of the light source that is a magnified or reduced image of the light source. Such an image may be considered to be the light source 503 by extension.

[0126] In at least one embodiment, shadow casters 515a and 515b can be implemented using liquid crystal displays ("LCDs") 570a and 570b or other switchable opaque glass, film, or material. For example, LCDs 570a and 570b can be transparent (e.g., normally transparent) and can be activated to form opaque cross-sectional shapes to simulate shadow casters 515a and 515b and / or their movement. LCDs 570a and 570b can have portions that are selectively activated at different times to cause light emitted from light source 503 to generate a brightness edge 550 that moves across the surface of projection plane 510.

[0127] In various examples, shadow throwers 515a or 515b or both can be replaced with multiple shadow throwers. For example, each triangular shape in diagram 500 can represent a different physical shadow thrower that can move in sync (e.g., rotate in sync with respect to axis 512). Thus, each subset of shadow throwers 515a (e.g., in the first plane) and 515b (e.g., in the second plane) can generate six (6) luminance edges, with each shadow thrower generating two (2) luminance edges. According to various other examples, any number of shadow throwers can be used.

[0128] Figure 6 is a diagram illustrating an example of a shadow caster that generates brightness edges to scan multiple objects according to some examples. Diagram 600 illustrates a shadow caster that generates brightness edges to scan multiple objects according to some examples. Figure 4 Shadows are cast by shadow casters 615a and 615b in the lighting arrangement shown to generate brightness edges 650a and 650b. As shown, brightness edges 650a and 650b maintain their common edges and relatively fast transitions from light (e.g., illuminated areas) to dark (e.g., areas of reduced or no illumination) on three-dimensional objects such as cone 630, hemisphere 632, and rectangular block 634. In addition, the illuminated areas of the objects are illuminated by lights corresponding to the shadow casters from 615a and 615b so that they can be illuminated from multiple directions to provide enhanced information during 3D scanning (e.g., based on the multiple directions). As shown with respect to Figure 4As described with reference to shadow throwers 415a and 415b, shadow throwers 615a and 615b can be rotated or moved to translate or rotate shadows on cone 630, hemisphere 632, and rectangular block 634, thereby forming a three-dimensional data representation or model of each object. An image capture device, such as a camera (not shown), can capture an image consisting of pixels associated with point ("P1") 664 on the surface of hemisphere 632 at a time when brightness edge 650a coincides with point 664. Similarly, the image capture device can capture an image of point ("P2") 665 on the surface of rectangular block 634 at a time when brightness edge 650b coincides with point 665.

[0129] Figure 7A is a diagram depicting a side view of a scanned object according to some examples. Diagram 700 depicts an image capture device 701 and a light source 703 arranged to capture an image of a brightness edge as it moves across the surface of an object 770. Image capture device 701 can be calibrated to associate each pixel with the angular coordinates of a light ray relative to a common coordinate system of the camera, light, and brightness plane edge. Image capture device 701 can also have a known position relative to the common coordinate system of the camera, light, and brightness plane edge. For example, as a brightness edge including illumination light ray 751a moves over point ("P1") 766 on the surface of projection plane 710 without object 770, point 766 can be captured. One or more pixels (and corresponding pixel data) of image capture device 701, such as those detected along light ray 711, can represent image data for point 766. The angular coordinates of point 766 can be determined by image capture device 701, which, together with the position of image capture device 701, can define a line from the camera to point 766, which in the illustrated example is depicted as ray 711. Assuming that a brightness plane edge containing illumination ray 751a can be identified, the spatial coordinates of point ("P1") 766 can be determined as the intersection of ray 711 and the brightness edge containing illumination ray 751a. Although diagram 700 includes projection plane 710 in the example of a 3D scanning process, projection plane 710 is optional and does not need to be implemented for 3D scanning.

[0130] During scanning of an object 770 disposed on projection plane 710, a point ("P1x") 764 may be identified when a brightness edge comprising illumination ray 751b passes over object 770 at a first point in time. At a subsequent point in time, when a brightness edge comprising illumination ray 751c passes over object 770, image capture device 701 may capture another point ("P1y") 765. Because other rays (not shown) intercept different points on the surface of object 770, the portion of the brightness edge applied to the surface portion of object 770 may be distorted from its shape on projection plane 710 (in the absence of object 770). Three-dimensional surface calculator 702 includes logic (whether in the form of hardware, software, or a combination thereof) to calculate the X and Y positions (not shown) and Z depths 777 and 778 of points 764 and 765, respectively.

[0131] Figure 7B is a diagram depicting a perspective view of a scanned object according to some examples. Diagram 752 depicts image capture device 701 and light source 703 arranged to capture an image of a brightness edge as it moves along direction 709 on the surface of object 770. Shadow 720 and corresponding brightness edge 750 (at Figure 7B 750) is shown projected onto a portion of projection plane 710 and onto the surface of object 770. Portions 773 and 775 of luminance edge 750 are shown projected onto the surface of projection plane 710. Portion 773 of luminance edge 750 includes reference point ("reference point A") 772, and portion 775 of luminance edge 750 includes reference point ("reference point B") 774. Although portions 773 and 775 are shown as being coextensive with the straight line, at least in this example, an edge-deformed portion 776 of the luminance edge containing illumination ray 751c is depicted as being between points "m" and "n" such that the edge intercepts the surface of object 770 at point 764 rather than intercepting projection plane 710 at point 766. Based on reference points 772 and 774 and a line (not shown) (which may be equivalent to Figure 5 512) on the image plane, or the position of light source 703, a shadow plane 755 can be obtained. According to some examples, the position of one or more shadow casters can be determined instead of reference points 772 and 774. For example, a linear encoder or an angle encoder or any other detection or monitoring device can be used to monitor the position and angle of the shadow casters. The intersection of multiple light rays (not shown) with shadow plane 755 can be used to determine the spatial characteristics of the three-dimensional surface.

[0132] By introducing object 770 onto projection plane 710, ray 711 can intercept point 764 on object 770 instead of point 766 on projection plane 710. Point 764 is shown as being on edge deformed portion 776 of luminance edge 750. Furthermore, shadow edge 750 is shown deformed to a determined Z depth 777, indicating the corresponding Z coordinate of point 764 measured from the line that intersects luminance edge 750 with point 766 in projection plane 710 (in the absence of object 770). Similarly, the X and Y positions of point 764 can also be determined (not shown) from the intersection of ray 711 with luminance edge 750. Various lines, line segments, triangles, planes, and other geometric relationships and their dimensions derived from the multiple locations of luminance edge 750 measured using multiple images can be used to calculate an estimate of a subset of points on the surface of object 770 to form a three-dimensional model or representation of the object's surface.

[0133] Figure 7C is an example process for determining the spatial position of a point on the surface of an object according to some examples. Process 790 can calculate the spatial position in three dimensions for a point having an X coordinate, a Y coordinate, and a Z coordinate, the point being coextensive with the surface of the object. At 792, one or more shadow throwers can be used to cast a luminance edge that moves across the scene. At 794, luminance edges can be detected for points on the object sampled at each image. For example, an image capture device can capture a set of luminance edges relative to the object arranged on a projection plane with each image, and multiple images can be used to sample multiple portions of the object. Each luminance edge of each image can be stored as a data representation, or can be processed in real time (substantially in real time) to determine data representing a 3D point along the edge, which can be aggregated with other 3D points to describe a three-dimensional portion of the surface. At 796, a plane associated with the position of each shadow thrower can be determined for each image. For each point at a luminance edge on the surface, a shadow plane can be determined, for example, based on mechanical or optical measurements of the position of the shadow thrower and the position of the light source that can be predetermined. Additionally, the plane can be determined relative to a reference point and the position of the light or Figure 5A shadow plane is calculated based on the equivalent of line 512 of FIG. At 798, for each image, points along a particular luminance edge can be determined to distinguish them from all points corresponding to other luminance edges. In some examples, each point can be associated with one or more pixels in an image frame. Furthermore, a shadow plane associated with the particular point can be identified. A particular luminance edge and corresponding shadow plane can be captured for a particular image frame during the scanning process. A "particular frame" for a particular point can be obtained based on the sequence number of the frame. At 799, a ray to any particular point can be identified, and estimated X, Y, and Z coordinates of the point can be calculated based on the intersection of the ray with the shadow plane of the particular luminance edge at the point. The ray can be determined based on one or more coordinates and the angle of a calibrated camera. Furthermore, a three-dimensional model of the surface can be formed based on the estimated coordinates of points coplanar with the surface. Note that in some examples, reference to "each image" can describe each image in a subset of images. Note also that, according to some examples, the color of a point on the three-dimensional model of the surface can be derived from the image used to derive the three-dimensional coordinates of the point. In some examples, images acquired near the sequence number of the frame are used to derive the three-dimensional coordinates.

[0134] Figure 8 、 Figure 9 、 Figure 10 ,and Figure 10A are simplified diagrams depicting various examples of shadow casters according to various embodiments. Figure 8 Schematic diagram 800 includes a shadow thrower 815 and a light source 803 (e.g., one or more points or relatively narrow light sources) configured to form a shadow 820 and brightness edges 850a and 850b on a projection plane 810. Schematic diagram 800 also illustrates a projected cross-sectional area 895 of shadow thrower 815, whereby dimensions and / or boundaries of shadow thrower 815 can be projected along direction 804 to form projected cross-sectional area 895. For example, edges of shadow thrower 815 can be projected 804 onto plane 811 parallel to the YZ plane to form projected edges 893a and 893b.

[0135] Figure 9 The simplified diagram 900 includes a shadow caster 915 and a light source 903 (e.g., one or more point light sources) configured to form a shadow 920 and brightness edges 950a and 950b on a projection plane 910. As shown, the shadow caster 915 can be relative to a cross-sectional area 996 (e.g., which can be parallel to the plane 911), for example. Figure 8 The cross-sectional area of ​​the shadow thrower 815 is oriented at an angle 920. According to this example, the cross-sectional area of ​​the physical form of the shadow thrower 915 can be reduced in association with the reduced size (e.g., the reduced distance between the apex portion and the distal portion of the shadow thrower 915). Figure 9Cross-sectional area 996 projected onto plane 911 is depicted as projected cross-sectional area 995 having projected edges 993a and 993b. Plane 911 can be parallel to the YZ plane. As shown, a smaller shadow caster 915, which can reduce the form factor of a 3D scanner, can mimic an embodiment of cross-sectional area 996 to form brightness edges 950a and 950b, wherein the outline boundary of the shadow caster (shown as projected onto plane 911) is superimposed on the full projected cross-sectional area 995. Scanning in this configuration can be achieved by rotating the shadow caster 915 with a rotational component about a line containing light 903 while maintaining the shadow caster's vertex (not shown) on this line.

[0136] Figure 10 and Figure 10A 1000 includes a shadow caster 1015 and a light source 1003 (e.g., one or more point light sources) configured to form a shadow 1020 and brightness edges 1050a and 1050b on a projection plane 1010. Note that a cross-sectional area of ​​the physical form of the shadow caster 1015 can be projected onto the plane 1011 to form a projected cross-sectional area 1095. For example, the edges of the shadow caster 1015 can be projected 1004 onto the plane 1011 parallel to the YZ plane to form projected edges 1093a and 1093b. In one example, the projected cross-sectional area 1095 can be equivalent to Figure 8 895 of the shadow thrower 815 in FIG. As shown, for example, when the deformation of the shadow thrower 1015 from the plane is along the direction 1004 (the direction is parallel to the line along the light), the shadow thrower can be non-planar. Thus, according to various examples, the shadow thrower 815 ( Figure 8 ) and 1015( Figure 10 and Figure 10A ) can form similar or equivalent brightness edges.

[0137] The shadow thrower 1015 can be flexibly deformable or can be rigidly formed. The shadow thrower 1015 can be formed of any material (e.g., an opaque material) such as plastic, metal, wood, etc. The shadow thrower 1015 can be formed of a colored transparent material so that the shadow specifically has one or more wavelengths in one or more wavelength ranges. According to some examples, where the shadow thrower uses a colored transparent material, brightness edges can be determined using an image detection device (not shown) that uses color filtering, which allows detection of light transitions of one or more specific colors. In order to perform improved iterations of the shadow thrower 1015, a rough three-dimensional scan can be performed using a rough shadow thrower, and then the three-dimensional scan can be used to perform other closer shadow throwers.

[0138] In one example, shadow thrower 1015 can be formed from a material used in three-dimensional ("3D") printing technology. Thus, shadow thrower 1015 can be formed using a series of photographs (or digitized images) or, for example, a previous 3D scan to follow, mimic, or replicate the dimensions and contours of the surface of the object subjected to the initial profilometry. In the example shown, shadow thrower 1015 has been formed to replicate vase 1080 ( Figure 10 ) and for comparison, a different shape of vase 1080a ( Figure 10A ) surface features, including surface contour 1082. Shadow caster 1015 can be formed to establish a gap having a relatively decreasing distance (or a constant or substantially constant distance) between the surface of shadow caster 1015 and the surface of vase 1080 or a differently shaped vase 1080a. The gap distance can be expressed relative to the XY plane.

[0139] Moreover, if combined Figures 11A to 11C As described, embodiments with relatively small gaps can provide enhanced accuracy and resolution for 3D scanning of vase 1080 or 1080a. According to some examples, shadow caster 1015 can provide accuracy in the millimeter range and sub-millimeter range (e.g., resolution can be expressed in units of microns or less) with respect to determining brightness edges and points on the surface of an object (e.g., including pixels). According to some embodiments, the surface of vase 1080 or vase 1080a of a different shape can be scanned by applying a force (not shown) to rotate 1092 vase 1080 or vase 1080a of a different shape about a line in the Z direction (and perpendicular to the XY plane).

[0140] Figures 11A to 11C is a diagram depicting examples of adaptable structural properties of a shadow caster for scanning three-dimensional objects according to some examples. Figure 11A1 is a simplified diagram 1100 depicting a light source 1103, a shadow caster 1115, and a three-dimensional object 1170. In the example shown, shadow caster 1115 is depicted as being arranged in a plane (e.g., the YZ plane). Light source 1103 is shown as having a width W1, such as a diameter or a distance parallel to the Y axis. Furthermore, light source 1103 may be located at a distance D1a from point 1111a at the edge of shadow caster 1115, and may be located at a distance D1b from point 1111b at the edge of shadow caster 1115. Object 1170 is a pyramid having surface portions 1172 and 1174, which are shadow regions cast by points 1111a and 1111b, respectively. Surface portions 1172 and 1174 are located at distances (e.g., average distances) D2a and D2b, respectively, relative to points 1111a and 1111b and shadow caster 1115. The surface portions 1172 and 1174 of the pyramids have widths W2a and W2b, respectively. Note that Figure 11A The entire areas of 1172 and 1174 are not shown because they may be partially obscured by the pyramids; however, their widths along the Y-axis are depicted as W2a and W2b, respectively. For example, according to some embodiments, W2a may represent the width of the penumbra, or the width of the luminance edge formed in the shadow of the shadow caster 1115 and the light source 1103, measured along the Y-axis. As the height of the pyramid extends in the Z direction from the projection plane 1110 (e.g., coextensive with the XY plane) to the vertex 1171, the distance of the surface portion from the shadow caster 1115 increases. Thus, the distance D2a may be greater than the distance D2b.

[0141] In various examples, the structures described herein can be associated with properties that can be adapted to, for example, enhance one or more of their functions. One or more structural properties of the shadow caster 1115 and / or the light source 1103 can be modified to enhance, for example, luminance edges (e.g., sharpness). The structural properties can be adjusted based on a relationship in which the product of width W2a and distance D1a can be proportional to the product of width W1 and distance D2a. Furthermore, the product of width W2b and distance D1b can be proportional to the product of width W1 and D2b. As an example, the relationship can be expressed as W2a·D1a=W1·D2a. In some examples, the accuracy of three-dimensional scanning can be improved by improving the resolution of luminance edges, for example, by reducing the values ​​of W2a and W2b, which can in turn be affected by reducing the distance between the shadow caster 1115 and the surface of the object 1170 (e.g., reducing one or more of distances D2a and D2b, while keeping D1a and D1b constant). According to some embodiments, width W2 may represent or otherwise affect the width of the penumbra, or, for example, the width of a luminance edge.

[0142] In various examples, the width W1 of the light source 1103 can be reduced, thereby reducing W2a and W2b, according to, for example, the following relationship: W2a = (D2a / D1a)·W1 (for W2a). In one instance, for example, by implementing a light source with a diameter (or width W1) of two (2) millimeters or less, and implementing a ratio of D2 / D1 of 1 / 4 or less, the width W2a can be reduced to less than 1 millimeter, such as to 250 microns or less. According to one example, the light source 1103 can be a halogen bulb, etc., where the linear range of the light source (not shown) is along the line 1199 connecting the light source 1103 to the vertex of the shadow caster 1115.

[0143] Figure 11B and Figure 11C An example of adjusting at least a subset of distances D1 and D2 based on the position of a surface portion such as surface portion 1172 (e.g., relative to surface portion 1174) is depicted. According to some examples, shadow caster 1115 can be configured, adapted, or formed to reduce a subset of distances D2 (including distance D2a) while increasing a subset of distances D1 (including Figure 11A The distance D1a) affects the Figure 11A The higher resolution scan described in the associated equation. Figure 11B The diagram 1130 of FIG. 1130 depicts a shadow thrower 1135 having a vertex 1171a oriented at an angle 1131 to a line 1179 (e.g., normal to the XY plane). At angle 1131, distances D2a and D2b may be approximately equal to provide a shadow thrower 1135 with a surface that is substantially parallel to the surface of the shadow thrower 1135. Figure 11A Providing a substantially constant gap between one or more surface portions of object 1170. Figure 11C 1160 depicts a shadow thrower 1165 comprising a portion 1165a adapted to vary in the X direction (which is the direction between a light source (not shown) and vertex 1171b) such that shadow thrower 1165 has portion 1165a oriented at an angle 1181 relative to portion 1165b about axis 1167. This variation maintains the shadow thrower along the Figure 11A The direction of the line between the light source 1103 and the vertex 1171b of the shadow caster 1165 is projected onto a projection plane (not shown) parallel to the YZ plane, for example. This change is to maintain the existence of the Figure 11A 1 and 1165b. FIG. 1 shows an example of a single plane with a light source 1103 and two sections 1165a and 1165b. At angle 1181, distance D2a can be reduced to approach or approximate distance D2b. Depending on the circumstances, multiple sections 1165a (not shown) can be implemented to approximate the curvature of the object to be scanned, or the shadow caster can be similarly deformed in a continuous manner along the Y direction to achieve a smooth profile.

[0144] Figure 12 12 is a simplified diagram illustrating an example of a configurable shadow thrower according to some examples. The simplified diagram 1200 includes shadow throwers 1215a and 1215b having adaptable portions 1265a and 1265b, respectively, to approximate the shape of an object's surface, thereby reducing or equalizing variations in the size of a gap between the shadow throwers 1215a and 1215b and an example scanned object 1270. Object 1270 is a hemisphere disposed on a projection plane 1210. In this example, the adaptable portions 1265a and 1265b are depicted as angled portions about axes 1267a and 1267b, respectively. In some examples, the shadow throwers 1215a and 1215b can be implemented as a system comprising shadow throwers, which can optionally include an adaptable opaque top portion 1211 coupled between the shadow throwers 1215a and 1215b to facilitate the generation of a shadow 1220 (or umbra) and one or more brightness edges 1250. At least in some cases, compared to the Figure 3 、 Figure 4 or Figure 5 A light source (not shown) that is collinear with the line defined by lines 312, 412, or 512 can be located above shadow casters 1215a and 1215b and, if top portion 1211 (or portions 1265a and 1265b) is implemented, between the shadow casters. Note that adaptable portions 1211, 1265a, and 1265b can be subdivided into any number of planar portions to approximate the curvature. Alternatively, adaptable portions 1265a and 1265b can be formed or configured to include one or more curved portions.

[0145] According to some embodiments, shadow throwers 1215a and 1215b can be detected by an image capture device (not shown) to, for example, determine the geometry of the plane of the illuminated edge. This determined illuminated edge plane can then be used in conjunction with the deformation of the illuminated edge to determine the shape of object 1270. Shadow throwers 1215a and 1215b can be similar to 815, 915, and 1015, in the case of having triangular profiles, so as to define a single illuminated plane edge on each edge. Alternatively, shadow throwers 1215a and 1215b can be the structure and support for portions 1211, 1265a, and 1265b and not themselves cast shadow edges onto object 1270. Note that while object 1270 is depicted as a smooth-surfaced hemisphere, any object shape can be used. In some cases, object 1270 can include surface topology and texture, including convex and concave surface portions, including but not limited to projected or ridged features and valleys, cracks, or grooves. In some examples, object 1270 may represent the surface of the brain or any other organ structure.

[0146] In at least one example, the shadow caster can include a portion 1211, which can have one or more straight edges parallel to a line containing the light source (not shown), and portion 1211 can extend longitudinally (e.g., having a perimeter 1299) to cast a shadow in each dimension of object 1270. Thus, portions 1265a and 1265b can be omitted. In this case, there can also be multiple light sources (not shown) parallel to each other and to 1211. The multiple parallel light sources can be illuminated sequentially (and / or spatially) to generate a series of straight shadows. The parallel light sources or the shadow caster, or both, can be moved to achieve a scan across the surface of object 1270 and can have multiple rows of lights that do not need to be arranged on an axis of rotation. This configuration can generate one or more shadow planes having a geometric shape that can be used in conjunction with deformation of the brightness edge to determine the three-dimensional shape of object 1270. The parallel light sources can extend to a region above portion 1211 to generate an illuminated edge of object 1270. According to at least one example, the range of one or more light sources may be limited to extending over portion 1211 without (or minimally or negligibly) extending longitudinally on either side along the X-direction, thereby substantially illuminating the illuminated portion of object 1270 (e.g., uniformly illuminating object 1270) while also producing brightness edges with enhanced contrast.

[0147] According to various examples, a selectively opaque shadow thrower can be formed such that the shadow thrower can implement one or more portions that are opaque to white light, or the selectively opaque shadow thrower can include colored portions that can be configured to selectively reduce or eliminate the transmission of certain wavelengths of light (e.g., implement color filtering). A brightness edge can then be determined by a transition of an illuminated area at wavelengths that the shadow thrower transmits in various ways to a relatively darker illuminated area (e.g., a less illuminated area). Alternatively, a brightness edge can be determined by a transition of an area illuminated at one wavelength range to an area illuminated by one or more other wavelength ranges. A shadow thrower can include multiple wavelength-transmitting areas arranged in a pattern, which can also have combined opaque areas.

[0148] Selectively opaque shadow throwers can be configured to be opaque with respect to one or more wavelength ranges or bands of light. Thus, selectively opaque shadow throwers can selectively filter out one or more wavelength ranges of light to allow selected wavelengths to pass through. In one example, different selectively opaque shadow throwers can be implemented as colored transparent shadow throwers that cast light that transitions from blue to red. Thus, an example set of colored transparent shadow throwers can include at least two flat color filters adjacent to each other. One transparent shadow thrower can be red, while the other can be blue. During scanning, a scene transition from blue to red can constitute an illumination edge and can be filtered to distinguish the blue-to-red transition from other changes in the scene. Tracking this color change provides a technique for tracking shadow motion even as other aspects of the scene change. In this way, specific color changes (independent of color) can be processed to identify illumination edges. According to various examples, the selectively opaque shadow throwers described above can facilitate 3D scanning when object 1270 (or any other object) can be moved relative to the image capture device (e.g., in a controllable manner). According to some embodiments, a mobile computing device, such as a mobile phone or any other mobile device with a camera, may implement the selectively opaque shadow caster described above.

