Method for determining the exact position of a fiducial using multiple shadow caster scanners

Abstract

The present application relates to methods of determining the exact position of a fiducial using multiple shadow thrower scanners. 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 environment.

Description

[0001] This application is a divisional application of an application with an application date of October 5, 2018, 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] Listing of reference sequences, tables or computer programs CD-ROM Appendix

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

[0008] The present invention is in 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. 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 an object 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 a 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 a 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 typically 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 required 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 applying a shadow to 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 transparent, non-ground glass. The filament 104 typically 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, a shadow is applied to the object 116 using the rod 114 to 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 Scanners in the market have many disadvantages. Figure 1 The scanner is functional, but the system of schematic 100 may not be well suited for building a 3D image model for a three-dimensional object. The bulb 102 and the rod 114 can generate a shadow 120, which includes a minimum illumination area 121 for a given bulb 102. At a greater distance 122 from the rod 114, the boundary between the area 121 and the illuminated portion 111 of the plane 110 becomes increasingly diffuse. An example of increasing illumination diffusivity can be depicted as increasing from line 122 outward along line 119 within a distance ("b") 126, which shows a diffuse boundary between the minimum illumination area 121 and the illuminated portion 111. To combat the deleterious effects of diffuse boundaries, conventional 3D scanning methods rely on illumination thresholds and time or video frame coordinates, and associated algorithms that define boundaries based on sufficient differences between dark and light. Diffuse boundaries may reduce the accuracy of surfaces calculated from captured images of the object 116. Similarly, using an illumination threshold when operating may require ignoring the effects of different colors, shadows, or textures of light. 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, since a traditional illumination threshold is implemented, the blue portion 117 of the object 116 can be ignored. Therefore, color and other luminous effects often lead to such neglect, i.e., lead 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 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 environment. Broad embodiments of the present invention generally relate to apparatus, methods and systems for generating one or more brightness 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 brightness edges on a modeled object or area; one or more devices for detecting the one or more brightness edges; a device for moving the one or more brightness 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 move the object through the one or more brightness edges. These embodiments are examples of the scope and spirit of the present invention; however, the above embodiments and examples should not limit the present invention, and those of ordinary skill in the art will understand and appreciate that there are variations, combinations, and equivalents of 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 throwers, the one or more shadow throwers 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 throwers; 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 throwers 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 throwers 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 is also generally directed 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 the shape is projected onto a plane; using the one or more light sources and the one or more shadow-casting elements to project a high-contrast shadow of a known geometric shape 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 include one or more light arrays. Other versions of this embodiment establish the shape of the one or more shadow throwers on the scanned and modeled object, such as by three-dimensional printing technology. In addition, some versions of this embodiment use one or more shadow throwers that further include configurable shapes, configurable opacity, or color filters.Other versions of this embodiment use one or more actuators to rotate the one or more shadow throwers. Also, 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 is broadly directed to an apparatus and method for moving one or more light sources to move one or more brightness edges relative to an object or region being modeled. 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 is also generally directed 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 the shape is projected onto a plane; using the one or more light sources and the one or more shadow-casting elements to project a high-contrast shadow of a known geometric shape 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 include one or more light arrays. Other versions of this embodiment establish the shape of the one or more shadow throwers on the scanned and modeled object, such as by three-dimensional printing technology. In addition, some versions of this embodiment use one or more shadow throwers that further include configurable shapes, configurable opacity, or color filters.Additionally, other versions of this embodiment use one or more actuators to rotate the one or more shadow throwers. Also, 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 the 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 the shape is projected onto a plane; using the one or more light sources and the one or more shadow-casting elements to project a high-contrast shadow of a known geometric shape to form the one or more brightness edges on the object; moving the object through the one or more brightness edges; detecting the speed at which the object moves through the one or more brightness edges; capturing an image of the one or more brightness edges on the object moving through 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 build the shape of the one or more shadow throwers on the scanned and modeled object, such as through three-dimensional printing technology. In addition, some versions of this embodiment use one or more shadow throwers, and the one or more shadow throwers further include configurable shapes, configurable opacity or color filters. Other versions of this embodiment use one or more actuators to rotate the one or more shadow throwers. Moreover, some versions of this embodiment use a display, which is an augmented reality head-mounted device, and the augmented reality head-mounted device can superimpose the three-dimensional model on the field of view of the user of the head-mounted device. 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 on the ceiling.

[0018] In another preferred embodiment, the present invention broadly relates to an apparatus and method for modeling the surrounding environment 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 throwers, the one or more shadow throwers 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 throwers; 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 wherein the one or more shadow casters are illuminated 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 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 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 surrounding environment of the object; and wherein the three-dimensional model is stored in the memory. This preferred embodiment is also generally directed 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, the one or more light sources being mounted on the object; providing one or more shadow-casting elements, the one or more shadow-casting elements being mounted on the object and comprising: a shape having at least one straight edge when the shape is projected onto a plane; using the one or more light sources and the one or more shadow-casting elements to project a high-contrast shadow of a 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 surroundings of 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 surroundings of the object; 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 throwers that further include configurable shapes, configurable opacity or color filters. Additionally, some versions of this embodiment use an augmented reality headset and display a model superimposed on the surroundings of an object, while similar versions display a model superimposed on the surroundings of the augmented reality headset. Furthermore, this embodiment of the invention can be used in a vehicle, such as for artificial vision in an autonomous car or submersible, in which case the device includes waterproof components. Similarly, this embodiment can be used for artificial vision in a robot.

[0019] In another preferred embodiment, the present invention broadly relates to an apparatus and method for modeling the surroundings of an object 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 the surroundings of an object, 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 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 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 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 surrounding environment of the object; and wherein the three-dimensional model is stored in the memory. This preferred embodiment is also generally directed 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, the one or more light sources being mounted on the object; providing one or more shadow-casting elements, the one or more shadow-casting elements being mounted on the object and comprising: a shape having at least one straight edge when the shape is projected onto a plane; using the one or more light sources and the one or more shadow-casting elements to project a high-contrast shadow of a known geometric shape 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 surroundings of 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 surroundings of the object; 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 throwers that further include configurable shapes, configurable opacity or color filters. Additionally, some versions of this embodiment use an augmented reality headset and display a model superimposed on the surroundings of an object, while similar versions display a model superimposed on the surroundings of the augmented reality headset. Furthermore, this embodiment of the invention can be used in a vehicle, such as for artificial vision in an autonomous car or submersible, in which case the device includes waterproof components. Similarly, this embodiment can be used for artificial vision in a robot.