[0149] Figure 13is a diagram depicting an example of a scanning system according to some examples. Diagram 1300 depicts another example of a shadow thrower 1315 as a component of a scanning system that includes an image capture device 1301, one or more light sources 1303, and a reflective surface 1320 (e.g., a reflective plane or mirror). Reflective surface 1320 can eliminate the need for implementing another set of shadow throwers and light sources opposite shadow thrower 1315. Object 1370 is disposed on projection plane 1310, and its reflection 1370r is depicted in reflective surface 1320. Additionally, diagram 1300 depicts a point ("P2") 1368 on the surface of object 1370 as a reflection point ("P2r") 1369 in reflective surface 1320. As shown, a cast shadow 1398 on object 1370 can be reflected as a shadow 1398r on the object's reflection 1370r. Note that photon emissions, including light, can travel a greater distance to illuminate point 1368 (via reflected light) than they can to point 1366. Therefore, the brightness and accuracy of light reflected from the portion of the surface including point 1368 by reflective surface 1320 into image capture device 1301 may be lower than that of light reflected from another portion of the surface including point 1366. However, distance D1 in the relationship W2=(D2 / D1)·W1 can be relatively modified (e.g., increased) to enhance contrast, particularly the contrast associated with the brightness edge at point 1368.

[0150] Image capture device 1301 can observe reflective object 1370 as 1370r and, thereby, can observe portions of 1370 that would not otherwise be visible by not reflecting or directly observing object 1370. In this manner, other reflective surfaces (not shown) can be positioned within the field of view of image capture device 1301, allowing image capture device 1301 to observe one or more portions of 1370 that would not otherwise be visible in a reflective manner by not reflecting or directly observing object 1370. For example, projection plane 1310 can be a reflective surface that reflects the bottom surface of an object positioned thereon back to image capture device 1301. A shadow caster can then be moved, for example, to achieve scanning, such that brightness edges can also be reflected from the reflective surface onto areas that would not otherwise be visible by not reflecting shadow edges or by directly projecting shadow edges onto object 1370. The reflective surface can be a flat geometric shape, but can also be curved or include curved or flat surface segments, or a combination of both.

[0151] Figure 14is a simplified diagram depicting yet another example of a scanning system according to some examples. The simplified diagram 1400 shows a scanning system 1490 that includes an image capture device 1401, a shadow caster 1415, one or more light sources 1403, and a base or structure 1409 configured to implement or integrate the foregoing components. The scanning systems described herein can be scalable to scan relatively small objects and relatively large objects, such as objects in any environment. Examples of environments include rooms (e.g., people, appliances, furniture, etc.) and exterior structures (e.g., scans of buildings, vehicles, trees, etc.). In the example shown, the scanning system 1490 can be configured to scan a sofa 1470 and a wall hanging 1472 (such as a mirror or painting) in a room defined by projection planes 1410a (e.g., a floor), 1410b (e.g., a back wall), and 1410c (e.g., a side wall).

[0152] In the example shown, the shadow thrower 1415 can be implemented as a diamond structure, or as a combination of, for example Figure 9 and Figure 10 The shadow thrower described herein may have any equivalent shadow thrower having a cross-sectional area that can generate a similar or equivalent single edge, or sharp shadow or two brightness edges. Shadow thrower 1415a is shown as being formed as two (2) triangular shaped structures 1466 and 1468 joined or coupled, for example, at line 1479. Vertex 1431a and vertex 1433a can be arranged on a rotation axis 1412, whereby rotation of shadow thrower 1415a about axis 1412 can generate brightness edge 1450. Furthermore, light source 1403 can be implemented as light source 1403a, which can include a light source or a linear arrangement of one or more light sources along an axis from point 1431b to point 1433b. One example of light source 1403a can be an elongated halogen bulb. Another example of light source 1403a can be a linear array of light emitting diodes. Points 1431b and 1433b of light source 1403a can be collinear with points 1431a and 1433a, respectively, on axis 1412. According to various examples, shadow caster 1415 and light source 1403 can be implemented in any number of configurations or variations, and those depicted in diagram 1400 are not intended to be limiting. Furthermore, scanning system 1490 and other scanning systems described herein can be varied and adapted for any number of applications, including medical applications and augmented reality applications, among others.

[0153] Figure 15An example of a scanning system configured to perform medical applications according to some examples is depicted. Diagram 1500 includes a medical instrument or tool, such as a surgical microscope 1530. The surgical microscope can be adapted to implement data generated by a scanning system configured to perform three-dimensional scanning of in vivo tissue, such as brain tissue (i.e., as an object), for medical applications. Furthermore, the scanning system of diagram 1500 can facilitate in situ three-dimensional scanning of brain tissue during surgical procedures.

[0154] Surgical microscope 1530 includes optical components 1538 (including eyepieces) that can be configured to magnify relatively small features of interest, including tissue, and can be further configured to integrate digitally created images that can be integrated or superimposed on the magnified view of brain 1570. According to the illustrated example, surgical microscope 1530 can be electronically or optically coupled to enhanced image generator 1590, which can in turn be electronically or optically coupled to image capture device 1501. In some examples, surgical microscope 1530 can be electronically or optically coupled to image capture device 1501, which can in turn be electronically or optically coupled to enhanced image generator 1590. In some examples, enhanced image generator 1590 can optically enhance the view of the magnified brain tissue by applying (e.g., superimposing) an image based on a 3D scan onto the view of the brain tissue. For example, a cross-hatched graphic representing a target brain portion (e.g., for repair or removal) can be superimposed in three dimensions onto the view or digital image of the magnified brain tissue so that the surgeon can easily identify the target. Housing 1532 of surgical microscope 1530 may include a processor and electronic components configured to execute instructions (eg, software, firmware, etc.) to optically combine image data generated by enhanced image generator 1590 .

[0155] According to various examples, the scanning system of diagram 1500 can implement any type or number of shadow throwers. One or more scanning systems can include one or more subsets 1503 of one or more light sources configured to form shadows 1520 and one or more brightness edges 1550, and a subset of shadow throwers. In a first exemplary embodiment, the subset of shadow throwers can include one or more of shadow throwers 1515a and 1515b. In a second exemplary embodiment, another subset of shadow throwers can include one or more of shadow throwers 1515c and 1515d. Other shadow thrower and light source configurations can also be used.

[0156] In various applications, including medical applications, at least in some cases, the scanning system of diagram 1500 can have a resolution of less than 1 millimeter (e.g., 25 microns or less) to form a 3D representation of at least a portion of brain 1570. In some cases, the scanning system of diagram 1500 can provide 3D surface information at a finer resolution than can be obtained using magnetic resonance imaging ("MRI") scan data or other techniques, such as computed tomography ("CT") scan data.

[0157] An organ object composed of soft tissue, such as the brain 1570, may have a three-dimensional surface shape that may change or vary due to changes in conditions. For example, the flexible soft tissue may have a first three-dimensional surface shape in a first state (e.g., undisturbed before a surgical procedure), whereby when transitioning to a second state (e.g., after a medical or surgical procedure), the surface shape may be different from the first state. In one example, the state of the surface shape may change rhythmically (e.g., in response to rhythmic changes in blood pressure due to a beating heart). In at least one state, one or more of the shadow casters 1515a, 1515b, 1515c, and 1515d may be used to scan the surface of the brain 1570, or a portion thereof, to form a three-dimensional model of the brain 1570. The image capture device 1501 may capture an image of the brain 1570, and the augmented image generator 1590 may determine the X, Y, and Z coordinates of pixels representing points on the surface of the brain 1570. In cases where the surface shape changes rhythmically in response to changes (e.g., heartbeat and pulsating blood flow), a scan can be performed over a period of time that allows the surface of the brain 1570 to be measured at multiple stages in the rhythmic response, so that the surface of the brain 1570 can be determined at each of these stages. This can be achieved by correlating the stage of the surface of the brain 1570 being measured with the stage in the rhythmic response when the scan is performed.

[0158] In particular, the scanning system of diagram 1500 can be configured to digitally capture the contours and other anatomical features of brain 1570. For example, the surface curvature and contours of the modeled brain surface can include the ridges (i.e., gyri) and grooves (i.e., sulci) of the cerebral cortex in three-dimensional space. In addition, the scanning system of diagram 1500 can be configured to capture three-dimensional surface features of the vascular system (e.g., veins, arteries, capillaries, etc.) serving the brain, whereby the vascular tissue can be used as landmarks (or guideposts) to provide a vascular "roadmap" to assist the surgeon in navigating the vessels to a portion of brain 1570. Some of these vessels may be finer than the resolution of an associated MRI scan or CT scan.

[0159] Prior to surgery, the patient may undergo a diagnostic procedure (such as magnetic resonance imaging) to obtain an MRI scan that can depict 2D and 3D images of the brain 1570 (including internal structures). Thereafter, the brain 1570 may be exposed after a craniotomy or removal of a portion of bone. The scanning system of diagram 1500 can optionally be used to generate a 3D scan of the exposed portion of the brain 1570 (e.g., before disturbing the structures of the brain 1570). An enhanced image generator 1590 can be configured to receive a first data subset representing an MRI scan of the brain and a second data subset representing 3D scan data of the brain 1570 originating from the scanner system of diagram 1500. Furthermore, the enhanced image generator 1590 can include a processor and electronic components configured to execute instructions (e.g., software, firmware, etc.) to correlate 3D surfaces of the second data subset with MRI-generated surfaces of the first data subset. Thus, the 3D scan data from the second data subset can be correlated with data representing internal structures of the MRI-generated brain scan data from the first data subset.

[0160] When a portion of the skull is removed, the brain tissue that forms part of the cerebral cortex can be reached via an incision into a membrane (e.g., pia mater, etc., or other fluid barrier tissue). The incision at the membrane surrounding the brain tissue may cause fluid (e.g., cerebrospinal fluid or CSF) to be lost, thereby causing changes in the structural state of the brain. As the fluid is lost, the brain tissue structure may shrink or deform due to changes in mechanical properties, which may cause the brain tissue structure to shift. Therefore, when using MRI data to locate the surface and internal structure of the brain tissue to identify the target brain tissue position, the shifted brain tissue will introduce errors.

[0161] After incision, the scanner system of diagram 1500 can be used to determine the curvature and contour of brain 1570 after the shape of the brain tissue shifts due to a decrease in internal fluid pressure. Subsequently, enhanced image generator 1590 can include logic configured to form a second three-dimensional model of the surface of brain 1570, which can include positional deviations in brain tissue and vascular structures relative to the MRI scan data. In addition, enhanced image generator 1590 can include logic configured to identify vascular structures and other landmarks (such as specific sulci and gyri) in the three-dimensional brain model in both the pre-incision state and the post-incision state, and determine positional deviations for use in registering and aligning the digital images. Because vascular tissue (e.g., blood vessels) can be elastically fixed to adjacent brain tissue, deviations in vascular structures can be used instead of or in addition to deviations in specific sulci and gyri to predict the post-incision position of the internal brain tissue portion. Furthermore, previously acquired MRI scan data can be adjusted to reflect the predicted post-incision position of the internal brain tissue. Therefore, the movement of capillaries, sulci, gyri, and associated brain tissue may help predict the location of the target brain tissue. During a medical procedure, the scanner system of diagram 1500 can also be used to determine the affected portion of the brain (e.g., after brain tissue has been removed or otherwise altered). Previously acquired MRI scan data can be adjusted to reflect the predicted post-resection portion of brain tissue thus affected by the medical procedure.

[0162] The logic in the enhanced image generator 1590 can be configured to correlate the positional changes of vascular structures to predict the positional deviation of internal brain tissue based on the initial MRI scan data. In addition, the predicted positional deviation of internal brain tissue can be determined by calculating a brain deformation that approximates the expected change based on the brain deformation data and the calculated model. According to some examples, the model of the brain deformation data can represent the expected changes in the brain as a function of various factors (e.g., amount of fluid loss, incision size, gender, age, frailty, etc.). Such a model can be used to predict how brain structures will deform due to the loss of cerebrospinal fluid. The brain deformation data can be formed empirically and / or probabilistically (e.g., mathematically) via a computational algorithm.

[0163] In view of the foregoing, a target brain tissue portion can be located in the three-dimensional space of the brain 1570 before surgery. An example of a target brain tissue portion can be a portion of brain tissue that causes epileptic seizures in children. Removing the target brain tissue portion can alleviate symptoms, including epileptic seizures. According to the above-described embodiment of the scanner system of the simplified diagram 1500, the enhanced image generator 1590 can be configured to identify or predict positional deviations of brain tissue at the surface and within the brain 1570. Therefore, the enhanced image generator 1590 can be configured to identify or predict positional deviations of a target brain tissue portion that was otherwise identified, for example, in the initial MRI.

[0164] According to various examples, the above-mentioned technology of the scanner system implementing the schematic 1500 can be applied to other brain-related diagnosis, testing, surgery and treatment. In addition, the above-mentioned technology can be applied to any medical application, including hard tissue (e.g., bone, etc.). Another example is to use the scanner system of the schematic 1500 for wound healing. For example, it is considered that a scanner system similar to the scanner system of the schematic 1500 (excluding the surgical microscope 1530) can be arranged at the residence of a diabetic patient to monitor whether a wound (e.g., an ulcer) is infected. The patient can be made to perform a three-dimensional scan of the wound (e.g., colored or colorless) to generate wound shape data, which can be transmitted to a healthcare provider via a network to monitor the healing rate of the wound. The above examples are non-limiting and can be applied to any medical or non-medical application.

[0165] Figure 16A is a diagram depicting a specialized surgical microscope including a shadow caster system according to some examples. Diagram 1600 includes a surgical microscope 1630, an enhanced image generator 1690, and an image capture device 1601 configured to facilitate in situ three-dimensional scanning of a brain 1670. According to some examples, Figure 16A The elements depicted in diagram 1600 of FIG. 1 may include structure and / or functionality as similarly named or similarly numbered elements depicted in other figures. In this example, shadow casters 1615 c and 1615 d and light source 1603 may interact as system 1680 to form shadows 1620 and one or more brightness edges 1650. In some embodiments, shadow casters 1615 c and 1615 d and light source 1603, or their equivalents, may be arranged within housing 1632 to form an integrated 3D scanning surgical microscope configured to perform 3D scanning, according to examples described herein.

[0166] Figure 16B is a diagram depicting yet another specialized surgical microscope including at least one shadow caster according to some examples. Diagram 1610 includes surgical microscope 1630 and other elements described herein, configured to facilitate in situ three-dimensional scanning of a brain 1670. According to some examples, Figure 16B The elements depicted in the simplified diagram 1610 of FIG. 1 may include structure and / or functionality as similarly named or similarly numbered elements depicted in other figures. In this example, the shadow caster 1681 and the subset of light sources 1691a, 1691b, and 1691c may interact as a system 1690 to form a shadow 1620 and one or more brightness edges 1650 based on the subset of light sources 1691a, 1691b, and 1691c being illuminated at different points in time. Figure 12An example of a shadow thrower 1681 is described in

[0065] , and light sources 1691a, 1691b, and 1691c can be arranged above shadow thrower 1681. According to some examples, a subset of light sources 1691a, 1691b, and 1691c are implemented as a plurality of parallel light sources that can be sequentially and / or spatially lit to generate a series of shadows (e.g., straight shadows or brightness edges). In some embodiments, according to the examples described herein, shadow thrower 1681 and light sources 1691a, 1691b, and 1691c, or their equivalents, can be arranged within housing 1632 to form an integrated three-dimensional scanning surgical microscope configured to perform 3D scanning.

[0167] Figure 17 17 is a diagram depicting a magnified image based on a three-dimensional scanning feature, according to some examples. Diagram 1700 includes an optical component 1738 configured to magnify a portion of a brain 1770. The surgical microscope to which optical component 1738 is coupled is not shown. Diagram 1700 also includes an enhanced image generator 1790 configured to integrate an optical image of brain 1770 (based on light reflected from the brain surface) with digitally generated image overlay data representing, for example, the surface location of target brain tissue 1788, which can be viewed via optical component 1738. In some examples, a surgeon or any other user can view the image presented in inset 1722 via optical component 1738. For example, brain 1770s and portions thereof can be viewed in optical component 1738 relative to gyri or sulci, or relative to a vasculature 1775s having various numbers or sizes of blood vessels. In some examples, the outline of the brain 1770s can be captured via a three-dimensional scan as ridges (gyri) 1784 and grooves (sulci) 1786. According to at least one example, the illustration 1722 can include a real (e.g., directly enlarged) image or a simulated image (e.g., based on image processing), or a combination of both.

[0168] Figure 18 is a functional block diagram depicting in vivo three-dimensional scanning and image integration according to some examples. The diagram 1800 includes an enhanced image generator 1890, a tissue model data repository 1830, and a scanned tissue data repository 1832, one or more of which may be implemented to form, for example, Figure 17The image depicted. The scanned tissue data repository 1832 is configured to receive scanned brain data 1802 representing two-dimensional and / or three-dimensional anatomical features and structures of the brain 1870. For example, the data 1802 may include MRI data, CT data, MEG data, PET data, or any other brain-related data that may be stored in the scanned tissue data repository 1832 and retrieved by the enhanced image generator 1890 as data 1824. The tissue model data repository 1830 may be configured to store data models to determine or predict the rate of change of brain deformation or positional deviation in the brain based on a function of various factors (e.g., amount of fluid loss, incision size, sex, age, frailty, etc.). The enhanced image generator 1890 may use these data models to mathematically (e.g., probabilistically) predict and simulate the extent to which brain structure may change (e.g., with respect to size, location, positioning, etc.) due to the corresponding loss of cerebrospinal fluid or extracted tumors or brain masses. The enhanced image generator 1890 may retrieve data 1822 from the data models. According to some examples, Figure 18 The elements depicted in diagram 1800 may include structure and / or functionality as similarly named or similarly numbered elements depicted in other figures.

[0169] The enhanced image generator 1890 is shown to include an enhanced image controller 1851, a biomarker generator 1852, a biomarker mapper 1853, a tissue correlator 1854, a target tissue integrator 1855, and an image generator 1856. According to at least some examples, the enhanced image controller 1851 can be configured to control auxiliary functions of the enhanced image generator 1890 (e.g., the biomarker generator 1852, the biomarker mapper 1853, the tissue correlator 1854, the target tissue integrator 1855, and the image generator 1856) to facilitate the overall functionality of the enhanced image generator 1890.

[0170] Biomarker generator 1852 can be configured to access scanned tissue data 1824 (e.g., MRI data) to generate data 1840 representing characteristics of vascular or brain data 1842 (e.g., spatial dimensions, location, etc. of the vessels). Data 1842 represents a data structure including data 1840 specifying the spatial dimensions, location, etc. of geometric features based on, for example, vessels or any other physiological features (e.g., characteristics of sulci, gyri, etc.). Vascular data 1842 can be derived from data 1824. Data 1840 is an example of data retrieved from data structure 1842 that enables portions of vascular system data 1842 to be used as "landmarks" (e.g., investigative landmarks that identify a "roadmap" to a brain portion of interest) or reference points relative to, for example, adjacent brain tissue. According to some examples, geometric features, such as vascular geometry, can be described in vascular system data 1842, which can represent characteristics (e.g., surface features) of the vasculature of brain 1870 prior to surgery or other structural perturbation.

[0171] The biomarker mapper 1853 can be configured to map or otherwise correlate the updated data subset 1844, which includes data representing brain data or vascular data (e.g., at the surface of the brain 1870 after dissection) derived by the model generator via a three-dimensional scan. In some examples, the biomarker mapper 1853 can be capable of calculating and characterizing positional displacements of portions of the brain data or vascular data 1842 based on structural brain deformation. The positional displacement data 1843 can be received at the tissue correlator 1854.

[0172] The tissue correlator 1854 can be configured to correlate the surface feature data 1843 of the shrunken brain with the initial MRI surface data 1824 to identify the original portion of brain tissue initially detected by MRI. Based on the displacement of blood vessels and surface features (e.g., ridges and grooves), displacements in the surface portion and displacements of the target brain tissue portion 1888 can be identified. The tissue correlator can also be configured to access the tissue model data repository 1830 to perform calculations to estimate and predict displacements of the surface of internal brain structures.

[0173] Target tissue integrator 1855 is configured to identify a portion of target brain tissue with respect to MRI data 1824, which portion may or may not be associated with staining. Target brain tissue portion 1888 may represent, for example, brain tissue associated with pediatric epilepsy or a tumor. Furthermore, target tissue integrator 1855 may be configured to calculate a displacement of target brain tissue portion 1888 based on post-dissection activity and data from tissue correlator 1854. For example, tissue correlator 1854 may be configured to determine a positional deviation that may be used to adjust target brain tissue portion 1888 for identification and extraction.

[0174] Image generator 1856 can be configured to generate image data 1846 in real time (or substantially real time) and in vivo, depicting a target brain tissue portion 1888 superimposed on an image 1848 of the brain. Image data 1846 is depicted as a real-time 2D or 3D image of the in vivo view, augmented with data 1844 to provide a view with a view of the target brain tissue portion 1888 superimposed thereon. Thus, the surgeon can be enabled to manipulate the target brain tissue portion 1888, and after the brain portion is extracted at 1899 (Surgical Modification), the remaining brain portion to be extracted can be detected in vivo based on the 3D scan to update data subset 1844. Enhanced image generator 1890 can recalculate the graphical overlay data to optically present the remaining tissue to the surgeon for subsequent treatment. Thus, the surgeon can view the "peeling" of the extracted tissue based on the in situ 3D scan and via an optical microscope or other surgical navigation device, or visualize the remaining tissue to be extracted in vivo. According to various other examples, the functional block diagram 1800 can be varied according to the various examples described herein.

[0175] Figure 19 is a diagram illustrating yet another example of one or more shadow throwers configured to generate one or more luminance edges, according to some examples. Diagram 1900 depicts a wearable shadow thrower, such as a wearable system 1911, that can be configured to generate at least one luminance edge to facilitate three-dimensional scanning. In this example, wearable system 1911 is a pair of glasses including at least one front shell 1921 having at least one shadow thrower 1920 having an edge 1950 configured to generate a luminance edge. In at least some examples, shadow thrower 1920 can be an opaque film applied to a transparent surface (e.g., a lens or eyeglass frame). The glasses can also include earpieces 1906 for securing around a user's ears and temple structures 1907, which can include electronics, light guides, and the like to facilitate implementation of the glasses as a three-dimensional scanner including the shadow throwers disposed therein. The glasses may receive optical and electronic signals via conduit 1908 from a power and light generating module 1909, which may be optional and may be disposed anywhere on the user's person or elsewhere.

[0176] Further with respect to wearable system 1911, the glasses may also include an optional transparent structure 1924 through which photon emissions, including light, may be transmitted. Transparent structure 1924 may implement a Fresnel prism as a layer for controlling forward transmitted light in a direction parallel to edge 1950. Lens 1901 (which may be optional) may be configured to receive projected light (not shown), at least in some cases, on which a head-up display or HUD may be formed. In the illustrated example, the light source may be implemented as an optical fiber (e.g., an optical fiber) configured to emit light as, for example, light beams 1930, 1930a, and 1930n (e.g., formed by a light source behind a temple or similar structure). Due to the combination of partial overlap of many light beams 1930, 1930a, and 1930n, more light beams may be implemented, or the light beams may be in the form of a continuously emitted line. Furthermore, the wavelength of light transmitted via the optical fiber as light emissions or light beams 1930, 1930a, and 1930n may fall within any wavelength range. For example, the light emitted from the optical fiber can be in a wavelength range of light that is not detectable or perceptible to the human eye (e.g., within the invisible spectrum). In some examples, front view 1940 depicts light beams 1930, 1930a, and 1930n from the optical fiber, whereby the light emission can impinge at edge 1950 of the shadow caster 1920 to form a brightness edge. In this example, front view 1940 is shown in a plane parallel to the YZ plane (e.g., viewed along the X-axis). Further with respect to front view 1940, the light beams can be directed at any distance ("F") 1941 relative to each other (e.g., adjacent to each other) along edge 1950, and the distances between each other do not have to be the same. Any number of optical fiber ends can be implemented to generate any number of light beams 1930, 1930a, and 1930n.