[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 thrower, the shadow thrower comprising: a front section, the front section being rectangular; two side sections, each of the side sections being vertically suspended 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 suspended from one of the side segments; an actuator assembly, the actuator assembly comprising: an actuator arm suspended from the housing; an actuator motor suspended from the actuator arm; and an actuator connector suspended from the actuator motor and connected to the tab of the shadow thrower; a light source, the light source being discrete, continuous, linear, and rotatable at the shoulder mount of the side segment of the shadow thrower. a 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 synchronization 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 geometry, 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 establish the shape of the one or more shadow throwers on the scanned and modeled object, such as by three-dimensional printing technology. In addition, some versions of this embodiment use one or more shadow throwers, and the one or more shadow throwers further include configurable shapes, configurable opacity or color filters.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 a 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 check a patient for skin cancer or similar diseases. As another specific application of the most preferred embodiment of the present invention, the device can be used during brain surgery on a patient, wherein the device further includes a cover cloth and a clamp assembly, wherein the cover cloth conforms to the housing of the device and is capable of protecting the patient from contamination, and the clamp assembly 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; using the video camera to capture an image of the one or more brightness edges on the patient; 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 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.This preferred embodiment generally also 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 cover cloth, the cover cloth conforming to the housing of the device and being 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 focusing robotic motors to focus the video camera of the device on the patient; use the robotically controlled video camera to record a 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 based on the images; use the processor and the three-dimensional data representation to generate the three-dimensional model of the patient; 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 a video of the patient using the video camera; using the actuator motor to sweep the one or more brightness edges across the patient; using the video camera to capture an image of the one or more brightness edges on the patient; 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 prior model on the display.This preferred embodiment also generally relates to a method for performing brain surgery on a patient with a rhythmic pulsation of the brain 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 rhythmic pulsation of the patient's brain; focusing the video camera of the device on the rhythmic pulsation of the patient's brain; starting to record a video of the rhythmic pulsation of the patient's brain using the video camera; measuring the patient's blood pressure waveform profile, the blood pressure waveform profile comprising: the rhythmic pulsation of the patient's blood pressure; using the actuator motor to sweep the one or more brightness edges throughout the rhythmic pulsation of the patient's brain ; 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 contour 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 a device for generating one or more brightness edges to form a three-dimensional model of an object, the device 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 bundle, the tapered fiber bundle is arranged in the endoscope sleeve and gradually narrows toward the distal end; and an endoscope camera, the endoscope camera is arranged in the endoscope sleeve and faces out of the distal end; a shadow caster, the shadow The shadow thrower is mounted on the distal end of the endoscope body above the tapered fiber bundle, the shadow thrower comprising: a semicircular sheet; a light emitting device, the light emitting device comprising: a horizontal platform; a vertical seat, the vertical seat extending from the horizontal platform; a stepper motor linear actuator, the stepper motor linear actuator extending from the horizontal platform; a translation platform, the translation platform connected to the stepper motor linear actuator; a light source, the light source suspended from the translation platform; a fiber bundle, the fiber 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 platform with the light source 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.This preferred embodiment generally also relates to a device for generating one or more brightness edges to form a three-dimensional model of an object, the device 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 is arranged in the endoscope sleeve and gradually narrows toward the distal end; and an endoscope camera, the endoscope camera is arranged in the endoscope sleeve and faces outside the distal end; a shadow projection A shadow thrower, the shadow thrower is mounted on the distal end of the endoscope body above the tapered fiber optic bundle, the shadow thrower includes: a semicircular sheet; a light emitting device, the light emitting device includes: a horizontal platform; a vertical seat, the vertical seat is extended from the horizontal platform; a stepper motor linear actuator, the stepper motor linear actuator is extended from the horizontal platform; a support platform, the support platform is suspended from the vertical seat; a light source, the light source is suspended from the support platform; a fiber optic bundle, the fiber optic bundle is suspended from the light source; a square to round cone, 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, 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 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 round-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 remote-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, the processor being 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 so that the shadow thrower forms a substantially continuous uniform shadow cast. a unified shadow thrower comprising aligned shadow throwers; wherein the sun illuminates the unified shadow throwers 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 device of the camera drone captures images of the one or more brightness edges on the area and records 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 being suspended from the drone; a plurality of light drones, each of the light drones comprising: the drone and a light source, the light source being 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 being suspended from the drone; a memory stored in a non-transitory computer-readable medium; a processor, the processor being 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 caused to form a substantially continuous unified shadow thrower, the unified shadow thrower comprising the aligned shadow throwers; wherein the light drone illuminates the unified 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 plurality of shadow drones aligned in the flight formation move in formation across the area so as to sweep the one or more brightness edges across the area; wherein the image capture device of the camera drone captures an image of the one or more brightness edges on the area 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 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 that is an augmented reality head-mounted device that can overlay the three-dimensional model on the field of view of a user of the head-mounted device.

[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 device 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 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 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 into 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 color filter. Additionally, some versions of this embodiment use a display, the display being an augmented reality head mounted device, the augmented reality head mounted device can overlay the three-dimensional model on the field of view of a user of the head mounted device.

[0024] In another preferred embodiment, the present invention is broadly directed to a method of generating a shaped shadow thrower, which is used in many of the preferred embodiments described above. This embodiment generally relates to a method of creating a custom shadow thrower to generate one or more brightness 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; using the three-dimensional printer to three-dimensionally print the custom shadow thrower in the shape of the outline; and placing the custom shadow thrower substantially close to the object when generating the one or more brightness edges.

[0025] In another preferred embodiment, the present invention is directed to an apparatus, namely a linear light source with a slot, 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 slot, the slot 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; two clamps, each of the clamps being wound around the slotted tube and comprising: a screw; wherein the clamps are capable of adjusting the width of the slot. Other versions of this embodiment use a light source, the light source being a LED group or provided by a fiber optic bundle. In addition, additional versions of this embodiment further include one or more lenses across the slot, 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, the sides extending from the base and meeting at a point; and a vertex, the vertex comprising: the point where the two sides meet and a pivot point; a main shadow thrower, the main shadow thrower being arranged between the bases of the side shadow throwers, wherein the side shadow throwers are suspended from the main shadow throwers; an axis of rotation, the axis of rotation intersecting the pivot point of the side shadow throwers; and a light source, the light source being linear, spanning between the vertices of the side shadow throwers, and arranged 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 projects 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, the shadow throwers further comprising a configurable shape. Still other versions of this embodiment use side shadow throwers and a main shadow thrower, the shadow throwers further comprising configurable opacity. Additional versions of this embodiment use side shadow throwers and a main shadow thrower, the shadow throwers further comprising a color filter. Additionally, other versions of this embodiment use side shadow throwers and a main shadow thrower, the shadow throwers further comprising 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 the purpose of clear understanding, the above-mentioned inventive technology is not limited to the details provided. There are many alternative ways to implement the above-mentioned inventive technology. The disclosed examples are illustrative rather than 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 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 thrower 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 thrower according to some embodiments;

[0033] Figure 5 is a simplified diagram depicting another example of a shadow thrower 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] Fig. 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 thrower according to various embodiments;

[0039] Fig. 9 is a simplified diagram depicting an example of a shadow thrower according to various embodiments;

[0040] Fig.10 is a simplified diagram depicting an example of a shadow thrower according to various embodiments;

[0041] Fig. 10A is a simplified diagram depicting an example of a shadow thrower according to various embodiments;

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

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

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

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

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

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

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

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

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

[0051] Fig.17 is a simplified diagram depicting an enlarged image based on a three-dimensional scanning feature according to some examples;

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

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

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

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

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

[0057] Fig.23 Examples of various computing platforms configured to provide various functions to a component for three-dimensional scanning are shown in accordance with various embodiments;

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

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

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

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

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

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

[0064] Fig.30 Describes the description according to some examples Fig.24 A flowchart of the operation of the device;

[0065] Fig.31 is a front perspective view of a device of the present invention used during brain surgery according to various embodiments;

[0066] Fig.32 A flow chart describing the operation of the apparatus of the present invention for use during brain surgery according to some examples is shown;

[0067] Fig.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] Fig.34 depicts a flowchart describing an algorithm used by the present invention according to some examples;

[0069] Fig.35 A flow chart describing the apparatus of the present invention for patient registration is shown according to various embodiments;

[0070] Fig.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] Fig.37 is a front perspective view of an apparatus of the present invention according to various embodiments;

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

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

[0074] Fig.40 shows a front perspective view and an exploded view of the device of the present invention installed in the distal tip of an endoscope according to various embodiments;

[0075] Fig.41 Depicted is a block diagram illustrating an embodiment of a Fig.40 Devices;

[0076] Fig.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] Fig.43 depicts a flow chart describing an algorithm used by an endoscopic version of the present invention according to some examples;

[0078] Fig.44 A flow chart describing a shadow thrower sweep of an endoscopic version of the apparatus of the present invention is shown according to some examples;

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

[0080] Fig.46 Shows a description based on some examples Fig.45 A flowchart of the operation of the device;

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

[0082] Fig.48 Based on some examples, Fig.47 A flowchart of the operation of the device;

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

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

[0085] Fig.51 Shows a description based on some examples Fig.49 A flowchart of the operation of the device;

[0086] Fig.52 A flow chart describing the operation of the apparatus of the present invention incorporated into a robot according to various embodiments is shown;

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

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

[0089] Fig.55 Based on some examples, Fig.54 A flowchart of the operation of the system;

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

[0091] Fig.57 The description according to some examples is shown Fig.56 A flowchart of the operation of the system;

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

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

[0094] Fig.60 is a perspective view of another system of the present invention being used to scan a stadium in accordance with various embodiments;

[0095] Fig.61 Based on some examples Fig.60 A perspective view of the system in the process of scanning the stadium;

[0096] Fig.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] Fig.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] Fig.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] Fig.65 A flow chart describing the operation of the 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] Fig.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] Fig.67 shows a flow chart describing an algorithm used by an embodiment of the present invention using multiple cameras, according to some examples;

[0102] Fig.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] Fig.69 A flow chart describing a method of creating a custom shadow caster according to some examples is shown;