[0177] According to some examples, the light beams 1930, 1930a, and 1930n can be arranged or oriented to pass through a common plane, such as a plane parallel to the XY plane. In some examples, the light beams 1930, 1930a, and 1930n from each optical fiber and / or the end of the optical fiber (not shown) can each be emitted such that their direction is parallel to the line 1919 normal surface of the shadow thrower 1920 at the edge 1950. Alternatively, the light beams 1930, 1930a, and 1930n from each optical fiber and / or the end of the optical fiber can each be emitted such that their direction at the edge 1950 is at a certain angle relative to the XY plane 1919 parallel to the XY plane containing the shadow thrower 1920. In order to achieve sharp brightness edges when the shadow caster 1920 is linear in all dimensions X, Y and Z, one or more optical fibers can be arranged so that one or more light beams 1930, 1930a and 1930n are emitted so that their directions at the edge 1950 are at any angle in the X and Y planes and contain a common component in the Z direction relative to line 1919.

[0178] Side view 1942 depicts the side of an optical fiber 1966 emitting light 1946, which is projected onto shadow caster 1920 and edge 1950 to form beam 1930n. As shown in side view 1942, light 1946 can be collimated (e.g., straight), or it can be divergent, such that it becomes wider upon reaching shadow caster 1950. In this example, side view 1942 is shown in a plane parallel to the XZ plane. The end 1969 of optical fiber 1966, from which light is emitted, can have a certain dimension, such as a width ("W1") 1927. The end 1969 of optical fiber 1966 can be disposed, for example, in one or more of front shell 1921 and temple structure 1907. Furthermore, the end 1969 of optical fiber 1966 can be disposed at any distance ("D1") 1929 from shadow caster 1920. The depth ("H") of the front shell 1921 can be extended to accommodate the greater distance 1929. According to some examples, the diameter or W1 can be in the range of 25 to 50 microns or less, or in the range of up to 400 microns. In another example, an LED or micro-LED can be used instead of the optical fiber 1966 having a width W1. Additionally, as described above with respect to line 1919, a Fresnel prism layer can be used to influence the light emitted from the optical fiber end 1969 to generate light beams 1930, 1930a, and 1930n.

[0179] In operation, wearable system 1911 is configured to generate at least one luminance edge projected onto an environment, such as a room containing appliances, furniture, people, and the like. As a user assesses and examines their surroundings (such as a room), the movement of shadow caster 1920 can coincide with the movement of the user's head. In some examples, the electronics in temple structure 1907 can include a processor, memory, accelerometers, and the like. In one embodiment, one or more accelerometers, inclinometers, compasses, gyroscopes, and the like can determine the rate at which the user moves their head. Thus, if desired, logic in temple structure 1907 can detect the rate at which a luminance edge is swept across the environment or scene to form a 3D model of the environment. This sweep rate can be transmitted via a radio transceiver in the eyewear system or power and light generation module 1909. In another embodiment, an external reference (e.g., a reflective marker or IR LED emitter (not shown)) can be used by an external detector (not shown) of the position and orientation of 1911. Such an external detector can be, for example, a camera or a live proximity sensor.

[0180] In some examples, the electronics in the temple structure 1907 or any other portion of the wearable shadow thrower may include a processor and memory to support projecting a video onto, for example, one or more lenses 1901 to superimpose a graphical image on a three-dimensional view of objects in an environment to create an augmented reality image. For example, a user wearing a wearable shadow thrower may look at a chair in a room, whereupon the wearable shadow thrower (and the image capture device) may capture the three-dimensional spatial dimensions and surface of the chair. Additionally, the wearable shadow thrower may receive a video or image that superimposes different colors on the user's view of the chair on the lens 1901. Furthermore, the wearable shadow thrower may receive a video or image that superimposes a graphical representation of a person sitting in the chair on the user's view of the chair on the lens 1901.

[0181] Figure 20 2030a, 2030n, 2032, 2032a, and 2032n are transmitted through the front shell. The front shell may have a shape similar to that of the embodiment of the present invention. Figure 19 Depth described ("H") 1931. Return to reference Figure 20, light beams 2030, 2030a, 2030n, 2032, 2032a, 2032n may alternatively partially overlap to affect a continuous distribution of light (not shown). At least light beams 2030n and 2032n may be parallel to the line of sight. In some cases, each of light beams 2030, 2030a, 2030n, 2032, 2032a, and 2032n may be projected into environment 2090 parallel to the line of sight (not shown). As shown, a subset of light emissions (such as light beams 2030, 2030a, 2032, and 2032a) may be projected at an angle to the line of sight (e.g., to illuminate surface features in the environment that may be parallel to the line of sight). In the example shown, light beams 2030 , 2030a , 2030n , 2032 , 2032a , and 2032n can be used to determine the three-dimensional spatial dimensions of a contoured surface 2060 at a distance 2040 relative to the wearable system 2011 .

[0182] The examples of light emissions depicted in diagram 2000 can be varied or adapted based on suitability for a particular application. For example, wearable system 2011 can be worn by a surgeon performing brain surgery or any other medical application. According to various examples, wearable system 2011 can be implemented for communication purposes, such as three-dimensional webcam communication, etc. In some cases, wearable system 2011 can be configured to facilitate virtual reality applications and augmented reality applications. For example, wearable system 2011 can include one or more lenses or one or more transparent surfaces (not shown) onto which a heads-up display ("HUD") or a reduced-view video image can be projected.

[0183] Figure 21 is a simplified diagram depicting an image capture device implemented with a wearable shadow thrower according to some examples. The simplified diagram 2100 includes a user 2191 wearing a wearable system 2111 and a wearable camera 2117, which may include a processor, memory, and a radio for transmitting and receiving data, including data associated with brightness edges projected onto surfaces in the environment. The wearable camera 2117 may also include an accelerometer, a tilt detector, a compass, etc. for determining and reporting the position and orientation of the wearable camera, particularly relative to the wearable system 2111. As shown, light emissions 2130 may be projected in a plane that includes the line of sight, or may be projected as light emissions 2135 at an angle to the line of sight. As shown, light 2182 reflected back into the camera 2117 may be at a distance 2180 from the light emissions 2135. According to some examples, the distance 2180 may be at or within a range that includes 20 centimeters. In this example, as in other examples, the camera position distance 2180 separates the camera from the shadow plane to observe the shadows cast by Figure 20In at least one example, distance 2180 can be reduced without adversely affecting the wearable system 2111 by modifying other parameters used in its operation. Figure 20 In other various examples, the camera 2117 can be arranged away from the person (e.g., without the need to wear the camera). Thus, another camera 2117 can be co-located in the environment where the wearable system 2111 is arranged, whereby the camera 2117 and the wearable system 2111 can exchange data wirelessly with each other. According to some examples, Figure 20 2000 and Figure 21 The elements depicted in the simplified diagram 2100 may include structure and / or functionality as similarly named or similarly numbered elements depicted in other figures. In one example, the wearable system 2111 and the wearable camera 2117 may be connected to Figure 14 The scanning system 1490 is used interchangeably.

[0184] Figure 22 2 is a simplified diagram depicting multiple wearable shadow throwers collaborating in a common environment according to some examples. The simplified diagram 2200 depicts an environment, such as a room 2210, which includes various surface features, such as a sofa 2222, a pool table 2224, and chairs 2226. Furthermore, the room 2210 includes a subset of users 2210a, 2210b, 2210c, and 2210d, each wearing a wearable shadow thrower 2211a, 2211b, 2211c, and 2211d, respectively. Each of the wearable shadow throwers 2211a, 2211b, 2211c, and 2211d can include a processor, memory, and other electronic components, such as an accelerometer, a video image generator, a GPS transmitter, a gyroscope, a camera, a radio transceiver (e.g., an RF radio transmitter and / or receiver), and the like. Although not shown, an image capture device or camera can be associated with each of users 2210a, 2210b, 2210c, and 2210d. According to some examples, Figure 22 The elements depicted in diagram 2200 may include structure and / or functionality as similarly named or similarly numbered elements depicted in other figures.

[0185] In some examples, one or more off-person (or remote) cameras 2201 can capture images of multiple brightness edges reflected from various surfaces from multiple wearable shadow throwers. According to various examples, one or more of the cameras 2201, the augmented image generator 2290, and the wearable shadow throwers 2211a, 2211b, 2211c, and 2211d can be configured to determine the position and orientation of the users 2210a, 2210b, 2210c, and 2210d (and the cameras). Furthermore, a fiducial (e.g., a reflective marker or IR LED emitter, not shown) can be placed in any location in the room 2210 to detect the position and orientation of the wearable shadow throwers 2211a, 2211b, 2211c, and 2211d. One or more of the camera 2201, the augmented image generator 2290, and the wearable shadow throwers 2211a, 2211b, 2211c, and 2211d can be configured to determine differences between the wearable shadow throwers 2211a, 2211b, 2211c, and 2211d, and can be further configured to implement wearable shadow throwers 2211b, 2211c, and 2211d using visible wavelengths or any other wavelengths. Also shown is the augmented image generator 2290, which can include logic for combining multiple subsets of 3D scan data to form an overall three-dimensional model of the room 2210 and its occupants and furniture. Thus, the augmented image generator 2290 can perform image registration based on data from the wearable shadow throwers 2211a through 2211d to align the multiple 3D images to form a consolidated image or 3D model. Furthermore, the augmented image generator 2290 can generate data representing a graphical image that can be superimposed on 3D surfaces of objects in the room 2210. For example, augmented image generator 2290 can generate a graphical image of a "virtual costume" that users 2210a, 2210b, 2210c, and 2210d can select for others to view. Consider user 2210a who wishes users 2210b, 2210c, and 2210d to perceive that user 2210a is wearing a "pirate costume." Augmented image generator 2290 can generate a graphical image that can be superimposed on the lenses of wearable shadow casters 2211b, 2211c, and 2211d. Thus, users 2210b, 2210c, and 2210d can visually perceive user 2210a wearing the superimposed "pirate costume." Consequently, these users can organize a virtual costume party.

[0186] The wearable shadow throwers 2211a, 2211b, 2211c, and 2211d may include RF radios for generating wireless data links 2213a, 2213b, 2213c, and 2213d, respectively. Furthermore, the one or more cameras 2201 and the augmented image generator 2290 may include logic (e.g., hardware or software, or a combination thereof) and RF radios for transmitting and receiving data using the one or more wearable shadow throwers. In one embodiment, the wearable shadow throwers 2211a, 2211b, 2211c, and 2211d may form a peer-to-peer network via the links 2213a, 2213b, 2213c, and 2213d to exchange 3D scan data and graphical images, thereby facilitating augmented reality applications. In another embodiment, the wearable shadow throwers 2211a, 2211b, 2211c and 2211d can implement a client-server network with a camera 2201 and an enhanced image generator 2290 via wireless data links 2214, 2215, 2213a, 2213b, 2213c and 2213d, each of which can also be adapted to implement other network topologies.

[0187] Figure 23 Examples of various computing platforms configured to provide various functions to components for three-dimensional scanning according to various embodiments are shown. In some examples, computing platform 2300 can be used to implement computer programs, applications, methods, processes, algorithms, or other software, as well as any hardware implementations thereof, to perform the above-described techniques.

[0188] In some cases, according to various examples described herein, the computing platform 2300 or any portion (e.g., any structural portion or functional portion) can be arranged in any device, such as a computing device 2390a, a mobile computing device 2390b, a wearable device 2390c, and / or processing circuitry for implementing various structures and / or functions.

[0189] The computing platform 2300 includes a bus 2302 or other communication mechanism for transmitting information, which interconnects subsystems and devices (such as a processor 2304, system memory 2306 (e.g., RAM, etc.), storage devices 2308 (e.g., ROM, etc.), cache in memory (which can be implemented in RAM 2306 or other parts of the computing platform 2300), and communication interfaces 2313 (e.g., Ethernet or wireless controllers, Bluetooth controllers, NFC logic, etc.) to facilitate communication via ports on communication links 2321, thereby communicating with computing devices, such as mobile computing and / or communication devices having processors that include database devices (e.g., storage devices configured to store atomic data sets (including but not limited to ternary databases, etc.)). The processor 2304 can be implemented as one or more graphics processing units ("GPUs"), one or more central processing units ("CPUs") (such as those manufactured by Intel Corporation), or one or more virtual processors, as well as any combination of CPUs and virtual processors. The computing platform 2300 exchanges data representing input and output via input and output devices 2301, which include but are not limited to a keyboard, a mouse, audio input (e.g., a voice-to-text driven device), a user interface, a display, a monitor, a cursor, a touch-sensitive display, an LCD display or an LED display, and other I / O-related devices.

[0190] Note that in some examples, the input and output device 2301 may be implemented as, or otherwise replaced by, a user interface in a computing device associated with a user account identifier in accordance with various examples described herein.

[0191] According to some examples, the computing platform 2300 performs specific operations by executing one or more sequences of one or more instructions stored in the system memory 2306 by the processor 2304, and the computing platform 2300 can be implemented in a client-server arrangement, a peer-to-peer arrangement, or as any mobile computing device (including smartphones, etc.). Such instructions or data can be read into the system memory 2306 from another computer-readable medium (such as storage device 2308). In some examples, hard-wired circuitry can be used instead of or in combination with software instructions for implementation. Instructions can be embedded in software or firmware. The term "computer-readable medium" refers to any tangible medium that participates in providing instructions to the processor 2304 for execution. Such media can take many forms, including (but not limited to) non-volatile media and volatile media. Non-volatile media include, for example, optical disks or magnetic disks. Volatile media include dynamic memory, such as the system memory 2306.

[0192] Known forms of computer-readable media include, for example, floppy disks, flexible disks, hard disks, magnetic tape, any other magnetic medium, CD-ROMs, any other optical medium, punch cards, paper tape (e.g., or a pattern of holes), any other physical medium (such as RAM, PROM, EPROM, FLASH-EPROM devices), any other memory chip or memory cartridge, or any other medium from which a computer can access data. Transmission media may be used to further transmit or receive instructions. The term "transmission media" may include any tangible or intangible medium capable of storing, encoding, or carrying instructions executed by a machine, and includes digital or analog communication signals or other intangible media to facilitate the communication of such instructions. Transmission media include coaxial cables, copper wire, and optical fibers, including wires (the wires comprising bus 2302 for transmitting computer data signals).

[0193] In some examples, execution of the sequences of instructions may be performed by the computing platform 2300. According to some examples, the computing platform 2300 may be connected to the computer via a communication link 2321 (e.g., a wired network (such as a LAN, PSTN) or any wireless network (including WiFi, NFC, Zig-Bee, etc.)) coupled to any other processor to execute instruction sequences in coordination (or asynchronously). Computing platform 2300 can transmit and receive messages, data, and instructions, including program code (e.g., application code), via communication link 2321 and communication interface 2313. The received program code can be executed by processor 2304 as it is received and / or stored in memory 2306 or other non-volatile storage device for later execution.

[0194] In the example shown, system memory 2306 may include various modules that include executable instructions for implementing the functionality described herein. System memory 2306 may include an operating system ("O / S") 2332 and application programs 2336 and / or module(s) 2359. Figure 23 In the example shown, system memory 2306 may include any number of modules 2359, any of which, or one or more portions thereof, may be configured to facilitate any one or more components of a computing system (e.g., a client computing system, a server computing system, etc.) by implementing one or more functions described herein.

[0195] The structure and / or function of any of the above features can be implemented in software, hardware, firmware, circuit system or a combination thereof. Note that the above structure and constituent elements and their functions can be aggregated with one or more other structures or elements. Alternatively, elements and their functions can be subdivided into constituent sub-elements (if any). As software, various types of programming languages ​​or formatting languages, frameworks, syntax, applications, protocols, objects or technologies can be used to implement the above technology. As hardware and / or firmware, various types of programming languages ​​or integrated circuit design languages ​​can be used to implement the above technology, including hardware description languages, such as any register transfer language ("RTL") configured to design a field programmable gate array ("FPGA"), an application specific integrated circuit ("ASIC") or any other type of integrated circuit. According to some embodiments, the term "module" can refer to, for example, an algorithm or a part thereof, and / or logic implemented in a hardware circuit system or software or a combination thereof. These can change and are not limited to the examples or descriptions provided.

[0196] In some embodiments, Figure 23 Module 2359, or one or more components thereof, or any process or device described herein can communicate (e.g., wired or wirelessly) with a mobile device (such as a mobile phone, wearable device, or computing device), or can be disposed therein.

[0197] In some cases, a mobile device or any networked computing device (not shown) communicating with one or more modules 2359 or one or more components thereof (or any process or device described herein) can provide at least some of the structure and / or functionality of any feature described herein. As depicted in the above-mentioned figures, the structure and / or functionality of any of the above-mentioned features can be implemented with software, hardware, firmware, circuitry, or any combination thereof. Note that the above structures and constituent elements and their functions can be aggregated or combined with one or more other structures or elements. Alternatively, elements and their functions can be subdivided into constituent sub-elements (if any). As software, various types of programming languages ​​or formatted languages, frameworks, syntax, applications, protocols, objects, or technologies can be used to implement at least some of the above-mentioned technologies. For example, at least one element depicted in any of the figures can represent one or more algorithms. Alternatively, at least one of these elements can represent a part of logic, and a part of the logic includes a part of hardware configured to provide a constituent structure and / or functionality.

[0198] For example, module 2359 or one or more components thereof, or any process or device described herein, may be implemented in one or more computing devices (i.e., any mobile computing device, such as a wearable device, such as a hat or headband, or a mobile phone, whether worn or carried), the computing device including one or more processors configured to execute one or more algorithms in memory. Thus, at least some of the elements in the above-described figures may represent one or more algorithms. Alternatively, at least one of these elements may represent a portion of logic that includes a portion of hardware configured to provide a constituent structure and / or functionality. These may vary and are not limited to the examples or descriptions provided.

[0199] The above-described structures and techniques may be implemented as hardware and / or firmware using various types of programming languages ​​or integrated circuit design languages, including hardware description languages ​​such as any register transfer language ("RTL") configured to design a field programmable gate array ("FPGA"), an application specific integrated circuit ("ASIC"), a multi-chip module, or any other type of integrated circuit.

[0200] For example, module 2359 or one or more components thereof, or any process or device described herein, may be implemented in one or more computing devices comprising one or more circuits. Thus, at least one element in the above figures may represent one or more hardware components. Alternatively, at least one of these elements may represent a portion of logic comprising a portion of circuitry configured to provide structure and / or functionality.

[0201] According to some embodiments, the term "circuit" may refer to, for example, any system comprising a plurality of components through which current flows to perform one or more functions, including discrete components and complex components. Examples of discrete components include transistors, resistors, capacitors, inductors, diodes, etc., while examples of complex components include memory, processors, analog circuits, digital circuits (including field programmable gate arrays ("FPGAs"), application specific integrated circuits ("ASICs")), etc. Thus, a circuit may include a system of electronic components and logic components (e.g., logic configured to execute instructions, such that a set of executable instructions of an algorithm is, for example, and therefore a component of a circuit). According to some embodiments, the term "module" may refer to, for example, an algorithm or a portion thereof, and / or logic implemented in hardware circuitry or software or a combination thereof (i.e., a module may be implemented as a circuit). In some embodiments, an algorithm and / or a memory in which the algorithm is stored is a "component" of a circuit. Thus, the term "circuit" may also refer to, for example, a system of components comprising an algorithm. These may vary and are not limited to the examples or descriptions provided.

[0202] In view of the foregoing, diagrams 200 through 2300 illustrate any number of structures and functions that can be applied to any number of applications. For example, any of the above structures and functions can be incorporated into a mobile phone having a camera. Thus, a shadow caster and / or a light source can be attached to or integrated within a mobile phone to perform 3D scanning. In another example, any of the above structures and functions can be implemented to store surface patterns for identification purposes, such as scanning a fingerprint in three dimensions as data for providing secure authorization or identification. Any number of applications can implement the structure and functions described herein.

[0203] In one example, a method may include receiving photon emissions at a shadow thrower and forming a brightness edge. The method may include receiving the photon emissions as light and projecting the brightness edge onto a projection plane. The method may include receiving the photon emissions at two edge portions of the shadow thrower and forming two of at least two portions of the brightness edge. The at least two portions of the brightness edge may be substantially parallel when projected onto the projection plane. The method may include receiving additional photon emissions at another shadow thrower and forming another brightness edge. The additional brightness edge may be substantially coextensive with the brightness edge. The method may include generating the photon emissions at a light source disposed adjacent to (e.g., substantially on an axis) an end of the shadow thrower, the shadow thrower being a distance (e.g., a maximum distance) from the projection plane. In some examples, receiving the photon emissions at the shadow thrower may include receiving the photon emissions in a first zone and projecting the brightness edge onto the projection plane. The shadow thrower may be disposed between one or more light sources and the projection plane. The method may include applying a motive force to move the brightness edge across the projection plane.

[0204] Turning now to specific and particular applications of the present invention, reference is now made to the most preferred embodiments of the present invention, Figure 24 、 Figure 25 、 Figure 26 、 Figure 27 、 Figure 28 、 Figure 29 and Figure 30 , a shadow thrower scanner 2400 is shown. Figure 24 A front perspective view of the Shadow Thrower Scanner 2400 is demonstrated. Figure 25 is a rear perspective view of the shadow thrower scanner 2400. Figure 26 is an exploded view of the Shadow Thrower Scanner 2400. Figure 27 is a front perspective view of the filtered shadow thrower 2400a of the present invention. Figure 28 is a front perspective view of the blade-type shadow thrower 2400b of the present invention. Figure 29 is a front perspective view of the wide blade shadow thrower 2400c of the present invention. Figure 30 An operational flow chart 3000 describing the operation of the shadow thrower scanner 2400 is depicted.