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

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

[0106] For purposes of illustration, the present invention is shown in preferred embodiments of an apparatus, method, and system for generating one or more brightness edges to form a three-dimensional model of an object or environment. In a broad embodiment, the present invention includes: one or more light sources and one or more shadow casters that generate one or more brightness edges on a modeled object or area; one or more devices for detecting the one or more brightness edges; a device for moving the one or more brightness edges relative to the modeled object or area; and a device 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 move the object through the one or more brightness edges. The embodiments or examples may be implemented in a variety of ways, including as a system, process, method, apparatus, user interface, or a series of program instructions on a computer-readable medium (such as a computer-readable storage medium, or a computer network that sends program instructions via an optical, electronic, or wireless communication link). In general, unless otherwise provided in the claims, the operations of the disclosed processes may be performed in any order. These embodiments are not intended to limit the scope of the present invention.

[0107] A detailed description of one or more examples is provided below in conjunction 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, many specific details are set forth in the following description. These details are provided for the purpose of example, 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 materials known in the technical field related to the examples are not described in detail to avoid unnecessarily obscuring the description.

[0108] Referring now to the preferred embodiments of the present invention, Figure 2200 depicts an example of a shadow thrower according to some embodiments. The 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 environment (not shown) to facilitate 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 edge portions 211a and 211b to form brightness edges 250a on the projection plane 210. Similarly, light may also impinge on edge portions 211aa and 211bb of edge 213b, which in turn may 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 of brightness edge 250a or brightness edge 250b may be used to facilitate three-dimensional scanning and digital replication. In the example shown, shadow caster 215 may be opaque to form umbra 220 based on brightness edges 250a and 250b. Umbra 220 may be associated with a relatively high darkness (e.g., as low as a 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 may be implemented in accordance with various functions and / or structures described herein to form brightness edges to facilitate three-dimensional scanning and digital replication 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, the shadow thrower casting a sharpened shadow, wherein each edge remains parallel to line 212 throughout the scanning process, wherein the sharpened shadow is projected onto any plane parallel to line 212. That is, during scanning (e.g., when one or both of brightness edges 250a and 250b move across an object, environment, and / or projection plane 210), the parallelism of one or both edges to line 212 may be maintained as projected onto plane 210. The geometry and size of shadow thrower 215, light source 203, and brightness edge 250a (or brightness edge 250b) assist in maintaining parallelism when, for example, one or more brightness edges move during the scanning process. Because the angle of the shadow thrower 215 can be known a priori, parallelism can be maintained to one or more brightness edges used in the scan to facilitate the accuracy of determining 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 of the edges 213a or 213b, the shadow thrower 215 can be implemented to form a shadow plane parallel to the line 212 passing through the light source 203 at the point L and the vertex 262 of the shadow thrower 215. An example of a shadow plane is formed by points L, A, and B, while an example of a second shadow plane is formed by points L, C, and D. Thus, according to some examples, the brightness edge 250a between point A and point B can be maintained parallel (or substantially parallel) to the brightness edge 250b between point C and point D. Note that according to at least one example, the line 212 passing through the light source 203 does not necessarily pass through the shadow plane. In other examples, the line 212 is parallel to the shadow plane, which can extend to the line 212. However, the shadow thrower may not necessarily cast a shadow along this line.

[0110] For example, the 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 the umbra 220 (e.g., a relatively low brightness or light intensity level) to a relatively high level of reflected light or photon emission at the illuminated planar portion 228 within the distance unit 226. According to some examples, the luminance edge 250a can be described as being associated with a gradient indicating the unit distance 226. The characteristics of the pixels can include, but are not limited to, pixel intensity, such as gray pixel intensity, brightness value, light intensity, etc. In one example, the gradient can specify a 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 the shadow thrower 215 can produce a sharper luminance edge and higher contrast than, for example, a cylindrical rod or pencil arranged so that no shadow throwing edge is completely located in a single plane containing a light source. In other words, any edge that lies entirely in 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, the luminance edge can provide a relatively sharp contrast between the illuminated surface and the generated shadow. As such, the example of the luminance edge can facilitate capturing the spatial characteristics of the 3D surface and the color associated with the surface, where the color can be obtained from the illuminated surface closest to the shadow edge. Therefore, the color determination can be obtained relatively close to the luminance edge during the scan than in other cases to accurately represent the color during the scan. For example, determining the color need not rely on the registration of the 3D data with separate color information, which can be obtained using a separate camera or at a different time than when scanning or otherwise capturing the data representing the 3D information.