[0205] In more detail, still referring to the present invention Figure 24 、 Figure 25 、 Figure 26 、 Figure 27 、 Figure 28 、 Figure 29 and Figure 30The shadow thrower scanner 2400 includes a housing 2410, the housing 2410 including: a back panel 2418, the back panel 2418 including: a camera opening 2432, a top panel 2412, two side panels 2414, the side panels 2414 including: a pivot point 2411 and a base 2416; a shadow thrower 2420, the shadow thrower 2420 including: a front section 2424, the front section 2424 being rectangular; two side sections 2422, each of the side sections 2422 being vertically suspended from opposite ends of the front section 2424, each of the side sections 2422 including: a triangular shape and a shoulder mount 2423, each of the shoulder mount 2423 including: The shadow thrower 2420 includes a plurality of side panels 2414 and a plurality of side panels 2422, the plurality of side panels 2414 and a plurality of side panels 2422 connected to the plurality of side panels 2422. The plurality of side panels 2414 and a plurality of side panels 2422 connected to the plurality of side panels 2422 are connected to the plurality of side panels 2414. a tongue 2426; a light source 2450, the light source 2450 being discrete, continuous, linear, and extending between the shoulder screws 2428 of the shoulder mount 2423 of the side segment 2422 of the shadow caster 2420; a video camera assembly 2430, the video camera assembly 2430 extending through the camera opening 2432 of the back panel 2418 of the housing 2410, the video camera assembly 2430 comprising: a video camera support platform 2436 and a video camera 2434, the video camera 2434 being mounted on the video camera support platform 2436, the video camera 2434 comprising: a camera lens 2435, a camera sync port 2433, a video output port 2439 and a control port 2490; a memory stored in a non-transitory computer-readable medium; a processor (not shown), the processor including the computer-readable medium; and a display (not shown); wherein the light source 2450 illuminates the shadow thrower 2420 to cast a high-contrast shadow of a known geometric shape, which forms the one or more brightness edges on the object; wherein the actuator motor 2446 moves the shadow thrower 2420 to sweep the one or more brightness edges across the object; wherein the video camera 2434 detects the one or more brightness edges on the object to obtain three-dimensional points and records the three-dimensional points to the memory;wherein the processor forms a three-dimensional data representation based on the recorded three-dimensional points; wherein the processor uses the three-dimensional data representation to generate the three-dimensional model of the object; and wherein the processor is used to display the three-dimensional model on the display. Alternatively,; Figure 27 The filtered shadow thrower 2420a shown can be used with the shadow thrower scanner 2400 in place of the shadow thrower 2420 and includes: a front segment 2424a, which is rectangular; two side segments 2422a, each of which is vertically suspended from opposite ends of the front segment 2424a, each of which includes: a triangular shape and a shoulder mount 2423a, each of which includes: a shoulder screw hole 2421a and a tab 2426a. The front segment 2424a and the two side segments 2422a further include a first filter 2429a, a second filter 2425a and a third filter 2427a, which can filter different colors of light or have different opacities. Although only three filters are shown in the figure, any number of filters can be used. Alternatively, Figure 28 The blade-type shadow thrower 2400b shown can be used with the shadow thrower scanner 2400 in place of the shadow thrower 2420 and includes: a front segment 2424b, which is rectangular; two side segments 2422b, each of which is vertically suspended from opposite ends of the front segment 2424b, each of which includes: a triangular shape and a shoulder mount 2423b, each of which includes: a shoulder screw hole 2421b and a tongue 2426b. The front segment 2424b and the two side segments 2422b further include a first segment 2429b, a second segment 2425b and a third segment 2427b for producing more brightness edges. Although only three segments are shown in the drawings, any number of segments may be used. Alternatively, Figure 29The wide blade shadow thrower 2400c shown can be used with the shadow thrower scanner 2400 in place of the shadow thrower 2420 and includes: a front segment 2424c; two side segments 2422c, each of the side segments 2422c vertically suspended from opposite ends of the front segment 2424c, each of the side segments 2422c including: a triangular shape and a shoulder mount 2423c, each of the shoulder mount 2423c including: a shoulder screw hole 2421c and a tongue 2426c. The front segment 2424c and the two side segments 2422c further include a first wide segment 2429c, a second wide segment 2425c and a third wide segment 2427c for producing more brightness edges. Although only three segments are shown in the drawings, any number of segments may be used. Figure 30 In the operational flow chart 3000 described in

[15] , the first step in the operation of the shadow thrower scanner 2400 includes positioning the scanner over an object in a position scanner step 3005. Next, in an alignment determination step 3010, a determination is made as to whether the scanner is aligned with the object. If the scanner is not aligned, the scanner is aligned with the object in an align scanner step 3040. Once the scanner is aligned, a determination is made as to whether the camera is focused on the object in a focus determination step 3015. If the camera is not focused, the camera is focused in a focus camera step 3020. Once the camera is focused, the camera begins recording video of the object in a start recording step 3025. Next, in a start sweep step 3045, the shadow thrower begins sweeping brightness edges across the object. Next, in a collect and analyze step 3050, the processor collects and analyzes frames of the recorded video to form a point cloud. Next, in a stop sweep step 3060, the shadow thrower stops sweeping brightness edges across the object. Next, in a filter point cloud step 3070, the processor filters the point cloud. Next, in a construct surface step 3075, the processor constructs a model of the three-dimensional surface based on the filtered point cloud. Next, in a display image step 3055, the processor displays the model on the display. In another scan determination step 3030, a determination is made as to whether another scan is required. If another scan is required, the start recording step 3025 is repeated as described above. If another scan is not required, the modeled surface is assembled and saved to a file in a save file step 3035. Finally, in a store scan step 3080, the scan is stored after the operation.

[0206] like Figure 24 、 Figure 25 、 Figure 26 、 Figure 27 、 Figure 28 、 Figure 29 and Figure 30The structural details of the present invention are as follows. The back panel 2418 of the housing 2410 comprises a solid rigid material such as steel, copper clad, plastic, high-density plastic, silicone, PVC, fiberglass, carbon fiber, composite material, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood or other similar material. The top panel 2412 of the housing 2410 comprises a solid rigid material such as steel, copper clad, plastic, high-density plastic, silicone, PVC, fiberglass, carbon fiber, composite material, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood or other similar material. The side panels 2414 of the housing 2410 comprise a solid rigid material such as steel, copper clad, plastic, high-density plastic, silicone, PVC, fiberglass, carbon fiber, composite material, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood or other similar material. The base 2416 of the housing 2410 comprises a strong, rigid material such as steel, clad copper, plastic, high-density plastic, silicone, PVC, fiberglass, carbon fiber, a composite material, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials. The shadow thrower 2420 comprises a strong, rigid material such as steel, clad copper, plastic, high-density plastic, silicone, PVC, fiberglass, carbon fiber, a composite material, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials, and may further include a configurable shape, a three-dimensional printed shape, a configurable opacity (such as liquid crystal, etc.), or various color filters. The shoulder screw 2428 comprises a strong, rigid material such as steel, clad copper, plastic, high-density plastic, silicone, PVC, fiberglass, carbon fiber, a composite material, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials. Nut 2419 and washer 2413 comprise a strong, rigid material, such as steel, coated copper, plastic, high-density plastic, silicone, PVC, fiberglass, carbon fiber, a composite material, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials. Tongue 2426 of shadow thrower 2420 comprises a lightweight, rigid material, such as steel, coated copper, plastic, high-density plastic, silicone, PVC, fiberglass, carbon fiber, a composite material, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials. Actuator arm 2442 of actuator assembly 2440 comprises a strong, rigid material, such as steel, coated copper, plastic, high-density plastic, silicone, PVC, fiberglass, carbon fiber, a composite material, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials. Actuator motor 2446 of actuator assembly 2440 comprises a linear stepper motor, an electric motor, a hydraulic system, or the like.Actuator connector 2444 of actuator assembly 2440 may comprise a strong, rigid material, such as steel, coated copper, plastic, high-density plastic, silicone, PVC, fiberglass, carbon fiber, a composite material, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials. Light source 2450 may comprise an incandescent lamp, a halogen lamp, a fluorescent lamp, a linear lamp, a slit tube lamp, an LED, an LED array, a linear array of LEDs, light sources of different colors, colored LEDs, a laser, an X-ray source, a UV source, an infrared source, or the like. Video camera support platform 2436 may comprise a strong, rigid material, such as steel, coated copper, plastic, high-density plastic, silicone, PVC, fiberglass, carbon fiber, a composite material, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials. Video camera 2434 may comprise a digital or analog video camera, or the like. Camera lens 2435 may comprise a telephoto lens, a filter lens, a magnifying lens, a lens with a negative focal length, or the like. The memory stored in the non-transitory computer readable medium includes software, instructions, data, algorithms, etc. The processor includes a computer, a mobile phone, a PC, a CPU, etc. The display includes a monitor, a screen, a television, an augmented reality headset, a microscope, etc. The filtered shadow thrower 2420a includes configurable opacity (such as liquid crystal, etc.), or various color filters, etc., which can filter different colors of light or have different opacities. The blade shadow thrower 2400b includes a strong rigid material such as steel, coated copper, plastic, high-density plastic, silicone, PVC, fiberglass, carbon fiber, composite material, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood or other similar materials, and can further include a configurable shape, a three-dimensional printed shape, a configurable opacity (such as liquid crystal, etc.) or various color filters, etc. The wide blade shadow thrower 2400c comprises a strong rigid material such as steel, coated copper, plastic, high density plastic, silicone, PVC, fiberglass, carbon fiber, composite material, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood or other similar materials, and may further include a configurable shape, a three-dimensional printed shape, a configurable opacity (such as liquid crystal, etc.) or various color filters, etc.

[0207] Now referring to another embodiment of the present invention, Figure 31 、 Figure 32 、 Figure 33 、 Figure 34 、 Figure 35 and Figure 36 , a surgical shadow thrower scanner 3100 is shown as being used during a surgical procedure. Figure 31 is a front perspective view of a surgical shadow thrower scanner 3100 being used during brain surgery on a patient 3170 . Figure 32An operational flow chart 3200 describing the operation of a surgical shadow thrower scanner 3100 as used during brain surgery is shown. Figure 33 A side scanner flow chart 3300 is shown describing the operation of a surgical shadow thrower scanner 3100 used as a side scanner during brain surgery. Figure 34 Depicted is an algorithm flow chart 3400 describing the algorithm used by the surgical shadow thrower scanner 3100 used as a side scanner during brain surgery. Figure 35 A registration flow chart 3500 is shown describing the surgical shadow thrower scanner 3100 being used for patient registration. Figure 36 A robotic flow chart 3600 describing the operation of a surgical shadow thrower scanner 3100 used during robotic automated brain surgery is presented.

[0208] In more detail, still referring to the present invention Figure 31 、 Figure 32 、 Figure 33 、 Figure 34 、 Figure 35 and Figure 36 ,exist Figure 31 , the surgical shadow thrower scanner 3100 is shown casting a shadow 3167 from a shadow thrower 3120 across a craniotomy 3180 of a patient 3170 as a video camera 3130 is recording the sweep. A head clamp 3165, a right angle clamp 3161, and a lockable flexure arm 3163 secure the position of the surgical shadow thrower scanner 3100 relative to the area being scanned on the patient 3170. Figure 32In [ 32 ], operational flow chart 3200 describes the operation of a surgical shadow thrower scanner 3100 used during brain surgery. The first step in the operation of the surgical shadow thrower scanner 3100 includes: in Cover Scanner Step 3203, covering the scanner with a custom drape that is well-suited for surgery, conforms to the exterior of the surgical shadow thrower scanner 3100, and protects the patient 3170 from contamination during surgery. Next, in Position Scanner Step 3205, the surgical shadow thrower scanner 3100 is positioned over the subject. Next, in Alignment Decision Step 3210, a determination is made as to whether the scanner is aligned with the subject, in this case, the craniotomy 3180 of the patient 3170. If the scanner is not aligned, the scanner is aligned with the subject in Align Scanner Step 3240. Once the scanner is aligned, a determination is made as to whether the camera is focused on the subject in Focus Decision Step 3215. If the camera is not focused, the camera is focused in Focus Camera Step 3220. Once the camera is focused, it begins recording video of the subject in a start recording step 3225. Next, in a start sweep step 3245, the shadow caster begins sweeping brightness edges across the subject. Next, in a collect and analyze step 3250, the processor collects and analyzes frames of the recorded video to form a point cloud. Next, in a filter new cloud point step 3252, the processor filters the new cloud points. Next, in an update filtered cloud point step 3254, the filtered point cloud display is updated. Next, in a filter entire point cloud step 3270, the processor filters the entire point cloud. Next, in a construct surface step 3275, the processor constructs a three-dimensional surface model based on the filtered point cloud. Next, in a send surface step 3263, the surface is sent to a surgical navigation computer. The surgical navigation computer includes a computer that determines the position of the surgeon's tools and the patient's position relative to a common three-dimensional coordinate system. Surgical navigation is used to assist in surgical procedures. Next, in a save file step 3235, the surface is saved to a file. Next, in a display image step 3255, the processor displays the model on the display. In another scan determination step 3230, a determination is made as to whether another scan is required. If another scan is required, the alignment determination step 3210 is repeated as described above. Next, in a stop sweeping step 3260, the shadow caster stops sweeping the brightness edge across the object. Next, in a stop recording step 3265, the camera stops recording video of the object. Next, in a uncover scanner cover step 3277, the scanner cover is uncovered. Finally, in a store scanner step 3280, the scanner is stored after the operation. Figure 33In the side scanner flowchart 3300, the operation of the surgical shadow thrower scanner 3100 used as a side scanner during brain surgery is described. The first step in operating the surgical shadow thrower scanner 3100 as a side scanner includes: in Cover Scanner Step 3303, covering the scanner with a custom drape that is well-suited for surgery, conforms to the exterior of the surgical shadow thrower scanner 3100, and protects the patient 3170 from contamination during surgery. Next, in Position Scanner Step 3305, the surgical shadow thrower scanner 3100 is positioned to the side of the subject. Next, in Alignment Determination Step 3310, a determination is made as to whether the scanner is aligned with the subject. If the scanner is not aligned, the scanner is aligned with the subject in Align Scanner Step 3340. Once the scanner is aligned, a determination is made as to whether the camera is focused on the subject in Focus Determination Step 3315. If the camera is not focused, the camera is focused in Focus Camera Step 3320. Once the camera is focused, the camera begins recording video of the subject in Start Recording Step 3325. Next, in a start sweep step 3345, the shadow caster begins sweeping brightness edges across the object. Next, in a collect and analyze step 3350, the processor collects and analyzes frames of the recorded video to form a point cloud. Next, in a stop sweep step 3360, the shadow caster stops sweeping brightness edges across the object. Next, in a stop recording step 3365, the camera stops recording video of the object. Next, in a filter point cloud step 3370, the processor filters the point cloud. Next, in a construct surface step 3375, the processor constructs a three-dimensional surface model based on the filtered point cloud. Next, in a save file step 3335, the surface is saved to a file. Next, in a display image step 3355, the processor displays the model on the display. In another scan determination step 3330, a determination is made as to whether another scan is necessary. If another scan is necessary, a determination is made as to whether the scanner is still facing the target in a still aiming step 3333. If the scanner is still facing the target, the start recording step 3325 is repeated as described above. If the scanner is no longer facing the target, then wait until the scanner is moved back in a move back step 3337. Once the scanner is moved back to the target, then repeat the start recording step 3325 as described above. If another scan is not needed, then the scanner cover is uncovered in a uncover scanner cover step 3377. Finally, in a store scanner step 3380, the scanner is stored after the operation. Figure 34In [ 34 ], algorithm flow chart 3400 describes the algorithm used by the surgical shadow thrower scanner 3100, which is used as a side scanner during brain surgery. The first step in the algorithm for the surgical shadow thrower scanner 3100 includes starting the program in Start Program Step 3404. Next, in Collect Parameters Step 3408, user-provided or program-specified scanning and analysis parameters are collected. Next, in Start Recording Step 3425, the camera begins recording video. Next, in Start Sweep Step 3445, the motor is activated to move the shadow thrower and sweep brightness edges across the object. Next, in Collect Video Step 3450, frames of the recorded video are collected. Next, in Buffer Determination Step 3424, a determination is made as to whether the video buffer is sufficiently full for analysis. If the buffer is not sufficiently full, Collect Video Step 3450 is repeated as described above. If the buffer is sufficiently full for analysis, the video frames are analyzed in Analyze Frames Step 3444 to create a point cloud. Next, in a filter new point cloud step 3452, the processor filters the new point cloud. Next, in an update filtered point cloud step 3454, the filtered point cloud display is updated. Next, in a still buffering determination step 3458, a determination is made as to whether there are still sufficient frames in the buffer. If there are not sufficient frames in the buffer, the buffer determination step 3424 is repeated as described above. If there are still sufficient frames in the buffer, a determination is made as to whether the sweep is complete in a complete sweep determination step 3478. If the sweep is not complete, the analyze frames step 3444 is repeated as described above. If the sweep is complete, the motor is stopped in a stop motor step 3468. Next, in a stop recording step 3465, the camera stops recording video of the object. Next, in a complete analyze frames step 3464, the analysis of the frames is completed. Next, in a filter point cloud step 3470, the processor filters the point cloud. Next, in a construct surface step 3475, the processor constructs a three-dimensional surface model based on the filtered point cloud. Next, in a save file step 3435, the surface is saved to a file. Next, in a display image step 3455, the processor displays the model on the display. In another scan determination step 3430, it is determined whether another scan is required. If another scan is required, then in a still visible step 3414 it is determined whether the target or fiducial is still visible in the camera's field of view. If the target or fiducial is still visible, then the start recording step 3425 is repeated as described above. If the target or fiducial is not still visible, then in a wait step 3412 it is waited until the target or fiducial is visible again, and once the target or fiducial is visible again, then the start recording step 3425 is repeated as described above. Finally, if another scan is not required, then the user exits the algorithm in an exit algorithm step 3490. Figure 35In the registration flowchart 3500, the surgical shadow thrower scanner 3100 is described as being used for patient registration. The first step in patient registration involves covering the scanner with a custom drape in a cover scanner step 3503. Next, in a position scanner step 3505, the surgical shadow thrower scanner 3100 is positioned over the subject. Next, in an alignment determination step 3510, a determination is made as to whether the scanner is aligned with the subject. If the scanner is not aligned, the scanner is aligned with the subject in an align scanner step 3540. Once the scanner is aligned, a determination is made as to whether the camera is focused on the subject in a focus determination step 3515. If the camera is not focused, the camera is focused in a focus camera step 3520. Once the camera is focused, the camera begins recording video of the subject in a start recording step 3525. Next, in a start sweep step 3545, the shadow thrower begins sweeping brightness edges across the subject. Next, in a collect and analyze step 3550, a processor collects and analyzes frames of the recorded video to form a point cloud. Next, in a stop sweep step 3560, the shadow caster stops sweeping the brightness edge across the object. Next, in a stop recording step 3565, the camera stops recording video of the object. Next, in a filter point cloud step 3570, the processor filters the point cloud. Next, in a construct surface step 3575, the processor constructs a three-dimensional surface model based on the filtered point cloud. Next, in a save file step 3235, the surface is saved to a file. Next, in a send surface step 3563, the surface is sent to the navigation computer. Next, in a two scans determination step 3531, a determination is made as to whether two scans were collected. If two scans were not collected, the position scanner step 3505 is repeated as described above. If two scans were collected, a fiducial is identified on the first surface in an identify first fiducial step 3581. Next, in an identify second fiducial step 3583, a corresponding fiducial is identified on the second surface. Next, in a calculation step 3585, the processor calculates a rigid transformation. Next, when the scanner or patient is moved, all surface points are mapped to their new positions using a rigid transformation in a mapping step 3587. Finally, in a continue operation step 3595, the operation continues. Figure 36In

[15] , robotic flowchart 3600 describes the operation of a surgical shadow thrower scanner 3100 used during robotically automated brain surgery. The first step in the robotically automated operation of the surgical shadow thrower scanner 3100 includes: in Cover Scanner Step 3603, covering the scanner with a custom drape that is well-suited for surgery, conforms to the exterior of the surgical shadow thrower scanner 3100, and protects the patient 3170 from contamination during surgery. Next, in Position Scanner Step 3605, the surgical shadow thrower scanner 3100 is positioned over the subject using robotically controlled motors. Next, in Alignment Decision Step 3610, a determination is made as to whether the scanner is aligned with the subject. If not, the scanner is aligned with the subject in Align Scanner Step 3640. Once the scanner is aligned, a determination is made as to whether the camera is focused on the subject in Focus Decision Step 3615. If not, the camera is focused in Focus Camera Step 3620. Once the camera is focused, it begins recording video of the object in a Start Recording step 3625. Next, in a Start Sweep step 3645, the shadow caster begins sweeping brightness edges across the object. Next, in a Collect and Analyze step 3650, the processor collects and analyzes frames of the recorded video to form a point cloud. Next, in a Filter New Cloud Points step 3652, the processor filters the new cloud points. Next, in an Update Filtered Point Cloud step 3654, the filtered point cloud display is updated. Next, in a Full Scan Determination step 3667, a determination is made as to whether the entire region of interest has been scanned. If the entire region of interest has not been scanned, the Collect and Analyze step 3650 is repeated as described above. If the entire region of interest has been scanned, the processor filters the entire point cloud in a Filter Full Point Cloud step 3670. Next, in a Construct Surface step 3675, the processor constructs a three-dimensional surface model based on the filtered point cloud. Next, in a Send Surface step 3663, the surface is sent to the navigation computer. Next, in a save file step 3635, the surface is saved to a file. Next, in a display image step 3655, the processor displays the model on the display. In another scan determination step 3630, a determination is made as to whether another scan is required. If another scan is required, then the alignment determination step 3610 is repeated as described above. If another scan is not required, then in a stop sweep step 3660 the shadow caster stops sweeping the brightness edge across the object. Next, in a stop recording step 3665, the camera stops recording video of the object. Next, in a uncover scanner cover step 3677, the scanner cover is uncovered. Finally, in a store scanner step 3680, the scanner is stored after the operation.

[0209] like Figure 31 、 Figure 32、 Figure 33 、 Figure 34 、 Figure 35 and Figure 36 The structural details of the present invention are shown as follows: the surgical shadow thrower scanner 3100 comprises a strong rigid material such as steel, coated copper, plastic, high-density plastic, silicone, PVC, fiberglass, carbon fiber, composite material, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood or other similar materials. The shadow thrower 3120 comprises a strong rigid material such as steel, coated copper, plastic, high-density plastic, silicone, PVC, fiberglass, carbon fiber, composite material, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood or other similar materials, and can further include a configurable shape, a 3D printed shape, a configurable opacity (such as liquid crystal, etc.) or various color filters, etc. The video camera 3130 comprises a digital or analog video camera, etc. The head clamp 3165, right angle clamp 3161 and lockable flexure arm 3163 comprise a strong rigid material such as steel, coated copper, plastic, high density plastic, silicone, PVC, fiberglass, carbon fiber, composite material, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood or other similar materials.

[0210] Now referring to another embodiment of the present invention, Figure 37 、 Figure 38 、 Figure 39 、 Figure 40 、 Figure 41 、 Figure 42 、 Figure 43 and Figure 44 , an endoscopic version of the shadow thrower scanner is shown. Figure 37 is a front perspective view of the Endoscopic Shadow Thrower Scanner 3700. Figure 38 is an exploded view of the Endoscopic Shadow Thrower Scanner 3700. Figure 39 is a front perspective view of the mobile slit-type endoscope shadow thrower scanner 3900. Figure 40 Front perspective views and exploded views of the endoscope bodies 4000, 4000a, and 4000b of the endoscope shadow thrower scanner 3700 and the mobile slit-type endoscope shadow thrower scanner 3900 are shown. Figure 41 An optical path block diagram 4100 is depicted, which describes the optical paths of the endoscopic shadow thrower scanner 3700 and the moving slit-type endoscopic shadow thrower scanner 3900. Figure 42 An endoscope operation flow chart 4200 is shown describing the operation of the endoscope shadow thrower scanner 3700 and the mobile slit endoscope shadow thrower scanner 3900 during a surgical procedure. Figure 43An endoscopic algorithm flow chart 4300 is depicted, which describes the algorithm used by the endoscopic shadow thrower scanner 3700 and the moving slit endoscopic shadow thrower scanner 3900. Figure 44 An endoscope sweep flow chart 4400 is shown, which describes the shadow thrower sweep of the endoscope shadow thrower scanner 3700 and the moving slit type endoscope shadow thrower scanner 3900.