[0112] Still reference Figure 2, diagram 200 depicts light source 203 being 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., a YZ plane). A portion 260 of shadow thrower 215 may be arranged at or near line 212. Line 212 may also include light source 203 located thereon. In at least one example, portion 260 may be coextensive with line 212. In one example, line 212 may coincide with one or more points of shadow thrower 215, which may include points at vertices 262 of the triangular shadow thrower 215 shown in diagram 200. In at least some cases, line 212 may be parallel to the XY plane and orthogonal to the YZ plane. Another portion of shadow thrower 215 may be arranged distally, such as at end portion 230. For example, end portion 230 may 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 an angle 280 relative to a plane coextensive with the XY plane). Thus, the structure and functionality of shadow thrower 215 need not be limited to the following aspects. Figure 2those depicted and described. For example, a rectangular shadow thrower can be implemented using 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 a partial amount of illumination from the light source 203 (or any other light source) can modify or limit the maximum darkness (e.g., a 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 may be detected or determined in a single frame where adjacent pixels may be compared. Alternatively, a transition may be determined as a change in brightness of a pixel over time (e.g., over multiple frames). In at least one instance, a luminance (or shadow) edge may 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 may be determined with sub-pixel accuracy.

[0114] Figure 3 300 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 the 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 above 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 power (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 power can cause an 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 process. Similarly, Figure 2 The shadow thrower 215 can be rotated about the vertex 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 equivalent to the width of one or more squares of the checkerboard pattern depicted in the 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. Therefore, the dimensions of the shadow thrower 315 shown in the diagram 300 are exemplary. In various examples, any number of configurations and widths can be used to form any distance 333 between the parallel brightness edges 350a and 350b.

[0116] To implement the scan, angular displacement of the shadow thrower 315 in the YZ plane can cause the brightness 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 power can cause the shadow thrower 315 to translate (e.g., non-rotationally) in an orientation shown along the Y axis, thereby causing the brightness edges 350a and 350b and the umbra 320 to move in the direction 380. In yet another example, the power 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, so that the brightness edges 350a and 350b contact different portions of the object 370 at different points in time. In another example, the power can cause the object 370 to move relative to the shadow thrower 315 to cause the motion of the brightness edge.

[0117] In some examples, power can cause one of light source 303, shadow thrower 315, and object 370 to move relative to the other object to achieve movement of brightness edges 350a and 350b. Note that power on light source 303 or shadow thrower 315 can be any type of power, examples of which include but are not limited to mechanical, electromechanical, electrical, magnetic, electromagnetic, electronic (e.g., current or voltage for activating elements of an LCD to achieve movement of simulated shadow thrower 315), or any other power. Furthermore, the device that generates power 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 when brightness edges 350a and 350b travel or move on projection plane 310. Examples of image capture device 301 can include any type of camera, such as a digital video camera, an image sensor based on a charge coupled device ("CCD"), etc., and an analog camera. In the example shown, image capture device 301 can capture one or more image frames (e.g., a video at a specific frame rate) when shadow 320 (e.g., umbra) passes over object 370, where 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, which are 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 the image capture device 301, the surface of the object 370 may cause a portion of the brightness edges 350a and 350b (e.g., the portion thrown on the object 370) to deviate from other more straight portions of the brightness edges 350a and 350b (e.g., in the XY plane). The deviation or deformation of the brightness edges 350a and 350b may be due to the extension of the surface dimension (of the object 370) along the 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. 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. 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. Simplified diagram 400 also depicts 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 zone 430 (e.g., on one side of shadow thrower 415a), and the subset of one or more light sources 403b can be arranged in zone 434. 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 duct, 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 in a relatively narrow spectral range. One or more wavelength ranges can be selectively implemented depending on the application of shadow throwers 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 a length ("L") 407 of a portion of line 412, the brightness 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 brightness 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 brightness edge 451 associated with shadow thrower 415a. In at least one example, a filament (e.g., in a halogen 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 bulb or filament or any other light source described herein can be referred to as a subset of light sources 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 on 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 on projection plane 410.