[0211] In more detail, still referring to the present invention Figure 37 、 Figure 38 、 Figure 39 、 Figure 40 、 Figure 41 、 Figure 42 、 Figure 43 and Figure 44 ,exist Figure 37 、 Figure 38 and Figure 40, an endoscopic shadow thrower scanner 3700 and an optional distal tip 4001, 4001a or 4001b are shown. The endoscope shadow thrower scanner 3700 includes an endoscope body 4000, 4000a, or 4000b, wherein the endoscope body 4000, 4000a, or 4000b includes: a proximal end 3701; a distal end 4001, 4001a, or 4001b; an endoscope sleeve 4010, 4010a, or 4010b, wherein the endoscope sleeve 4010, 4010a, or 4010b spans between the proximal end 3701 and the distal end 4001, 4001a, or 4001b; and tapered optical fiber bundles 4060a, 4060b, wherein the tapered optical fiber bundles 4060a, 4060b are disposed in the endoscope sleeves 4010, 4010a, or 4010b. 10a or 4010b and gradually narrowing toward the distal end 4001, 4001a or 4001b; and an endoscopic camera 4030, 4030a or 4030b, the endoscopic camera 4030, 4030a or 4030b being arranged within the endoscope sleeve 4010, 4010a or 4010b and facing outward of the distal end 4001, 4001a or 4001b; a shadow thrower 4020, 4020a or 4020b, the shadow thrower 4020, 4020a or 4020b being mounted on the endoscope body 4000, 4000a or 4000b above the tapered optical fiber bundles 4060a and 4060b. The shadow thrower 4020, 4020a or 4020b comprises a semicircular piece, an endoscopic shadow thrower scanner 3700, and the endoscopic shadow thrower scanner 3700 comprises a horizontal platform 3730, a vertical seat 3705, the vertical seat extending from the horizontal platform 3730, a stepper motor linear actuator 3740, the stepper motor linear actuator 3740 extending from the horizontal platform 3730, a translation platform 3715, the translation platform 3715 connected to the stepper motor linear actuator 3740, a light source suspended from the translation platform 3715, and a cylindrical lens 3705. 60; a fiber optic bundle 3710, which may be an image-maintaining fiber optic bundle, the fiber optic bundle 3710 being suspended from the light source; a square-to-circular taper 3720, the square-to-circular taper 3720 being suspended from the fiber optic bundle 3710; and a slit 3725, the slit 3725 being mounted on the square-to-circular taper 3720; a memory stored in a non-transitory computer-readable medium; a processor (not shown), the processor including: the computer-readable medium; and a display (not shown); wherein the endoscope shadow thrower scanner 3700 is connected to the proximal end 3701 of the endoscope body 4000, 4000a, and 4000b;wherein the light source illuminates the fiber bundle 3710, the square to round cone 3720, the slit 3725, the tapered fiber bundle 4060a, and the shadow caster 4020 or 4020a to cast a high contrast shadow of a known geometric shape, which forms the one or more brightness edges on the object; wherein the stepper motor linear actuator 3740 moves the translation platform 3715 with the light source to sweep the one or more brightness edges across the object; wherein the endoscopic camera 4030, 4030a, or 4030b detects the one or more brightness edges on the object to obtain three-dimensional points and records the three-dimensional points in the memory; wherein the processor forms a three-dimensional data representation based on the recorded three-dimensional points; wherein the processor uses the three-dimensional data representation to generate the three-dimensional model of the object; and wherein the three-dimensional model is displayed on the display using the processor. Figure 39 and Figure 40 , a mobile slit-type endoscope shadow thrower scanner 3900 and an optional distal end 4001, 4001a or 4001b are shown. The mobile slit-type endoscope shadow thrower scanner 3900 includes an endoscope body 4000, 4000a and 4000b, wherein the endoscope body 4000, 4000a or 4000b includes: a proximal end 3701 (at Figure 37 and Figure 381a or 4001b); an endoscope sleeve 4010, 4010a or 4010b spanning between the proximal end 3701 and the distal end 4001, 4001a or 4001b; a tapered fiber optic bundle 4060a disposed within the endoscope sleeve 4010 or 4010a and tapering toward the distal end 4001, 4001a or 4001b; and an endoscope camera 4030, 4030a or 4030b disposed In the endoscope sleeve 4010, 4010a or 4010b and facing the outside of the distal end 4001, 4001a or 4001b; a shadow thrower 4020, 4020a or 4020b, the shadow thrower 4020, 4020a or 4020b is mounted on the distal end 4001, 4001a or 4001b of the endoscope body 4000, 4000a or 4000b above the tapered optical fiber bundle 4060a, the shadow thrower 4020 or 4020a comprising: a semicircular piece; a mobile slit-type endoscope shadow thrower scanner 3900, the mobile slit-type endoscope shadow thrower scanner 3900 comprising: a horizontal a platform 3930; a vertical mount 3905 extending from the horizontal platform 3930; a stepper motor linear actuator 3940 extending from the horizontal platform 3930; a support platform 3915 suspended from the vertical mount 3905; a light source (not shown); a fiber optic bundle 3910 suspended from the light source; a square to round taper 3920 suspended from the fiber optic bundle 3910; and a slit 3925 mounted to the stepper motor linear actuator 3940; stored in a non-transitory computer readable medium a memory; a processor (not shown), the processor comprising: the computer-readable medium; and a display (not shown); wherein the moving slit-type endoscope shadow thrower scanner 3900 is connected to the light source; wherein the light source illuminates the fiber bundle 3910, the square to round cone 3920, the slit 3925, the tapered fiber bundle 4060a, and the shadow thrower 4020 or 4020a to project a high-contrast shadow of a known geometric shape, which forms the one or more brightness edges on the object; wherein the stepper motor linear actuator 3940 moves the slit 3925 to sweep the one or more brightness edges across the object;wherein the endoscope camera 4030, 4030a, or 4030b detects the one or more brightness edges on the object to obtain three-dimensional points and records the three-dimensional points in the memory; wherein the processor forms a three-dimensional data representation based on the recorded three-dimensional points; wherein the processor uses the three-dimensional data representation to generate the three-dimensional model of the object; and wherein the processor is used to display the three-dimensional model on the display. Figure 41 In FIG. 4 , the optical path diagram 4100 depicts the optical path of the endoscopic shadow thrower scanner 3700 and the moving slit-type endoscopic shadow thrower scanner 3900. First, in a light source step 4110, light is emitted from the light source. Next, in a light source injector step 4120, light is ignited by the endoscopic shadow thrower scanner 3700 and the moving slit-type endoscopic shadow thrower scanner 3900, where the light source or the moving slit 3925 is moved. Next, in a fiber optic step 4130, light from the endoscopic shadow thrower scanner 3700 and the moving slit-type endoscopic shadow thrower scanner 3900 travels along the tapered fiber optic bundle 4060a. Next, in a distal tip step 4140, light is projected from the distal tip 4001, 4001a, or 4001b of the endoscope body 4000, 4000a, or 4000b and through the shadow caster 4020, 4020a, or 4020b. Next, in a camera step 4150, light and brightness edges are detected by the endoscope camera 4030, 4030a, or 4030b. Finally, in a computer step 4160, the image from the endoscope camera 4030, 4030a, or 4030b is sent to a processor for processing into a three-dimensional model. Figure 42In the present invention, an endoscope operation flowchart 4200 describes the operation of an endoscopic shadow thrower scanner 3700 and a mobile slit-type endoscopic shadow thrower scanner 3900 used during a surgical procedure. The first step in the operation of the endoscopic shadow thrower scanner 3700 and the mobile slit-type endoscopic shadow thrower scanner 3900 includes covering the scanner with a customized drape that is well-suited for surgical procedures, conforms to the exterior of the endoscopic shadow thrower scanner 3700 and the mobile slit-type endoscopic shadow thrower scanner 3900, and protects the patient from contamination during the surgical procedure in a cover scanner step 4203. Next, in an insert scanner step 4205, the distal tip 4001, 4001a, or 4001b of the endoscopic shadow thrower scanner 3700 or the mobile slit-type endoscopic shadow thrower scanner 3900 is inserted into a natural or artificial orifice. Next, in an activation step 4210, the light source and endoscope camera 4030, 4030a, or 4030b are activated. Next, in a navigation step 4240, the distal tip 4001, 4001a, or 4001b of the endoscope shadow thrower scanner 3700 or the mobile slit-type endoscope shadow thrower scanner 3900 is navigated to the target. Next, in a focus determination step 4215, a determination is made as to whether the endoscope camera 4030, 4030a, or 4030b is focused on the target. If the endoscope camera 4030, 4030a, or 4030b is not focused, the endoscope camera 4030, 4030a, or 4030b is focused in a focus camera step 4220. Once endoscopic camera 4030, 4030a, or 4030b is focused, it begins recording video of the target in a start recording step 4225. Next, in a start sweep step 4245, a brightness edge begins sweeping across the target by moving the light source of the endoscopic shadow thrower scanner 3700 or the slit 3925 of the slit-type endoscopic shadow thrower scanner 3900. Next, in a collect and analyze step 4250, the processor collects and analyzes frames of the recorded video to form a point cloud. Next, in a filter new cloud point step 4252, the processor filters the new cloud point. Next, in an update filtered cloud point step 4254, the filtered point cloud display is updated. Next, in a full scan determination step 4267, a determination is made as to whether the entire region of interest has been scanned. If the entire region of interest has not been scanned, the collect and analyze step 4250 is repeated as described above. If the entire region of interest has been scanned, the processor filters the entire point cloud in a filter entire point cloud step 4270. Next, the processor constructs a three-dimensional surface model from the filtered point cloud in a construct surface step 3275. Next, in a send surface step 4263, the surface is sent to the navigation computer.Next, in a save file step 4235, the surface is saved to a file. Next, in a display image step 4255, the processor displays the model on the display. In another scan determination step 4230, a determination is made as to whether another scan is required. If another scan is required, then the start sweep step 4245 is repeated as described above. If another scan is not required, then in a stop sweep step 4260 the brightness edge stops sweeping across the object. Next, in a stop recording step 4265, the camera stops recording video of the object. Next, in a uncover scanner cover step 4277, the scanner cover is uncovered. Finally, in a store scanner step 4280, the scanner is stored after the operation. Figure 43, an endoscope algorithm flow chart 4300 describes the algorithm used by the endoscope shadow thrower scanner 3700 and the moving slit-type endoscope shadow thrower scanner 3900. The first step in the algorithm for the endoscope shadow thrower scanner 3700 or the moving slit-type endoscope shadow thrower scanner 3900 includes starting the program in a start program step 4304. Next, in a collect parameters step 4308, the scan and analysis parameters provided by the user or specified by the program are collected. Next, in a start recording step 4325, the endoscope camera 4030, 4030a, or 4030b begins recording video. Next, in a start sweep step 4345, the stepper motor linear actuator 3740 or 3940 is activated to move the light source of the endoscope shadow thrower scanner 3700 or the slit 3925 of the moving slit-type endoscope shadow thrower scanner 3900 to sweep the brightness edge across the target. Next, in a Collect Video step 4350, frames of the recorded video are collected. Next, in a Buffer determination step 4324, a determination is made as to whether the video buffer is sufficiently full for analysis. If the buffer is not sufficiently full, Collect Video step 4350 is repeated as described above. If the buffer is sufficiently full for analysis, the video frames are analyzed in an Analyze Frames step 4344 to create a point cloud. Next, in a Still Buffer determination step 4358, a determination is made as to whether there are still sufficient frames in the buffer. If there are not sufficient frames in the buffer, the Buffer determination step 4324 is repeated as described above. If there are still sufficient frames in the buffer, a determination is made as to whether the sweep is complete in a Complete Sweep determination step 4378. If the sweep is not complete, the Analyze Frames step 4344 is repeated as described above. If the sweep is complete, the stepper motor linear actuator 3740 or 3940 is stopped in a Stop Motor step 4368. Next, in a Stop Recording step 4365, the endoscopic camera 4030, 4030a, or 4030b stops recording video of the object. Next, in a complete analysis frame step 4364, the analysis of the frame is completed. Next, in a filter point cloud step 4370, the processor filters the point cloud. Next, in a construct surface step 4375, the processor constructs a model of the three-dimensional surface based on the filtered point cloud. Next, in a save file step 4335, the surface is saved to a file. Next, in a display image step 4355, the processor displays the model on the display. In another scan determination step 4330, it is determined whether another scan is required. If another scan is required, the start recording step 4325 is repeated as described above. Finally, if another scan is not required, the user exits the algorithm in an exit algorithm step 4390. Figure 44, the endoscope sweep flowchart 4400 describes the shadow thrower sweep of the endoscope shadow thrower scanner 3700 and the moving slit-type endoscope shadow thrower scanner 3900. First, in a set motor parameters step 4407, the parameters of the stepper motor linear actuator 3740 or 3940 are set. Next, in a start sweep step 4445, the light source begins to sweep by moving the light source of the endoscope shadow thrower scanner 3700 or the slit 3925 of the moving slit-type endoscope shadow thrower scanner 3900. Next, in a get current motor position step 4447, the position of the stepper motor linear actuator 3740 or 3940 is determined. Next, in an end sweep determination step 4449, it is determined whether the light source has reached the end of the sweep. If the light source has not reached the end of the sweep, the get current motor position step 4447 is repeated as described above. If the light source does reach the end of its sweep and another scan is desired, the setting motor parameters step 4407 is repeated in the reverse direction of the first scan in the repeat algorithm step 4494. In order to use the tapered fiber bundle 4060b, the proximal tapered fiber bundle must taper to the same shape as the distal tapered fiber bundle 4060b, e.g., from a semicircle to a full circle.

[0212] like Figure 37 、 Figure 38 、 Figure 39 、 Figure 40 、 Figure 41 、 Figure 42 、 Figure 43 and Figure 44The structural details of the present invention are shown as follows: the endoscope sleeve 4010, 4010a, or 4010b comprises a flexible material such as plastic, silicone, metal, etc. The tapered fiber bundles 4060a and 4060b comprise optical fibers, glass, plastic, composite materials, etc. The endoscope camera 4030, 4030a, or 4030b comprises a standard endoscope camera, etc. The shadow caster 4020, 4020a, or 4020b comprises a strong, rigid material such as steel, coated copper, plastic, high-density plastic, silicone, PVC, fiberglass, carbon fiber, composite materials, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials, and may further comprise a configurable shape, a 3D-printed shape, a configurable opacity (such as liquid crystal), or various color filters, etc. Horizontal platforms 3730 and 3930 may be constructed of a strong, rigid material, such as steel, coated copper, plastic, high-density plastic, silicone, PVC, fiberglass, carbon fiber, a composite material, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials. Vertical mounts 3705 and 3905 may be constructed of a strong, rigid material, such as steel, coated copper, plastic, high-density plastic, silicone, PVC, fiberglass, carbon fiber, a composite material, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials. Stepper motor linear actuators 3740 and 3940 may include linear stepper motors, electric motors, hydraulic systems, or the like. Translation platform 3715 may be constructed of a strong, rigid material, such as steel, coated copper, plastic, high-density plastic, silicone, PVC, fiberglass, carbon fiber, a composite material, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials. Light sources include incandescent lamps, halogen lamps, fluorescent lamps, linear lamps, slit tube lamps, LEDs, LED arrays, linear LED arrays, light sources of different colors, colored LEDs, lasers, X-ray sources, UV sources, infrared sources, and the like. Cylindrical lens 3760 includes optical materials such as glass, acrylic, ceramic, and the like. Fiber optic bundles 3710 and 3910 include optical materials such as glass, acrylic, ceramic, and the like. Square-to-circular cones 3720 and 3920 include glass, plastic, and the like. Slit 3725 includes opaque materials such as steel, coated copper, plastic, high-density plastic, opaque coating, silicone, PVC, fiberglass, carbon fiber, composite materials, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials. Memory stored in non-transitory computer-readable media includes software, instructions, data, algorithms, and the like. Processors include computers, mobile phones, PCs, CPUs, and the like. Displays include monitors, screens, televisions, augmented reality headsets, microscopes, and the like. The support platform 3915 comprises a strong rigid material such as steel, coated copper, plastic, high-density plastic, silicone, PVC, fiberglass, carbon fiber, composite materials, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood or other similar materials.The slit 3925 comprises an opaque material such as steel, coated copper, plastic, high density plastic, opaque paint, silicone, PVC, fiberglass, carbon fiber, composite material, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood or other similar material.

[0213] Now referring to another embodiment of the present invention, Figure 45 and Figure 46 , a full body shadow scanner 4500 is shown. Figure 45 is a front perspective view of a whole body shadow scanner 4500 scanning a whole body 4570. Figure 46 A whole body operational flow chart 4600 describing the operation of the whole body shadow scanner 4500 is shown.

[0214] In more detail, still referring to the present invention Figure 45 and Figure 46 The structure of the whole-body shadow scanner 4500 is similar to the shadow thrower scanner 2400; however, it is scaled and adapted to scan the surface of a whole body 4570 and can be mounted above the whole body 4570, such as on the ceiling of a room. The whole-body shadow scanner 4500 uses a whole-body shadow thrower 4520 to project brightness edges across the whole body 4570 and a whole-body camera 4530 to record these brightness edges. The whole-body shadow scanner 4500 is used for skin scanning or dermatological examinations and can map features such as moles, freckles, skin lesions, skin cancers, warts, growths, imperfections, wounds, etc. on the whole body 4570. Optionally, a person can be placed very close to the whole-body shadow scanner 4500 and / or smaller versions of similar scanners to perform high-resolution scans on smaller areas of interest, allowing for focus on the three-dimensional shape of a single mole, for example. Scans performed at different times can also provide a record of changes in the skin of the whole body 4570, for example, allowing for the creation of a record of new moles or different features. Additionally, use with color filters can allow for identification of different tissues during scanning, such as identifying tumors or cancerous areas. Figure 46In

[15] , a whole-body operation flowchart 4600 describes the operation of the whole-body shadow scanner 4500 used. The first step in the operation of the whole-body shadow scanner 4500 includes positioning the whole-body shadow scanner 4500 above the whole-body 4570, or positioning the whole-body 4570 below the whole-body shadow scanner 4500, in a Position Scanner step 4605. Next, in an Alignment Decision step 4610, a determination is made as to whether the whole-body shadow scanner 4500 is aligned with the subject, in this case, the whole-body 4570. If the scanner is not aligned, the scanner is aligned with the subject in an Align Scanner step 4640. Once the scanner is aligned, a determination is made as to whether the camera is focused on the subject in a Focus Decision step 4615. If the camera is not focused, the camera is focused in a Focus Camera step 4620. Once the camera is focused, the camera begins recording video of the subject in a Start Recording step 4625. Next, in a Start Sweep step 4645, the shadow caster begins sweeping the brightness edge across the subject. Next, in a collect and analyze step 4650, the processor collects and analyzes frames of the recorded video to form a point cloud. Next, in a stop sweep step 4660, the shadow caster 4520 stops sweeping the brightness edge across the object. Next, in a stop recording step 4665, the camera stops recording video of the object. Next, in a filter point cloud step 4670, the processor filters the point cloud. Next, in a construct surface step 4675, the processor constructs a three-dimensional surface model based on the filtered point cloud. Next, in a display image step 4655, the processor displays the model on the display. In another scan determination step 4630, a determination is made as to whether another scan is required. If another scan is required, the start sweep step 4645 is repeated as described above. If another scan is not required, the surfaces are assembled and saved to a file in a save file step 4635. Finally, in a store scanner step 4680, the whole-body shadow scanner 4500 is stored after the operation.

[0215] like Figure 45 and Figure 46 The structural details of the present invention shown are similar to those shown in FIG. Figure 37 、 Figure 38 、 Figure 39 、 Figure 40 、 Figure 41 、 Figure 42 、 Figure 43 and Figure 44 The structural details of the invention shown are substantially the same.

[0216] Now referring to another embodiment of the present invention, Figure 47 and Figure 48 , a security shadow scanner 4700 is shown. Figure 47is a front perspective view of a security shadow scanner 4700 scanning a walking person 4770. Figure 46 A security scanner operation flow chart 4800 describing the operation of the security shadow scanner 4700 is depicted.

[0217] In more detail, still referring to the present invention Figure 47 and Figure 48 The structure of the safety shadow scanner 4700 is similar to that of the shadow thrower scanner 2400; however, it can use the motion of a walking person 4770 to scan for brightness edges and can further include one or more additional cameras 4737, which can be mounted on a wall 4772 to measure the speed of the walking person 4770. The safety shadow scanner 4700 is scaled and adapted to scan a surface on which the walking person 4770 is located and can be mounted above the walking person 4770, such as on the ceiling 4776 of a room 4710. Other versions may mount the light source in the room's ceiling. The safety shadow scanner 4700 uses a fixed shadow thrower 4720 to project brightness edges onto the walking person 4770 and records these brightness edges using a security camera 4730 and an optional additional camera 4737. The additional camera 4737 (and indeed, both the security camera 4730 and the additional camera 4737) can detect not only brightness edges but also the object itself to help determine its speed. The Security Shadow Scanner 4700 is used to scan people for security risks and can be placed at the entrance of a building or at the entry port of a secure area. In addition, when used with a color filter, different features can be recognized during the scan, such as identifying weapons or contraband. Figure 48, a security scanner operation flow chart 4800 describes the operation of the security shadow scanner 4700 used. The first step in the operation of the security shadow scanner 4700 includes activating the security shadow scanner 4700 in an Activate Scanner Step 4801. Next, in a Focus Determination Step 4815, a determination is made as to whether the security camera 4730 and the optional additional camera 4737 are focused on an object. If the security camera 4730 and the optional additional camera 4737 are not focused, the security camera 4730 and the optional additional camera 4737 are brought into focus in a Focus Camera Step 4820. Once the security camera 4730 and the optional additional camera 4737 are focused, in a Start Recording Step 4825, the security camera 4730 and the optional additional camera 4737 begin recording video of the object as a walking person 4770 walks within their field of view. Next, in a Collect Frames Step 4850, the processor collects frames of the recorded video. Next, in a calculate speed step 4851, the processor calculates the speed of the object, in this case, walking person 4770. Next, in an analyze frames step 4844, the processor analyzes the frames from security camera 4730 to form a point cloud. Next, in a full scan determination step 4867, a determination is made as to whether the entire region of interest has been scanned. If not, the collect frames step 4850 is repeated as described above. If the entire region of interest has been scanned, the processor filters the point cloud in a filter point cloud step 4870. Next, in a construct surface step 4875, the processor constructs a three-dimensional surface model based on the filtered point cloud. Next, in a save file step 4835, the surface is saved to a file. Next, in a send surface step 4871, the surface is sent to the processor for display. In an additional scan determination step 4830, a determination is made as to whether another scan is required. If another scan is required, the collect frames step 4850 is repeated as described above. Finally, if another scan is not required, the scanner is deactivated in Deactivate Scanner Step 4881.

[0218] like Figure 47 and Figure 48 The structural details of the present invention shown are similar to those shown in FIG. Figure 37 、 Figure 38 、 Figure 39 、 Figure 40 、 Figure 41 、 Figure 42 、 Figure 43 and Figure 44 The structural details of the invention shown are substantially the same.

[0219] Now referring to another embodiment of the present invention, Figure 49 、 Figure 50 、 Figure 51、 Figure 52 and Figure 53 , a visual shadow scanner 4900 is shown. Figure 49 A front perspective view of a visual shadow scanner 4900 incorporated into a vehicle, which is a car 4901, is shown. Figure 50 yes Figure 49 A close-up view of the indicated area 4911. Figure 51 A visual scanner operation flow chart 5100 is shown which describes the operation of a visual shadow scanner 4900 incorporated into a vehicle. Figure 52 A robotic vision scanner operation flow chart 5200 is shown which describes the operation of a visual shadow scanner 4900 incorporated into a robot. Figure 53 is a submersible visual scanner operations flow chart 5300 which describes the operation of a visual shadow scanner 4900 incorporated into a submersible.

[0220] In more detail, still referring to the present invention Figure 49 、 Figure 50 、 Figure 51 、 Figure 52 and Figure 53 ,exist Figure 49 and Figure 50 In the embodiment of the present invention, a visual shadow scanner 4900 uses the motion of a moving vehicle to sweep brightness edges in the vehicle's surroundings to generate a three-dimensional model of the surroundings, and the visual shadow scanner includes: a shadow thrower 4920 mounted above a light source 4950, the shadow thrower including a vertex 4999, the light source being suspended from the vertex 4999, above a headlamp 4998 of a car 4901, or placed inside the car 4901, wherein the light source 4950 is aligned with the headlamp 4998 of the car 4901. Figure 14 The light source described in the preceding claims; a camera 4930 mounted on the roof 4903 of the car 4901; and a processor (not shown). Figure 51In the visual scanner operation flow chart 5100, the operation of the visual shadow scanner 4900 incorporated into a vehicle is described. The first step in the operation of the visual shadow scanner 4900 includes activating the visual shadow scanner 4900 in an Activate Scanner Step 5101. Next, in an Alignment Determination Step 5110, a determination is made as to whether the visual shadow scanner 4900 is aligned. If the visual shadow scanner 4900 is not aligned, the motor is used to align the visual shadow scanner 4900 in an Align Scanner Step 5140. Once the visual shadow scanner 4900 is aligned, a determination is made as to whether the camera 4930 is focused in a Focus Determination Step 5115. If the camera 4930 is not focused, the motor is used to focus the camera 4930 in a Focus Camera Step 5120. Once the camera 4930 is focused, the camera 4930 begins recording video of the vehicle's surroundings in a Start Recording Step 5125. Next, in a Collect Frames Step 5150, a processor collects frames of the recorded video. Next, in a Determine Speed ​​Step 5151, the processor determines the vehicle's speed. Next, in an analyze frame step 5144, a processor is used to analyze the frames from the camera 4930 to form a point cloud. Next, in a full scan determination step 5167, a determination is made as to whether the entire area of ​​interest has been scanned. If the entire area of ​​interest has not been scanned, the collect frame step 5150 is repeated as described above. If the entire area of ​​interest has been scanned, the processor filters the entire point cloud in a filter point cloud step 5170. Next, in a construct surface step 5175, the processor constructs a three-dimensional model of the vehicle's surroundings based on the filtered point cloud. Next, in a send surface step 5171, the surface is sent to the processor. Next, in another scan determination step 5130, a determination is made as to whether another scan is required. If another scan is required, the alignment determination step 5110 is repeated as described above. Next, if another scan is not required, the camera 4930 stops recording video of the vehicle's surroundings in a stop recording step 5165. Finally, in a deactivate scanner step 5181, the scanner is deactivated. Figure 52In the Robot Visual Scanner Operational Flowchart 5200, the operation of a shadow thrower scanner incorporated into a robot is described. This scanner differs from the visual shadow scanner 4900 in that it actively scans the robot's surroundings, rather than relying on the vehicle's speed to scan for brightness edges. The first step in the operation of the robot-integrated scanner includes activating the scanner in Activate Scanner Step 5201. Next, in Alignment Determination Step 5210, a determination is made as to whether the scanner is aligned. If the scanner is not aligned, the robot-controlled motors are used to align the scanner in Align Scanner Step 5240. Once the scanner is aligned, a determination is made as to whether the camera is focused in Focus Determination Step 5215. If the camera is not focused, the robot-controlled motors are used to focus the camera in Focus Camera Step 5220. Once the camera is focused, the camera begins recording video of the robot's surroundings in Start Recording Step 5225. Next, in Start Sweep Step 5245, the shadow thrower begins scanning for brightness edges in the robot's surroundings. Next, in Collect and Analyze Frames Step 5250, the processor collects and analyzes frames of the recorded video to form a point cloud. Next, in a whole scan determination step 5267, a determination is made as to whether the entire area of ​​interest has been scanned. If the entire area of ​​interest has not been scanned, the collect and analyze frames step 5250 is repeated as described above. If the entire area of ​​interest has been scanned, the processor filters the point cloud in a filter point cloud step 5270. Next, in a construct surface step 5275, the processor constructs a three-dimensional model of the robot's surroundings based on the filtered point cloud. Next, in a send surface step 5271, the surface is sent to the robot's processor. Next, in another scan determination step 5230, a determination is made as to whether another scan is required. If another scan is required, the alignment determination step 5210 is repeated as described above. Next, if another scan is not required, in a stop sweep step 5260, the shadow caster stops sweeping brightness edges in the robot's surroundings. Next, in a stop recording step 5265, the camera stops recording video of the robot's surroundings. Finally, in a deactivate scanner step 5281, the scanner is deactivated. Figure 53In the vehicle visual scanner operation flow chart 5300, the operation of a shadow caster scanner incorporated into an underwater vehicle is described. The first step in the operation of the scanner incorporated into the vehicle includes activating the scanner in Activate Scanner Step 5301. Next, in Focus Determination Step 5315, a determination is made as to whether the camera is focused. If not, the camera is focused in Focus Camera Step 5320. Once the camera is focused, the camera begins recording video of the vehicle's surroundings in Start Recording Step 5325. Next, in Start Sweep Step 5345, the lights or the vehicle begins sweeping a brightness edge across the vehicle's surroundings. Next, in Collect and Analyze Frames Step 5350, the processor collects and analyzes frames of the recorded video to form a point cloud. Next, in Stop Sweep Step 5360, the lights stop sweeping, or the vehicle stops moving, thereby stopping the brightness edge from sweeping across the vehicle's surroundings. Next, in Filter Point Cloud Step 5370, the processor filters the point cloud. Next, in a construct surface step 5375, the processor constructs a three-dimensional model of the vehicle's surroundings based on the filtered point cloud. Next, in a save surface step 5335, the surface is saved to a file. Next, in a display image step 5355, the processor displays the surface on the display. Next, in another scan determination step 5330, a determination is made as to whether another scan is required. If another scan is required, the start recording step 5325 is repeated as described above. Finally, if another scan is not required, the scanner is deactivated in a deactivate scanner step 5381.

[0221] like Figure 49 、 Figure 50 、 Figure 51 、 Figure 52 and Figure 53 The structural details of the present invention are shown as follows: the shadow caster 4920 includes a strong rigid material such as steel, coated copper, plastic, high-density plastic, silicone, PVC, fiberglass, carbon fiber, composite material, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood or other similar materials, and can further include a configurable shape, a three-dimensional printed shape, configurable opacity (such as liquid crystal, etc.) or various color filters, etc. The headlight 4998 includes a standard headlight or a custom headlight, etc. The light source 4950 includes a linear light source or a point light source, etc. The car 4901 includes a standard car, an autonomous car, a remote-controlled car, a robot, a submersible, etc. The camera 4930 includes a digital or analog video camera, etc.

[0222] Now referring to another embodiment of the present invention, Figure 54 、 Figure 55 、 Figure 56 、 Figure 57 、 Figure 58 and Figure 59 , a system of the present invention is shown that uses a drone to scan a large area using a shadow caster. Figure 54 A front perspective view of a solar drone shadow thrower scanner system 5400 is demonstrated using a drone and sunlight to scan a house 5470. Figure 55 is a solar drone operational flow chart 5500, which describes the operation of the solar drone shadow thrower scanner system 5400. Figure 56 is a front perspective view of a drone shadow thrower scanner system 5600 that uses a drone with a light source to scan an area. Figure 57 A drone operations flow chart 5700 is shown describing the operation of the drone shadow thrower scanner system 5600. Figure 58 A drone algorithm flow chart 5800 is depicted, which describes the algorithm used by the solar drone shadow thrower scanner system 5400 and the drone shadow thrower scanner system 5600. Figure 59 is a drone sweep flow diagram 5900 that describes the shadow thrower sweep used by the solar drone shadow thrower scanner system 5400 and the drone shadow thrower scanner system 5600.

[0223] In more detail, still referring to the present invention Figure 54 、 Figure 55 、 Figure 56 、 Figure 57 、 Figure 58 and Figure 59 ,exist Figure 54 and Figure 55In the invention, the solar drone shadow thrower scanner system 5400 includes a plurality of shadow drones 5420, each of the shadow drones 5420 including: a drone, the drone including: a remote-controlled aircraft and a shadow thrower 5424, the shadow thrower 5424 including: a panel, the panel being suspended from the drone; a plurality of camera drones 5430, each of the camera drones including: the drone and a video camera, the video camera being suspended from the drone; a memory stored in a non-transitory computer-readable medium; a processor (not shown), the processor being capable of controlling the shadow drones 5420 and the camera drones 5430, the processor including: the computer-readable medium; and a display (not shown); wherein the plurality of shadow drones 5420 are aligned in a flight formation so that the shadow throwers 5424 form a substantially continuous unified shadow thrower, the unified shadow thrower including the aligned shadows shadow thrower 5424; wherein the sun illuminates the unified shadow thrower to cast a high contrast shadow 5467 of a known geometry, the shadow forming the one or more brightness edges on the house 5470 and its surroundings; wherein the aligned plurality of shadow drones 5420 in the flight formation fly over the area in formation to sweep the one or more brightness edges over the house 5470 and its surroundings; wherein the video camera of the camera drone 5430 detects the one or more brightness edges on the house 5470 and its surroundings to obtain three-dimensional points, and records the three-dimensional points to the memory; wherein the processor forms a three-dimensional data representation based on the recorded three-dimensional points; wherein the processor uses the three-dimensional data representation to generate the three-dimensional model of the house 5470 and its surroundings; and wherein the three-dimensional model is displayed on the display using the processor. Figure 55In

[15] , the solar drone operation flow chart 5500 describes the operation of the solar drone shadow thrower scanner system 5400. The first step in the operation of the solar drone shadow thrower scanner system 5400 includes attaching the shadow thrower 5424 to the shadow drone 5420 in Attach Shadow Thrower Step 5502. Next, in Arrange Shadow Thrower Step 5511, the shadow drones 5420 are arranged to form a nearly continuous shadow thrower in mid-air. Next, in Position Camera Drone Step 5505, the camera drone 5430 is positioned mid-air above the shadow drone 5420. Next, in Alignment Determination Step 5510, a determination is made as to whether the shadow drone 5420 is aligned with the camera drone 5430. If the shadow drone 5420 is not aligned with the camera drone 5430, the drones are aligned in Align Drone Step 5540. Once the shadow drone 5420 is aligned with the camera drone 5430, a determination is made as to whether the camera drone 5430 is focused on the object in Focus Determination Step 5515. If the camera drone 5430 is not focused, it is brought into focus in a Focus Camera step 5520. Once the camera drone 5430 is focused, it begins recording video of the object in a Start Recording step 5525. Next, in a Start Sweep step 5545, the shadow drone 5420 begins sweeping brightness edges across the object by flying consistently across and above the object using the sun as a light source. Next, in a Collect and Analyze step 5550, the processor collects and analyzes frames of the recorded video to form a point cloud. Next, in a Filter New Cloud Points step 5574, the processor filters the new cloud points. Next, in an Update Filtered Cloud Points step 5554, the filtered point cloud display is updated. Next, in a Full Scan Determination step 5567, a determination is made as to whether the entire object has been scanned. If the entire object has not been scanned, the Collect and Analyze step 5550 is repeated as described above. If the entire object has been scanned, the processor filters the entire point cloud in a Filter Full Point Cloud step 5570. Next, in a construct surface step 5575, the processor constructs a model of the three dimensional surface based on the filtered point cloud. Next, in a save file step 5535, the surface is saved to a file. Next, in a display image step 5555, the processor displays the model on the display. In another scan determination step 5530, a determination is made as to whether another scan is required. If another scan is required, then the deploy shadow casters step 5511 is repeated as described above. If another scan is not required, then in a stop sweep step 5560, the shadow drone 5420 stops sweeping the brightness edges across the object. Finally, in a store scanner step 5580, the drone is stored after the operation. In Figure 56 and Figure 57In the embodiment of the present invention, a drone shadow thrower scanner system 5600 includes a plurality of shadow drones 5620, each of the shadow drones 5620 including: a drone, the drone including: a remote-controlled aircraft and a shadow thrower 5624, the shadow thrower 5624 including: a panel, the panel being suspended from the drone; a plurality of light drones 5650, each of the light drones 5650 including: the drone and a light source, the light source being suspended from the drone; a plurality of camera drones 5630, each of the camera drones 5630 including: the drone and a video camera, the video camera being suspended from the drone; a memory stored in a non-transitory computer-readable medium; a processor (not shown) capable of controlling the shadow drones 5620, the light drones 5650 and the camera drones 5630, the processor including: the computer-readable medium; and a display (not shown); wherein the plurality of shadow drones 5640 are aligned in a flight formation such that the shadow throwers 5624 form a substantially continuous, uniform shadow. A shadow thrower, wherein the unified shadow thrower includes aligned shadow throwers 5624; wherein the light drone 5650 illuminates the unified shadow thrower to project high-contrast shadows 5667 of known geometric shapes, the shadows forming the one or more brightness edges on the house 5670 and its surroundings; wherein the aligned multiple shadow drones 5620 in the flight formation fly over the house 5670 and its surroundings in formation to sweep the one or more brightness edges over the house 5670 and its surroundings; wherein the video camera of the camera drone 5630 detects the one or more brightness edges on the house 5670 and its surroundings to obtain three-dimensional points, and records the three-dimensional points to the memory; wherein the processor forms a three-dimensional data representation based on the recorded three-dimensional points; wherein the processor uses the three-dimensional data representation to generate the three-dimensional model of the house 5670 and its surroundings; and wherein the three-dimensional model is displayed on the display using the processor. Figure 57In the drone operation flow chart 5700, the operation of the drone shadow thrower scanner system 5600 is described. The first step in the operation of the drone shadow thrower scanner system 5600 includes attaching the shadow thrower 5624 to the shadow drone 5620 in Attach Shadow Thrower Step 5702. Next, attaching the light to the light drone 5650 in Attach Light Step 5708. Next, in Position Light Drone Step 5718, the light drone 5650 is positioned in mid-air. Next, in Arrange Shadow Throwers Step 5711, the shadow drones 5620 are arranged to form a nearly continuous shadow thrower in mid-air. Next, in Position Camera Drone Step 5705, the camera drone 5630 is positioned in mid-air above the shadow drone 5620. Next, in Alignment Determination Step 5710, a determination is made as to whether the shadow drone 5620 and the light drone 5650 are aligned with the camera drone 5630. If shadow drone 5620 and light drone 5650 are not aligned with camera drone 5630, the drones are aligned in an align drone step 5740. Once shadow drone 5620 and light drone 5650 are aligned with camera drone 5630, a focus determination step 5715 determines whether camera drone 5630 is focused on the object. If camera drone 5630 is not focused, it is focused in a focus camera step 5720. Once camera drone 5630 is focused, it begins recording video of the object in a start recording step 5725. Next, in a start sweep step 5745, shadow drone 5620 begins sweeping brightness edges across the object by flying consistently across and above the object using light drone 5650 as a light source. Next, in a collect and analyze step 5750, the processor collects and analyzes frames of the recorded video to form a point cloud. Next, in a filter new cloud point step 5774, the processor filters the new cloud points. Next, in an update filtered point cloud step 5754, the filtered point cloud display is updated. Next, in a full scan determination step 5767, a determination is made as to whether the entire object has been scanned. If the entire object has not been scanned, the collection and analysis step 5750 is repeated as described above. If the entire object has been scanned, the processor filters the entire point cloud in a filter entire point cloud step 5770. Next, in a construct surface step 5775, the processor constructs a model of the three-dimensional surface based on the filtered point cloud. Next, in a save file step 5735, the surface is saved to a file. Next, in a display image step 5755, the processor displays the model on the display. In another scan determination step 5730, a determination is made as to whether another scan is required. If another scan is required, the positioning light drone step 5718 is repeated as described above.If another scan is not needed, the shadow drone 5620 stops sweeping the brightness edge across the object in a Stop Sweep Step 5760. Finally, in a Store Scanner Step 5780, the drone is stored after the operation. Figure 58In

[15] , drone algorithm flow chart 5800 describes the algorithm used by the solar drone shadow thrower scanner system 5400 and the drone shadow thrower scanner system 5600. The first step in the algorithm for the solar drone shadow thrower scanner system 5400 and the drone shadow thrower scanner system 5600 includes starting the program in Start Program Step 5804. Next, in Collect Parameters Step 5808, user-provided or program-specified scanning and analysis parameters are collected. Next, in Ensure Coordination Step 5811, the drones are ensured to be coordinated. Next, in Start Recording Step 5825, the camera drone 5430 or 5630 begins recording video. Next, in Start Sweep Step 5845, the shadow drone 5420 or 5620 begins sweeping brightness edges across the object by flying consistently across and over the object. Next, in Collect Video Step 5850, frames of the recorded video are collected. Next, in Buffer Determination Step 5824, a determination is made as to whether the video buffer is sufficiently full for analysis. If the buffer is not sufficiently filled, the Collect Video step 5850 is repeated as described above. If the buffer is sufficiently filled for analysis, the video frames are analyzed in the Analyze Frames step 5844 to build a point cloud. Next, in the Still Buffering determination step 5858, it is determined whether there are still enough frames in the buffer. If there are not enough frames in the buffer, the Buffer determination step 5824 is repeated as described above. If there are still enough frames in the buffer, a determination is made in the Drone Alignment determination step 5810 whether the drone is still aligned. If the drone is not aligned, the drone is aligned in the Align Drone step 5840. Once the drone is aligned, a determination is made in the Complete Sweep determination step 5878 whether the sweep is complete. If the sweep is not complete, the Analyze Frames step 5844 is repeated as described above. If the sweep is complete, the shadow drone 5420 or 5620 stops sweeping in the Stop Sweep step 5860. Next, in the Stop Recording step 5865, the camera drone 5430 or 5630 stops recording video of the object. Next, in a complete analysis frame step 5864, the analysis of the frame is completed. Next, in a filter point cloud step 5870, the processor filters the point cloud. Next, in a construct surface step 5875, the processor constructs a model of the three-dimensional surface based on the filtered point cloud. Next, in a save file step 5835, the surface is saved to a file. Next, in a display image step 5855, the processor displays the model on the display. In another scan determination step 5830, it is determined whether another scan is required. If another scan is required, then the ensure coordination step 5811 is repeated as described above. Finally, if another scan is not required, then the user exits the algorithm in an exit algorithm step 5890. Figure 59In the following, drone sweep flow chart 5900 describes the shadow thrower sweep used by the sun drone shadow thrower scanner system 5400 and the drone shadow thrower scanner system 5600. First, in Set Parameters Step 5908, the drone's movement parameters are set. Next, in Align Drone Step 5911, the drone is aligned in mid-air. Next, in Start Sweep Step 5945, the shadow drone 5420 or 5620 begins the sweep by flying consistently over the target area at a constant speed. Next, in Get Current Drone Position Step 5927, the drone's position is determined. Next, in Drone Inaccuracy Determination Step 5910, a determination is made as to whether the drone is inaccurate. If so, the drone is aligned in Align Drone Step 5940. Once the drone is inaccurate, a determination is made as to whether the shadow drone 5420 or 5620 has reached the end of its sweep in End Sweep Determination Step 5978. If the shadow drone 5420 or 5620 has not reached the end of the sweep, then the Get Current Drone Position step 5927 is repeated as described above. If the shadow drone 5420 or 5620 has indeed reached the end of the sweep and another sweep is desired, then the Set Parameters step 5908 is repeated in the Repeat Algorithm step 5997 with the drone traveling in the opposite direction of the first sweep.

[0224] like Figure 54 、 Figure 55 、 Figure 56 、 Figure 57 、 Figure 58 and Figure 59 The structural details of the present invention are shown for drones, including standard remote-controlled aircraft, etc. Shadow throwers 5424 and 5624 are comprised of lightweight, strong, rigid materials such as steel, coated copper, plastic, high-density plastic, silicone, PVC, fiberglass, carbon fiber, composite materials, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials, and may further include configurable shapes, 3D-printed shapes, configurable opacity (such as liquid crystal), or various color filters. The video camera of camera drone 5430 or 5630 may include a digital or analog video camera, etc. The light source of light drone 5650 may include an incandescent lamp, a halogen lamp, a fluorescent lamp, a linear lamp, a slit tube lamp, an LED, an LED array, a linear LED array, light sources of different colors, colored LEDs, a laser, an X-ray source, a UV source, an infrared source, etc. The memory stored in a non-transitory computer-readable medium may include software, instructions, data, algorithms, etc. The processor may include a computer, a mobile phone, a PC, a CPU, etc. Displays include monitors, screens, TVs, augmented reality headsets, microscopes, etc.

[0225] Now referring to another embodiment of the present invention, Figure 60 and Figure 61, a tripod shadow scanner system 6000 is shown. Figure 60 is a perspective view of the tripod shadow scanner system 6000 in the stadium 6070. Figure 61 is a perspective view of the tripod shadow scanner system 6000 in the process of scanning a stadium.

[0226] In more detail, still referring to the present invention Figure 60 and Figure 61 , the tripod shadow scanner system 6000 includes: a shadow thrower platform 6037, which is horizontal and capable of rotating; a light source 6050, which is suspended from the center of the shadow thrower platform 6037; at least one shadow thrower 6020, each of which is suspended from the shadow thrower platform 6037 around the light source 6050 and includes: a vertical panel 6024 and an angled panel 6022, which is angled toward the light source 6050; a plurality of video cameras 6030, each of which is mounted on a tripod 6033; a memory stored in a non-transitory computer readable medium; a processor (not shown), which includes: the computer readable medium; and a display (not shown); wherein the plurality of video cameras 6030 are around the shadow thrower wherein the directional light source 6050 is arranged on a shadow thrower platform 6037; wherein the light source 6050 illuminates the at least one shadow thrower 6020 to cast a high-contrast shadow 6067 of a known geometric shape, the shadow forming the one or more brightness edges on the stadium 6070; wherein the shadow thrower platform 6037 is rotated so that the shadow thrower 6020 rotates around the light source 6050 to sweep the one or more brightness edges across the stadium 6070; wherein the plurality of video cameras 6030 detect the one or more brightness edges on the stadium 6070 to obtain three-dimensional points and record the three-dimensional points in the memory; wherein the processor forms a three-dimensional data representation based on the recorded three-dimensional points; wherein the processor uses the three-dimensional data representation to generate the three-dimensional model of the stadium; and wherein the three-dimensional model is displayed on the display using the processor. In other versions of this embodiment, the shadow thrower platform 6037 remains stationary while the directional light source 6050 rotates.

[0227] like Figure 60 and Figure 61The structural details of the present invention are shown as follows: the shadow thrower platform 6037 comprises a strong rigid material such as steel, coated copper, plastic, high-density plastic, silicone, PVC, fiberglass, carbon fiber, composite material, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials. The light source 6050 comprises an incandescent lamp, a halogen lamp, a fluorescent lamp, a linear lamp, a slotted tube lamp, an LED, an LED array, a linear array of LEDs, light sources of different colors, colored LEDs, a laser, an X-ray source, a UV source, an infrared source, or the like. The shadow thrower 6020 comprises a strong rigid material such as steel, coated copper, plastic, high-density plastic, silicone, PVC, fiberglass, carbon fiber, composite material, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials, and may further include a configurable shape, a 3D printed shape, a configurable opacity (such as liquid crystals), or various color filters, or the like. Vertical panel 6024 comprises a strong, rigid material such as steel, clad copper, plastic, high-density plastic, silicone, PVC, fiberglass, carbon fiber, composite material, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials, and may further include a configurable shape, a 3D-printed shape, configurable opacity (such as liquid crystal), or various color filters. Angled panel 6022 comprises a strong, rigid material such as steel, clad copper, plastic, high-density plastic, silicone, PVC, fiberglass, carbon fiber, composite material, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials, and may further include a configurable shape, a 3D-printed shape, configurable opacity (such as liquid crystal), or various color filters. Video camera 6030 comprises a digital or analog video camera, etc. Memory stored in a non-transitory computer-readable medium comprises software, instructions, data, algorithms, etc. Processor comprises a computer, mobile phone, PC, CPU, etc. Display comprises a monitor, screen, television, augmented reality headset, microscope, etc.

[0228] Now referring to another embodiment of the present invention, Figure 62 、 Figure 63 and Figure 64 In FIG, the algorithm, sweep and operation flow chart of a single mobile shadow thrower scanner or a desktop shadow scanner are shown. Figure 62 An algorithm flow chart 6200 is shown describing the algorithm used by a single mobile shadow thrower scanner or a desktop shadow scanner using a single shadow thrower. Figure 63 is a sweep flow diagram 6300 that describes a shadow thrower sweep used by a single mobile shadow thrower scanner or a desktop shadow scanner. Figure 64 An operational flow chart 6400 describing the operation of a single mobile shadow thrower scanner or a desktop shadow scanner is presented.

[0229] In more detail, still referring to the present invention Figure 62 、 Figure 63 ,and Figure 64 ,exist Figure 62 In [ 62 ], algorithm flow chart 6200 describes the algorithm used by a single mobile shadow thrower scanner or a desktop shadow scanner. The first step in the algorithm for a single mobile shadow thrower scanner or a desktop shadow scanner includes starting the program in Start Program Step 6204. Next, in Collect Parameters Step 6208, user-provided or program-specified scanning and analysis parameters are collected. Next, in Start Recording Step 6225, the camera begins recording video. Next, in Start Sweep Step 6245, the motor is activated to move the shadow thrower and sweep brightness edges across the object. Next, in Collect Video Step 6250, frames of the recorded video are collected. Next, in Buffer Determination Step 6224, a determination is made as to whether the video buffer is full enough for analysis. If the buffer is not full enough, Collect Video Step 6250 is repeated as described above. If the buffer is full enough for analysis, the video frames are analyzed in Analyze Frames Step 6244 to build a point cloud. Next, in Filter New Cloud Points Step 6252, the processor filters the new cloud points. Next, in Update Filtered Point Cloud Step 6254, the filtered point cloud display is updated. Next, in Still Buffering Determination Step 6258, a determination is made as to whether there are still sufficient frames in the buffer. If there are not sufficient frames in the buffer, then Buffer Determination Step 6224 is repeated as described above. If there are still sufficient frames in the buffer, then in Complete Sweep Determination Step 6278, a determination is made as to whether the sweep is complete. If the sweep is not complete, then Analyze Frames Step 6244 is repeated as described above. If the sweep is complete, then the motor is stopped in Stop Motor Step 6268. Next, in Stop Recording Step 6265, the camera stops recording video of the subject. Next, in Complete Analyze Frames Step 6264, the analysis of the frames is complete. Next, in Filter Point Cloud Step 6270, the processor filters the point cloud. Next, in Construct Surface Step 6275, the processor constructs a three-dimensional surface model based on the filtered point cloud. Next, in Save File Step 6235, the surface is saved to a file. Next, in Display Image Step 6255, the processor displays the model on the display. In another scan determination step 6230, a determination is made as to whether another scan is required. If another scan is required, then the start recording step 6225 is repeated as described above. Finally, if another scan is not required, then the user exits the algorithm in an exit algorithm step 6290. Figure 63, a sweep flow chart 6300 describes a shadow thrower sweep as used by a single mobile shadow thrower scanner or a desktop shadow scanner. First, in a set motor parameters step 6308, the motor parameters are set. Next, in a start sweep step 6345, the shadow thrower begins sweeping the brightness edges across the object. Next, in a get current motor position step 6327, the motor position is determined. Next, in an end sweep determination step 6378, a determination is made as to whether the shadow thrower has reached the end of the sweep. If the shadow thrower has not reached the end of the sweep, then the get current motor position step 6327 is repeated as described above. If the shadow thrower has indeed reached the end of the sweep and another sweep is desired, then in a repeat algorithm step 6397, the set motor parameters step 6308 is repeated in the opposite direction of the first sweep. In . Figure 64In the example, operational flow chart 6400 describes the operation of a single mobile shadow thrower scanner or a desktop shadow scanner. The first step in the operation of a single mobile shadow thrower scanner or a desktop shadow scanner includes positioning the scanner over an object in a position scanner step 6405. Next, in an alignment determination step 6410, a determination is made as to whether the scanner is aligned with the object. If the scanner is not aligned, the scanner is aligned with the object in an align scanner step 6440. Once the scanner is aligned, a determination is made as to whether the camera is focused on the object in a focus determination step 6415. If the camera is not focused, the camera is focused in a focus camera step 6420. Once the camera is focused, the camera begins recording video of the object in a start recording step 6425. Next, in a start sweep step 6445, the shadow thrower begins sweeping brightness edges across the object. Next, in a collect and analyze step 6450, the processor collects and analyzes frames of the recorded video to form a point cloud. Next, in a filter new cloud point step 6452, the processor filters the new cloud points. Next, in Update Filtered Point Cloud Step 6454, the filtered point cloud display is updated. Next, in Full Scan Determination Step 6467, a determination is made as to whether the entire region of interest has been scanned. If the entire region of interest has not been scanned, the Collection and Analysis Step 6450 is repeated as described above. If the entire region of interest has been scanned, the processor filters the entire point cloud in Filter Full Point Cloud Step 6470. Next, in Construct Surface Step 6475, the processor constructs a three-dimensional surface model based on the filtered point cloud. Next, in Save File Step 6435, the surface is saved to a file. Next, in Display Image Step 6455, the processor displays the model on the display. In Another Scan Determination Step 6430, a determination is made as to whether another scan is required. If another scan is required, the Start Recording Step 6425 is repeated as described above. If another scan is not required, the shadow caster stops sweeping the brightness edge across the object in Stop Sweep Step 6460. Next, in Stop Recording Step 6465, the camera stops recording video of the object. Finally, in a Store Scanner step 6480, the scanner is stored after the operation.

[0230] Now referring to another embodiment of the present invention, Figure 65 and Figure 66 , an operational flow chart of a room shadow caster scanner is shown. Figure 65 An operational flow chart 6500 of a single tripod room scanner is shown, which describes the operation of a shadow caster scanner that can be used with a tripod to scan a room. Figure 66 An operational flow diagram 6600 of an overhead light room scanner is depicted, which describes the operation of a shadow caster scanner that can be used with an overhead light to scan a room.

[0231] In more detail, still referring to the present invention Figure 65 and Figure 66 ,exist Figure 65 In the example, a single tripod room scanner operation flow chart 6500 describes the operation of a shadow caster scanner that can be used with a tripod to scan a room. The first step in the operation of a shadow caster scanner that can be used with a tripod to scan a room includes setting up the tripod in the room in Position Scanner Step 6505. Next, in Light Up Step 6509, the light is turned on. Next, in Alignment Decision Step 6510, a determination is made as to whether the scanner is aligned with the room. If the scanner is not aligned, the scanner is aligned with the room in Align Scanner Step 6540. Once the scanner is aligned, a determination is made as to whether the camera is focused on the room in Focus Decision Step 6515. If the camera is not focused, the camera is focused in Focus Camera Step 6520. Once the camera is focused, the camera begins recording video of the room in Start Recording Step 6525. Next, in Start Sweep Step 6545, the light source begins sweeping across the room, scanning for brightness edges. Next, in Collect and Analyze Step 6550, a processor collects and analyzes frames of the recorded video to form a point cloud. Next, in a filter new point cloud step 6552, the processor filters the new point cloud. Next, in an update filtered point cloud step 6554, the filtered point cloud display is updated. Next, in a full scan determination step 6567, a determination is made as to whether the entire area of ​​interest has been scanned. If the entire area of ​​interest has not been scanned, the collection and analysis steps 6550 are repeated as described above. If the entire area of ​​interest has been scanned, the processor filters the entire point cloud in a filter full point cloud step 6570. Next, in a construct surface step 6575, the processor constructs a three-dimensional surface model of the room based on the filtered point cloud. Next, in a save file step 6535, the surface is saved to a file. Next, in a display image step 6555, the processor displays the model on the display. In another scan determination step 6530, a determination is made as to whether another scan is required. If another scan is required, the start sweep step 6545 is repeated as described above. If another scan is not required, the shadow caster stops sweeping the brightness edge across the room in a stop sweep step 6560. Next, in a Stop Recording Step 6565, the camera stops recording video of the room. Finally, in a Store Scanner Step 6580, the scanner is stored after the operation. Figure 66In the overhead light room scanner operation flow chart 6600, the operation of a shadow thrower scanner that can be used with an overhead light to scan a room is described. The first step in the operation of a shadow thrower scanner that can be used with an overhead light to scan a room includes placing the scanner in the room in a setup step 6605. Next, in an on light step 6616, the overhead light is turned on. Next, in an illumination determination step 6617, a determination is made as to whether the area of ​​the room is illuminated. If the area of ​​the room is not illuminated, the light is redirected in a redirect light step 6618. Once the area of ​​the room is illuminated, a determination is made as to whether the shadow thrower is aligned with the camera in an alignment determination step 6610. If the shadow thrower is not aligned with the camera, the shadow thrower is aligned with the camera in an align scanner step 6640. Once the shadow thrower is aligned with the camera, a determination is made as to whether the camera is focused on the room in a focus determination step 6615. If the camera is not focused, the camera is focused in a focus camera step 6620. Once the camera is focused, it begins recording video of the room in a Start Recording step 6625. Next, in a Start Sweep step 6645, the shadow caster begins sweeping the brightness edges across the room. Next, in a Collect and Analyze step 6650, the processor collects and analyzes frames of the recorded video to form a point cloud. Next, in a Filter New Cloud Points step 6652, the processor filters the new cloud points. Next, in an Update Filtered Cloud Points step 6654, the filtered point cloud display is updated. Next, in a Full Scan determination step 6667, a determination is made as to whether the entire region of interest has been scanned. If the entire region of interest has not been scanned, the Collect and Analyze step 6650 is repeated as described above. If the entire region of interest has been scanned, the processor filters the entire point cloud in a Filter Full Point Cloud step 6670. Next, in a Construct Surface step 6675, the processor constructs a three-dimensional surface model of the room based on the filtered point cloud. Next, in a Save File step 6635, the surface is saved to a file. Next, in a Display Image Step 6655, the processor displays the model on the display. Next, in an Another Scan Decision Step 6630, a determination is made as to whether another scan is required. If another scan is required, then the Start Sweep Step 6645 is repeated as described above. If another scan is not required, then in a Stop Sweep Step 6660 the shadow caster stops sweeping the brightness edge across the room. Next, in a Stop Recording Step 6665, the camera stops recording video of the room. Finally, in a Store Scanner Step 6680, the scanner is stored after the operation.

[0232] Now referring to another embodiment of the present invention, Figure 67 and Figure 68 , an algorithm flow chart of a multi-camera shadow thrower scanner is shown. Figure 67A multi-camera algorithm flow diagram 6700 is shown describing the algorithm used by the multi-camera shadow thrower scanner. Figure 68 A multi-camera static shadow thrower flowchart 6800 is shown, which describes the algorithm of a multi-camera shadow thrower scanner using a single static shadow thrower.

[0233] In more detail, still referring to the present invention Figure 67 ,and Figure 68 ,exist Figure 67 In [ 6 ], a multi-camera algorithm flow chart 6700 describes the algorithm used by a shadow thrower scanner using multiple cameras. The first step in the algorithm for the multi-camera shadow thrower scanner includes starting the program in a Start Program step 6704. Next, in a Collect Parameters step 6708, user-provided or program-specified scanning and analysis parameters are collected. Next, in a Start Recording step 6725, the multiple cameras begin recording video. Next, in a Start Sweep step 6745, the motors are activated to move the shadow thrower and sweep brightness edges across the object. Next, in a Collect Video step 6750, frames of the recorded video are collected from the multiple cameras. Next, in a Buffer Determination step 6724, a determination is made as to whether the video buffer is sufficiently full for analysis. If the buffer is not sufficiently full, the Collect Video step 6750 is repeated as described above. If the buffer is sufficiently full for analysis, the video frames collected from the multiple cameras are analyzed in an Analyze Frames step 6744 to build a point cloud. Next, in a Still Buffering Determination step 6758, a determination is made as to whether sufficient frames remain in the buffer. If there are not enough frames in the buffer, buffer determination step 6724 is repeated as described above. If there are still enough frames in the buffer, a determination is made in sweep complete determination step 6778 whether the sweep is complete. If the sweep is not complete, analyze frames step 6744 is repeated as described above. If the sweep is complete, the motors are stopped in stop motor step 6768. Next, in stop recording step 6765, the multiple cameras stop recording video of the subject. Next, in analyze frames complete step 6764, the frames are analyzed. Next, in filter point cloud step 6770, the processor filters the point cloud. Next, in register point cloud step 6279, the point clouds from the multiple cameras are registered with each other. Next, in construct surface step 6775, the processor constructs a three-dimensional surface model based on the filtered point cloud. Next, in save file step 6735, the surface is saved to a file. Next, in display image step 6755, the processor displays the model on the display. In another scan determination step 6730, a determination is made as to whether another scan is required. If another scan is required, then the Start Recording step 6725 is repeated as described above. Finally, if another scan is not required, then the user exits the algorithm in the Exit Algorithm step 6790. Figure 68 In [ 64 ], flowchart 6800 of a multi-camera static shadow thrower describes an algorithm for a multi-camera shadow thrower scanner that uses multiple cameras (including a primary camera) and a single static shadow thrower. The first step in the algorithm for a multi-camera shadow thrower scanner using a single static shadow thrower includes starting the program in a Start Program step 6804. Next, in a Collect Parameters step 6808, user-provided or program-specified scanning and analysis parameters are collected. Next, in a Start Recording step 6825, multiple cameras begin recording video. Next, in a Collect One Frame step 6850, one video frame is collected from all cameras. Next, in a Buffer Determination step 6824, a determination is made as to whether the video buffer is full enough for analysis. If the buffer is not full enough, the Collect One Frame step 6850 is repeated as described above. If the buffer is full enough for analysis, the velocity of the target is calculated in a Calculate Velocity step 6851 using frames from at least two cameras. Next, in an Analyze Frame step 6844, the primary camera video frame is analyzed to create a point cloud. Next, in a Still Buffering Determination Step 6858, a determination is made as to whether there are still sufficient frames in the buffer. If there are not sufficient frames in the buffer, the buffer determination step 6824 is repeated as described above. If there are still sufficient frames in the buffer, a determination is made as to whether the target is outside the primary camera's line of sight in a View Target Determination Step 6814. If the target is not outside the primary camera's line of sight, the analyze frames step 6844 is repeated as described above. If the target is outside the primary camera's line of sight, the multiple cameras stop recording video of the target in a Stop Recording Step 6865. Next, in a Filter Point Cloud Step 6870, the processor filters the point cloud. Next, in a Construct Surface Step 6875, the processor constructs a three-dimensional surface model based on the filtered point cloud. Next, in a Save File Step 6835, the surface is saved to a file. Next, in a Display Image Step 6855, the processor displays the model on the display. In an Another Scan Determination Step 6830, a determination is made as to whether another scan is required. If another scan is required, the start recording step 6825 is repeated as described above. Finally, if another scan is not required, the user exits the algorithm in Exit Algorithm Step 6890.

[0234] Now referring to another embodiment of the present invention, Figure 69 , a flowchart describing a method for creating a custom shadow caster is shown.

[0235] In more detail, still referring to the present invention Figure 69, a flowchart 6900 of a custom shadow thrower describes a method for creating a custom shaped shadow thrower. First, in a determine outline step 6910, the overall object outline is determined using photography, video, or shadow casting. Next, in a shape generation step 6920, a custom shaped shadow thrower is generated in the shape of the overall object outline using 3D printing, configurable shadow throwers, other manufacturing methods, etc. Next, in a place shadow thrower step 6930, the custom shaped shadow thrower is placed as close to the surface of the object as possible. Finally, in a sweep object step 6940, any object of the shadow thrower sweeps brightness edges across the object to affect the sweep.

[0236] like Figure 69 The structural details of the present invention shown are that the custom shaped shadow thrower includes a strong rigid material such as steel, coated copper, plastic, high density plastic, silicone, PVC, fiberglass, carbon fiber, composite material, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood or other similar materials, and can further include configurable shapes, three-dimensional printed shapes, configurable opacity (such as liquid crystals, etc.) or various color filters, etc. (which have been manipulated into the desired form).

[0237] Now referring to another embodiment of the present invention, Figure 70 and Figure 71 , a slitted linear light source 7000 is shown for providing improved scanning results using a shadow thrower scanner. Figure 70 A perspective view of a linear light source 7000 with slits is shown. Figure 71 An exploded view of a linear light source 7000 with slits is shown.

[0238] In more detail, still referring to the present invention Figure 70 and Figure 71The slit linear light source 7000 includes a slit tube 7010 comprising an interior 7011 painted white (including a paint containing TiO2); an opaque exterior 7012; and a slit 7020 extending along the length of the slit tube 7010 and comprising a width; two light sources 7060 suspended at opposite ends of the slit tube 7010; two heat sinks 7050 suspended from the light sources 7060; and two clamps 7030, each of which is wound around the slit tube and comprises a screw 7040, wherein the clamps 7030 are capable of adjusting the width 7020 of the slit. The slit tube 7010 allows light to escape in a very thin form, which improves the accuracy of the shadow caster scanner. Alternatively, the tube can have any cross-sectional shape as long as the light escapes through the slits. The light source 7060 is a group of LEDs. The light source may also have a refractive element in front of it, but they may also be exposed, as depicted. Alternatively, the LEDs may be placed in the slit tube 7010 in a linear array (such as in a strip) so that they do not emit light directly from the slits 7020 (which may produce uneven lighting). Alternatively, optical fibers may be used to guide the light into the slit tube 7010. This alternative eliminates localized heating at the expense of needing to attach a fiber optic bundle to the lamp. The LEDs need to have a heat sink. However, in the case of LEDs in a linear array, the slit tube 7010 itself can be a heat sink. Other versions may have a tube inside another tube and allow air to flow in the space between the tubes for heat control. The fixture 7030 is used to adjust the width of the slit 7020 by squeezing or releasing the slit tube 7010, thereby allowing the size of the slit 7020 to be increased or decreased, which increases or decreases the light output, respectively. In variations of this embodiment, as well as in variations of other light sources of the present invention, it may be advantageous to add a single lens or a series of lenses with a net negative optical power (negative focal length). These lenses can be cylindrical and extend along the length of the slit tube 7010. Depending on the focal length of the lens or lens combination, such a lens or lenses will have the effect of reducing the light intensity on the object, increasing the angular range of the light, and changing the effective distance of the light source. For a negative lens, it will move the effective light source closer to the object by a certain amount.

[0239] like Figure 70 and Figure 71The structural details of the present invention are shown as follows: the slit tube 7010 comprises a flexible material such as plastic, metal, or a composite material. The light source 7060 comprises an incandescent lamp, a fiber optic bundle, a halogen lamp, a fluorescent lamp, a linear lamp, a slit tube lamp, an LED, an LED array, a linear array of LEDs, a light source of different colors, a colored LED, a laser, an X-ray source, a UV source, an infrared source, or the like. The heat sink 7050 comprises a thermally conductive material such as metal, or the like. The clamp 7030 comprises a strong, flexible material such as steel, plastic, high-density plastic, silicone, PVC, fiberglass, carbon fiber, a composite material, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials. The screw 7040 comprises a strong, rigid material such as steel, coated copper, plastic, high-density plastic, silicone, PVC, fiberglass, carbon fiber, a composite material, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials.

[0240] Advantages of the present invention include, but are not limited to: the light source of the present invention involves minimal optics (which introduce weight and expense) and includes the possibility of no lenses in order to project a contrasting pattern onto the object being scanned; it does not require optics to optimize the beam for a specific distance; the light source of the present invention is relatively inexpensive compared to other technologies (such as lasers); the light source of the present invention is well suited for large depths of field; if the light source of the present invention is far enough away from the shadow caster, the light source of the present invention can include a very bright light source and maintain accuracy; the light source of the present invention does not rely on pulse technology or phase detection technology used in schemes that assess distance by time delay measurement, which may limit simultaneous The number of points measured and the absolute resolution, which is limited to the rise time of typical electronics (100ps), means that the depth resolution is 0.6 inches (which means that a change of 0.6 inches results in a delay of about 100ps), and the pulse technology or phase detection technology is sensitive to noise; the light source of the present invention can optimally be an "extended" light source along one dimension (in other words, a line), which illuminates the object from more angles than competing technologies, and since the surface being scanned in three dimensions must be illuminated and observed at the same time, this larger illumination angle is advantageous because more objects can be scanned than with a typical projection-based scanner; the hardware of the present invention can be used in all three elements The invention provides a separation between: light sources, shadow casters and light receivers, and therefore, there can be multiple cameras viewing a single shadow edge from one or more shadow casters; because a "point light source" has an actual width, such an extension of the light source increases the light while improving the scene contrast by replicating the light source along the line, because the extension increases the light, but reduces the "solid angle" of the point light source, and since the extension is further away from the edge of the shadow caster, on average, the linear light source increases the resolution of the light source while increasing the brightness; the extended light sources do not have to be continuous, and there can be more than one light source, as long as they are collinear; the light sources of the invention can all work together to throw a shadow edge (and indeed increase its contrast), because this cooperation The angular range is expanded while using a single physically constructed light source, and the potential for developing customized lighting geometries for a given task is increased; a single light source can be used by multiple shadow casters if the multiple shadow casters are physically removed from the lamp, and if the shadow caster-camera system for the entire room is aligned, they can be used more locally using a single long, bright lamp at the top of the room; the shadow generation scheme of the present invention can produce large depth of field shadows that retain their sharpness due to geometric effects rather than effects caused by lenses, which inherently introduce depth of field problems (such as those of projectors using lenses) and must be customized to produce a sharp pattern within a limited range;By eliminating the need for an engineered projector, and by eliminating the peculiarities of single-wavelength operation of lasers, the light source of the present invention can be of any wavelength, wide bandwidth or narrow bandwidth, and use white light and fluorescence-excitation wavelengths in the same scan, and use a single camera in alternating "modes"; the present invention can also use lasers to cast shadows or cast shadows into lasers, which is particularly advantageous for fluorescence measurements during surgery; in terms of spatial resolution, the white light used in the present invention has fewer visible diffraction artifacts than lasers, resulting in sharper shadows, and white light does not have the speckle problem that narrow-band lasers have, and the present invention avoids this source of noise; the shadows in the present invention have a simple single-line geometry The sharp edges and large contrast allow subsurface scattering measurements to be made in real time, enabling real-time biomedical applications such as optical biopsy for detecting skin cancer or cancer surgery, as determining the boundary between healthy and cancerous tissue is an ongoing challenge; in the security field, these subsurface scattering measurements allow improved security scanning because it is difficult to forge the subsurface scattering characteristics of the face; the present invention; these subsurface scattering measurements are useful for computer graphic reproduction of actors' faces in the world of cosmetics; the use of white light is superior to single-frequency light sources (lasers or bulbs) because the scattering characteristics can be compared in real time for different frequencies of light (for example, such as blue and red); two different frequencies can be used by the present invention because it is possible An array of LEDs is used, and LEDs of different wavelengths can be interleaved and flashed alternately, wherein the exposure of the camera on each alternating frame is optimized to capture color information; the side triangular cross-section of the shadow thrower of the present invention allows the lamp to be extended laterally, while enabling the throwing shadow thrower to be applied very close to the object while casting a single continuous shadow edge, and these side shadow throwers can be connected to the middle shadow thrower as long as the shadow thrower parts together form a triangular cross-section viewed along the line defined by the extended light source; by adding additional shadow bands, the segmented shadow thrower can proportionally accelerate the scanning speed of the object geometry without increasing complexity, so that during the sweep, For simple objects, these individual shadows do not appear to overlap and can be analyzed independently by separating the shadows, depending on the complexity of the object. The simplicity of the light source of the present invention means that any linear light source can work, including X-rays, with which lensless projection of shadows can be performed relatively easily, but X-ray structured scanning is generally not particularly feasible because it is usually necessary to first image the object pattern and then the scattered light. Typical embodiments of this technique keep the camera and light source stationary to improve accuracy, where changes in the scene are primarily due to the shadow edges, which means that the overall illumination of the object changes little during the scan, especially for relatively narrow shadow regions, thereby allowing for a large signal-to-noise ratio in the resulting scan.Typical embodiments of the invention have a camera, light, and shadow caster, all securely attached to one another in a pre-calibrated manner, so that if calibration is lost, it can be determined again in an autonomous manner (albeit with the use of additional hardware, such as a calibration stand); the scanning technology of the invention can be configured with various trade-offs, including a trade-off between brightness and accuracy, so that flat objects can be scanned with very fine resolution (microscope) using specific optimized geometries; the invention has improved potential raw accuracy; large objects can be measured with sub-millimeter accuracy as long as the camera rec...

Claims

1. An apparatus for generating one or more brightness edges to form a three-dimensional model of an object, the apparatus comprising: one or more light sources; One or more shadow casters, the one or more shadow casters comprising: a shape having at least one edge, the edge being contained within a plane, the plane containing the one or more light sources; one or more actuators capable of moving the one or more shadow casters; one or more image capture devices; a memory stored in a non-transitory computer-readable medium; and A processor, the processor comprising: said computer readable medium; wherein the one or more light sources illuminate the one or more shadow casters to cast sharp shadows of known geometry, which form the one or more brightness edges on the object; wherein the one or more actuators move the one or more shadow casters to sweep the one or more brightness edges across the object; wherein the one or more image capture devices capture images of the one or more brightness edges on the object and record the images into the memory; wherein the processor forms a three-dimensional data representation based on the recorded image; and Wherein, the processor generates the three-dimensional model of the object using the three-dimensional data representation.

2. The device according to claim 1, wherein The one or more light sources may be discrete or continuous.

3. The device according to claim 1, wherein The one or more light sources are linear.

4. The device according to claim 1, wherein The one or more light sources include one or more light arrays.

5. The device according to claim 1, wherein The shape of the one or more shadow casters is based on the object.

6. The device according to claim 1, wherein The one or more shadow casters further include a configurable shape.

7. The device according to claim 1, wherein The one or more shadow casters further include a configurable opacity.

8. The device according to claim 1, wherein The one or more shadow casters further include a color filter.

9. The device according to claim 1, wherein The one or more actuators rotate the one or more shadow casters.

10. The apparatus of claim 1, further comprising an augmented reality head-mounted device, wherein the three-dimensional model is displayed in the augmented reality head-mounted device.

11. The device according to claim 1, wherein The one or more light sources are linear, and wherein the edge sharing the plane with the one or more light sources is parallel to the one or more light sources. 12 . The apparatus of claim 1 , further comprising a display, wherein the three-dimensional model is displayed on the display.

13. The device according to claim 1, wherein The one or more shadow casters further include a transparent liquid crystal matrix capable of generating opaque areas.

14. The device according to claim 1, wherein The one or more shadow casters further include a pattern.

15. An apparatus for generating one or more brightness edges to form a three-dimensional model of an object, the apparatus comprising: one or more light sources; One or more shadow casters, the one or more shadow casters comprising: a shape having at least one edge, the edge being contained within a plane, the plane containing the one or more light sources; one or more actuators capable of moving the one or more light sources; one or more image capture devices; a memory stored in a non-transitory computer-readable medium; and A processor, the processor comprising: said computer readable medium; wherein the one or more light sources illuminate the one or more shadow casters to cast sharp shadows of known geometry, which form the one or more brightness edges on the object; wherein the one or more actuators move the one or more light sources so as to sweep the one or more brightness edges across the object; wherein the one or more image capture devices capture images of the one or more brightness edges on the object and record the images into the memory; wherein the processor forms a three-dimensional data representation based on the recorded image; and Wherein, the processor generates the three-dimensional model of the object using the three-dimensional data representation.

16. The device according to claim 15, wherein The one or more light sources may be discrete or continuous.

17. The device according to claim 15, wherein The one or more light sources are linear.

18. The device according to claim 15, wherein The one or more light sources include one or more light arrays.

19. The device according to claim 15, wherein The shape of the one or more shadow casters is based on the object.

20. The apparatus according to claim 15, wherein The one or more shadow casters further include a configurable shape.

21. The apparatus according to claim 15, wherein The one or more shadow casters further include a configurable opacity.

22. The apparatus according to claim 15, wherein The one or more shadow casters further include a color filter.

23. The apparatus of claim 15, further comprising an augmented reality head-mounted device, wherein the three-dimensional model is displayed in the augmented reality head-mounted device.

24. The apparatus according to claim 15, wherein The one or more actuators rotate the one or more light sources.

25. The apparatus according to claim 15, wherein The one or more light sources are linear, and wherein the edge sharing the plane with the one or more light sources is parallel to the one or more light sources.

26. The apparatus of claim 15, further comprising a display, wherein the three-dimensional model is displayed on the display.

27. The apparatus according to claim 15, wherein The one or more shadow casters further include a transparent liquid crystal matrix capable of generating opaque areas.

28. The apparatus according to claim 15, wherein The one or more shadow casters further include a pattern.

29. An apparatus for generating one or more brightness edges to form a three-dimensional model of an object, the apparatus comprising: one or more light sources; One or more shadow casters, the one or more shadow casters comprising: a shape having at least one edge, the edge being contained within a plane, the plane containing the one or more light sources; one or more image capture devices; a memory stored in a non-transitory computer-readable medium; and A processor, the processor comprising: said computer readable medium; wherein the one or more light sources illuminate the one or more shadow casters to cast sharp shadows of known geometry, which form the one or more brightness edges; wherein the object moves through the one or more brightness edges so as to sweep the one or more brightness edges across the object; wherein the one or more image capture devices detect motion of the object moving across the one or more brightness edges and record the motion into the memory; wherein the one or more image capture devices capture images of the one or more brightness edges on the object moving past the one or more brightness edges and record the images into the memory; wherein the processor calculates the speed at which the object moves across the one or more brightness edges based on the recorded motion; wherein the processor forms a three-dimensional data representation based on the recorded image and the calculated velocity; and Wherein, the processor generates the three-dimensional model of the object using the three-dimensional data representation.

30. The apparatus according to claim 29, wherein The one or more light sources may be discrete or continuous.

31. The apparatus according to claim 29, wherein The one or more light sources are linear.

32. The apparatus of claim 29, wherein: The one or more light sources include one or more light arrays.

33. The apparatus of claim 29, wherein: The one or more shadow casters further include a configurable opacity.

34. The apparatus of claim 29, wherein: The one or more shadow casters further include a color filter.

35. The apparatus of claim 29, further comprising an augmented reality head-mounted device, wherein the three-dimensional model is displayed in the augmented reality head-mounted device.

36. The apparatus of claim 29, wherein: The device is installed in a room, which includes: A ceiling on which the device is mounted.

37. The apparatus of claim 29, wherein: The device is installed in a room, which includes: A ceiling is provided on which the device and the one or more light sources are mounted.

38. The apparatus of claim 29, wherein: The one or more light sources are linear, and wherein the edge sharing the plane with the one or more light sources is parallel to the one or more light sources.

39. The apparatus of claim 29, further comprising a display, wherein the three-dimensional model is displayed on the display.

40. The apparatus of claim 29, wherein The one or more shadow casters further include a transparent liquid crystal matrix capable of generating opaque areas.

41. The apparatus of claim 29, wherein The one or more shadow casters further include a pattern.

42. An apparatus for generating one or more brightness edges to form a three-dimensional model of an object's surroundings, the apparatus comprising: one or more light sources, the one or more light sources being mounted on the object; One or more shadow casters, the one or more shadow casters being mounted on the object and comprising: a shape having at least one edge, the edge being contained within a plane, the plane containing the one or more light sources; one or more actuators capable of moving the one or more shadow casters; one or more image capture devices, the one or more image capture devices being mounted on the object; a memory stored in a non-transitory computer-readable medium; and A processor, the processor comprising: said computer readable medium; wherein the one or more light sources illuminate the one or more shadow casters to cast sharp shadows of known geometry that form the one or more brightness edges on the surroundings of the object; wherein the one or more actuators move the one or more shadow casters to sweep the one or more brightness edges throughout the surroundings of the object; wherein the one or more image capture devices capture images of the one or more brightness edges on the surrounding environment of the object and record the images into the memory; wherein the processor forms a three-dimensional data representation based on the recorded image; wherein the processor generates the three-dimensional model of the surrounding environment of the object using the three-dimensional data representation; and The three-dimensional model is stored in the memory.

43. The apparatus according to claim 42, wherein The one or more light sources may be discrete or continuous.

44. The apparatus of claim 42, wherein: The one or more light sources are linear.

45. The apparatus of claim 42, wherein: The one or more light sources include one or more light arrays.

46. ​​The apparatus of claim 42, wherein: The one or more shadow casters further include a configurable shape.

47. The apparatus of claim 42, wherein: The one or more shadow casters further include a configurable opacity.

48. The apparatus of claim 42, wherein: The one or more shadow casters further include a color filter.

49. The apparatus of claim 42, wherein: The one or more actuators rotate the one or more shadow casters.

50. The apparatus of claim 42, further comprising: augmented reality headsets; The three-dimensional model is displayed in the augmented reality head-mounted device and superimposed on the surrounding environment of the object.

51. The apparatus of claim 42, wherein: The object is an augmented reality headset, and the three-dimensional model is displayed in the augmented reality headset and superimposed on the surrounding environment of the augmented reality headset.

52. The apparatus of claim 42, wherein: The object is a vehicle.

53. The apparatus of claim 42, wherein: The object is a robot.

54. The apparatus of claim 42, wherein: The device and the object are submersibles.

55. The apparatus of claim 42, wherein The one or more light sources are linear, and wherein the edge sharing the plane with the one or more light sources is parallel to the one or more light sources.

56. The apparatus of claim 42, wherein The one or more shadow casters further include a transparent liquid crystal matrix capable of generating opaque areas.

57. The apparatus of claim 42, wherein: The one or more shadow casters further include a pattern.

58. An apparatus for generating one or more brightness edges to form a three-dimensional model of an object's surroundings, the apparatus comprising: one or more light sources, the one or more light sources being mounted on the object; One or more shadow casters, the one or more shadow casters being mounted on the object and comprising: a shape having at least one edge, the edge being contained within a plane, the plane containing the one or more light sources; one or more image capture devices, the one or more image capture devices being mounted on the object; a memory stored in a non-transitory computer-readable medium; and A processor, the processor comprising: said computer readable medium; wherein the one or more light sources illuminate the one or more shadow casters to cast sharp shadows of known geometry that form the one or more brightness edges on the surroundings of the object; wherein the object moves through the surroundings of the object so as to sweep the one or more brightness edges throughout the surroundings of the object; wherein the one or more image capture devices capture images of the one or more brightness edges on the surrounding environment of the object and record the images into the memory; wherein the processor forms a three-dimensional data representation based on the recorded image; wherein the processor generates the three-dimensional model of the surrounding environment of the object using the three-dimensional data representation; and The three-dimensional model is stored in the memory.

59. The apparatus according to claim 58, wherein The one or more light sources may be discrete or continuous.

60. The apparatus of claim 58, wherein The one or more light sources are linear.

61. The apparatus of claim 58, wherein The one or more light sources include one or more light arrays.

62. The apparatus of claim 58, wherein: The one or more shadow casters further include a configurable shape.

63. The apparatus of claim 58, wherein The one or more shadow casters further include a configurable opacity.

64. The apparatus of claim 58, wherein The one or more shadow casters further include a color filter.

65. The apparatus of claim 58, further comprising: augmented reality headsets; The three-dimensional model is displayed in the augmented reality head-mounted device and superimposed on the surrounding environment of the object.

66. The apparatus of claim 58, wherein The object is an augmented reality headset, and the three-dimensional model is displayed in the augmented reality headset and superimposed on the surrounding environment of the augmented reality headset.

67. The apparatus of claim 58, wherein The object is a vehicle.

68. The apparatus of claim 58, wherein The object is a robot.

69. The apparatus of claim 58, wherein The device and the object are submersibles.

70. The apparatus of claim 58, wherein The one or more light sources are linear, and wherein the edge sharing the plane with the one or more light sources is parallel to the one or more light sources.

71. The apparatus of claim 58, wherein The one or more shadow casters further include a transparent liquid crystal matrix capable of generating opaque areas.

72. The apparatus of claim 58, wherein The one or more shadow casters further include a pattern.

73. An apparatus for generating one or more brightness edges to form a three-dimensional model of an object, the apparatus comprising: one or more light sources; one or more image capture devices; a memory stored in a non-transitory computer-readable medium; as well as A processor, the processor comprising: said computer readable medium; One or more shadow casters, the one or more shadow casters comprising: a transparent liquid crystal matrix capable of being controlled by the processor and capable of generating opaque areas, the opaque areas comprising: a shape having at least one edge, the edge being contained within a plane, the plane containing the one or more light sources; wherein the one or more light sources illuminate the one or more shadow casters to cast sharp shadows of known geometry, which form the one or more brightness edges on the object; wherein the processor generates a series of opaque areas on the transparent liquid crystal matrix that simulates movement of the one or more shadow casters to sweep the one or more brightness edges across the object; wherein the one or more image capture devices capture images of the one or more brightness edges on the object and record the images into the memory; wherein the processor forms a three-dimensional data representation based on the recorded image; and Wherein, the processor generates the three-dimensional model of the object using the three-dimensional data representation.

74. The apparatus of claim 73, wherein: The one or more light sources may be discrete or continuous.

75. The apparatus of claim 73, wherein The one or more light sources are linear.

76. The apparatus of claim 73, wherein The one or more light sources include one or more light arrays.

77. The apparatus of claim 73, wherein: The shape of the one or more shadow casters is based on the object.

78. The apparatus of claim 73, wherein The one or more shadow casters further include a color filter.

79. The apparatus of claim 73, further comprising an augmented reality head-mounted device, wherein the three-dimensional model is displayed in the augmented reality head-mounted device.

80. The apparatus of claim 73, further comprising a display, wherein the three-dimensional model is displayed on the display.

81. The apparatus of claim 73, wherein The opaque regions of the transparent liquid crystal matrix further include regions of varying opacity.

82. The apparatus of claim 73, wherein The one or more shadow casters further include a pattern.

83. A method for generating one or more brightness edges to form a three-dimensional model of an object, the method comprising: providing one or more light sources; One or more shadow-casting elements are provided, the one or more shadow-casting elements comprising: a shape having at least one edge, the edge being contained within a plane, the plane containing the one or more light sources; using the one or more light sources and the one or more shadow-casting elements to cast a sharp shadow of known geometry to form the one or more brightness edges on the object; moving the one or more shadow-casting elements so as to move the one or more brightness edges across the object; capturing an image of the one or more brightness edges on the object; forming a three-dimensional data representation from the captured image; and The three-dimensional model of the object is generated using the three-dimensional data representation.

84. The method of claim 83, wherein The one or more light sources may be discrete or continuous.

85. The method of claim 83, wherein The one or more light sources are linear.

86. The method of claim 83, wherein The one or more light sources include one or more light arrays.

87. The method of claim 83, wherein The shape of the one or more shadow-casting elements is based on the object.

88. The method of claim 83, wherein The one or more shadow casting elements include a configurable shape.

89. The method of claim 83, wherein The one or more shadow-casting elements further include a configurable opacity.

90. The method of claim 83, wherein The one or more shadow casting elements further include a color filter.

91. The method of claim 83, wherein Moving the one or more shadow-casting elements includes rotating.

92. The method of claim 83, wherein The one or more light sources are linear, and wherein the edge sharing the plane with the one or more light sources is parallel to the one or more light sources.

93. The method of claim 83, further comprising displaying the three-dimensional model.

94. The method of claim 83, wherein The one or more shadow caster elements further include a transparent liquid crystal matrix capable of generating opaque areas.

95. The method of claim 83, wherein The one or more shadow caster elements further comprise a pattern.

96. A method for generating one or more brightness edges to form a three-dimensional model of an object, the method comprising: providing one or more light sources; One or more shadow-casting elements are provided, the one or more shadow-casting elements comprising: a shape having at least one edge, the edge being contained within a plane, the plane containing the one or more light sources; using the one or more light sources and the one or more shadow-casting elements to cast a sharp shadow of known geometry to form the one or more brightness edges on the object; moving the one or more light sources so as to move the one or more brightness edges across the object; capturing an image of the one or more brightness edges on the object; forming a three-dimensional data representation from the captured image; and The three-dimensional model of the object is generated using the three-dimensional data representation.

97. The method of claim 96, wherein The one or more light sources may be discrete or continuous.

98. The method of claim 96, wherein The one or more light sources are linear.

99. The method of claim 96, wherein The one or more light sources include one or more light arrays.

100. The method of claim 96, wherein The shape of the one or more shadow-casting elements is based on the object.

101. The method of claim 96, wherein: The one or more shadow casting elements include a configurable shape.

102. The method of claim 96, wherein: The one or more shadow-casting elements further include a configurable opacity.

103. The method of claim 96, wherein The one or more shadow casting elements further include a color filter.

104. The method of claim 96, wherein Moving the one or more shadow-casting elements includes rotating.

105. The method of claim 96, wherein The one or more light sources are linear, and wherein the edge sharing the plane with the one or more light sources is parallel to the one or more light sources.

106. The method of claim 96, further comprising displaying the three-dimensional model.

107. The method of claim 96, wherein The one or more shadow caster elements further include a transparent liquid crystal matrix capable of generating opaque areas.

108. The method of claim 96, wherein The one or more shadow caster elements further comprise a pattern.

109. A method for generating one or more brightness edges to form a three-dimensional model of an object, the method comprising: providing one or more light sources; One or more shadow-casting elements are provided, the one or more shadow-casting elements comprising: a shape having at least one edge, the edge being contained within a plane, the plane containing the one or more light sources; using the one or more light sources and the one or more shadow-casting elements to cast a sharp shadow of a known geometry to form the one or more brightness edges; moving the object past the one or more brightness edges; detecting a speed at which the object moves across the one or more brightness edges; capturing an image of the one or more brightness edges on the object moving past the one or more brightness edges; forming a three-dimensional data representation based on the detected speed and the captured image; and The three-dimensional model of the object is generated using the three-dimensional data representation.

110. The method of claim 109, wherein The one or more light sources may be discrete or continuous.

111. The method of claim 109, wherein: The one or more light sources are linear.

112. The method of claim 109, wherein: The one or more light sources include one or more light arrays.

113. The method of claim 109, wherein: The one or more shadow-casting elements further include a configurable opacity.

114. The method of claim 109, wherein: The one or more shadow casting elements further include a color filter.

115. The method of claim 109, wherein: The object moves through a room, the room comprising: A ceiling on which the one or more shadow caster elements are mounted.

116. The method of claim 109, wherein: The object moves through a room, the room comprising: A ceiling is provided on which the one or more shadow casting elements and the one or more light sources are mounted.

117. The method of claim 109, wherein: The one or more light sources are linear, and wherein the edge sharing the plane with the one or more light sources is parallel to the one or more light sources.

118. The method of claim 109, further comprising displaying the three-dimensional model.

119. The method of claim 109, wherein The one or more shadow caster elements further include a transparent liquid crystal matrix capable of generating opaque areas.

120. The method of claim 109, wherein The one or more shadow caster elements further comprise a pattern.

121. A method for generating one or more brightness edges to form a three-dimensional model of an object's surroundings, the method comprising: providing one or more light sources, the one or more light sources being mounted on the object; One or more shadow-casting elements are provided, the one or more shadow-casting elements being mounted on the object and comprising: a shape having at least one edge, the edge being contained within a plane, the plane containing the one or more light sources; using the one or more light sources and the one or more shadow-casting elements to cast a sharp shadow of known geometry to form the one or more brightness edges on the surroundings of the object; moving the one or more shadow-casting elements to move the one or more brightness edges throughout the surroundings of the object; capturing an image of the one or more brightness edges on the surrounding environment of the object; forming a three-dimensional data representation based on the captured image; generating the three-dimensional model of the surrounding environment of the object using the three-dimensional data representation; and The three-dimensional model is stored in a non-transitory computer-readable medium.

122. The method according to claim 121, wherein The one or more light sources may be discrete or continuous.

123. The method according to claim 121, wherein The one or more light sources are linear.

124. The method of claim 121, wherein The one or more light sources include one or more light arrays.

125. The method of claim 121, wherein The one or more shadow casting elements include a configurable shape.

126. The method of claim 121, wherein The one or more shadow-casting elements further include a configurable opacity.

127. The method of claim 121, wherein The one or more shadow casting elements further include a color filter.

128. The method of claim 121, wherein Moving the one or more shadow-casting elements includes rotating.

129. The method of claim 121, wherein The object is an augmented reality head-mounted device, and the method further comprises: The three-dimensional model superimposed on the surrounding environment of the augmented reality head-mounted device is displayed in the augmented reality head-mounted device.

130. The method of claim 121, wherein The one or more light sources are linear, and wherein the edge sharing the plane with the one or more light sources is parallel to the one or more light sources.

131. The method of claim 121, wherein The one or more shadow caster elements further include a transparent liquid crystal matrix capable of generating opaque areas.

132. The method of claim 121, wherein The one or more shadow caster elements further comprise a pattern.

133. A method for generating one or more brightness edges to form a three-dimensional model of an object's surroundings, the method comprising: providing one or more light sources, the one or more light sources being mounted on the object; One or more shadow-casting elements are provided, the one or more shadow-casting elements being mounted on the object and comprising: a shape having at least one edge, the edge being contained within a plane, the plane containing the one or more light sources; using the one or more light sources and the one or more shadow-casting elements to cast a sharp shadow of known geometry to form the one or more brightness edges on the surroundings of the object; moving the object so as to move the one or more brightness edges throughout the surroundings of the object; capturing an image of the one or more brightness edges on the surrounding environment of the object; forming a three-dimensional data representation based on the captured image; generating the three-dimensional model of the surrounding environment of the object using the three-dimensional data representation; and The three-dimensional model is stored in a non-transitory computer-readable medium.

134. The method of claim 133, wherein The one or more light sources may be discrete or continuous.

135. The method of claim 133, wherein The one or more light sources are linear.

136. The method of claim 133, wherein The one or more light sources include one or more light arrays.

137. The method of claim 133, wherein: The one or more shadow casting elements include a configurable shape.

138. The method of claim 133, wherein The one or more shadow-casting elements further include a configurable opacity.

139. The method of claim 133, wherein The one or more shadow casting elements further include a color filter.

140. The method of claim 133, wherein The object is an augmented reality head-mounted device, and the method further comprises: The three-dimensional model superimposed on the surrounding environment of the augmented reality head-mounted device is displayed in the augmented reality head-mounted device.

141. The method of claim 133, wherein The one or more light sources are linear, and wherein the edge sharing the plane with the one or more light sources is parallel to the one or more light sources.

142. The method of claim 133, wherein: The one or more shadow caster elements further include a transparent liquid crystal matrix capable of generating opaque areas.

143. The method of claim 133, wherein The one or more shadow caster elements further comprise a pattern.

144. A method for generating one or more brightness edges to form a three-dimensional model of an object, the method comprising: providing one or more light sources; One or more shadow-casting elements are provided, the one or more shadow-casting elements comprising: A transparent liquid crystal matrix capable of generating opaque regions, wherein the opaque regions include: a shape having at least one edge, the edge being contained within a plane, the plane containing the one or more light sources; using the one or more light sources and the one or more shadow-casting elements to cast a sharp shadow of known geometry to form the one or more brightness edges on the object; generating a series of said opaque areas on said transparent liquid crystal matrix that simulates movement of said one or more shadow casters so as to move said one or more brightness edges across said object; capturing an image of the one or more brightness edges on the object; forming a three-dimensional data representation from the captured image; and The three-dimensional model of the object is generated using the three-dimensional data representation.

145. The method of claim 144, wherein The one or more light sources may be discrete or continuous.

146. The method of claim 144, wherein The one or more light sources are linear.

147. The method of claim 144, wherein The one or more light sources include one or more light arrays.

148. The method of claim 144, wherein The shape of the one or more shadow-casting elements is based on the object.

149. The method of claim 144, wherein The one or more shadow casting elements further include a color filter.

150. The method of claim 144, further comprising displaying the three-dimensional model.

151. The method of claim 144, wherein The opaque regions of the transparent liquid crystal matrix further include regions of varying opacity.

152. The method of claim 144, wherein The one or more shadow caster elements further comprise a pattern.

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