[0122] Luminance edge 453 can be coextensive (or substantially coextensive) with luminance edge 451 simultaneously 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 sharp 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) with a certain 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 5 is a simplified diagram depicting another example of a shadow thrower according to 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 when the umbra moves to position 520a at a first point in time, moves from position 520a to position 520 at a second point in time, moves from position 520 to position 520b at a third point in time, and moves 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 extending 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 implementation, 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 throwers 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 throwers 515a and 515b and / or movement thereof. LCDs 570a and 570b can have portions that are selectively activated at different times so that light emitted from light source 503 generates a brightness edge 550 that moves on the surface of projection plane 510.

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

[0128] Figure 6 600 is a diagram illustrating an example of 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 edge 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 described with respect to Figure 4As described with reference to shadow throwers 415a and 415b, shadow throwers 615a and 615b may 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) may capture an image 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 may 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] Fig. 7A 700 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 a surface of an object 770. The image capture device 701 may be calibrated to associate each pixel with an angular coordinate of a light ray relative to a common coordinate system of the camera, light, and brightness plane edge. The image capture device 701 may also have its position known relative to the common coordinate system of the camera, light, and brightness plane edge. For example, when a brightness edge including an illumination light ray 751a moves over a point ("P1") 766 on a surface of a projection plane 710 without an object 770, the point 766 may be captured. One or more pixels (and corresponding pixel data) of the image capture device 701, such as may be detected along a light ray 711, may represent image data for the point 766. The angular coordinates of point 766 may be determined by image capture device 701, which together with the position of image capture device 701 may 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 may 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 need not be implemented for 3D scanning.

[0130] During scanning of an object 770 disposed on the projection plane 710, a point ("P1x") 764 may be identified when a brightness edge including illumination ray 751b passes over the object 770 at a first point in time. At a subsequent point in time, when a brightness edge including illumination ray 751c passes over the object 770, the image capture device 701 may capture another point ("P1y") 765. Because other rays (not shown) intercept different points on the surface of the object 770, the portion of the brightness edge applied to the surface portion of the object 770 may be deformed from its shape on the projection plane 710 (in the absence of the object 770). The 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 the points 764 and 765, respectively.

[0131] Figure 7B 752 depicts an image capture device 701 and a light source 703 arranged to capture an image of a brightness edge as it moves along a direction 709 on a surface of an object 770. A shadow 720 and a corresponding brightness edge 750 (at Figure 7B 750) is shown as projected onto a portion of projection plane 710 and onto the surface of object 770. Portions 773 and 775 of brightness edge 750 are shown as projected onto the surface of projection plane 710. Portion 773 of brightness edge 750 includes reference point ("reference point A") 772, and portion 775 of brightness 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, edge deformed portion 776 of the brightness edge containing illumination ray 751c is depicted as edge deformed portion 776 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 line 512) or the position of the light source 703, the shadow plane 755 can be obtained. According to some examples, the position of one or more shadow throwers can be determined instead of the 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 thrower. The intersection of multiple light rays (not shown) with the 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 may 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 brightness edge 750. Additionally, shadow edge 750 is shown as having been deformed to a determined Z depth 777, indicating a corresponding Z coordinate of point 764 measured from a line intersecting brightness edge 750 with point 766 in projection plane 710 (in the absence of object 770). Similarly, the X and Y positions of point 764 may also be determined from the intersection of ray 711 with brightness edge 750 (not shown). Various lines, line segments, triangles, planes, and other geometric relationships and their sizes obtained from the multiple positions of brightness edge 750 measured using multiple images may be used to compute an estimate of a subset of points on the surface of object 770 to form a three-dimensional model or representation of the surface of the object.

[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 casters can be used to project a brightness edge moving across a scene. At 794, brightness edges of points sampled at each image on the object can be detected. For example, an image capture device can capture a set of brightness edges relative to an object arranged on a projection plane with each image, and multiple images can be used to sample multiple portions of the object. Each brightness 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 caster can be determined for each image. For each point at a brightness edge on the surface, a shadow plane can be determined, for example, based on mechanical or optical measurements of the position of the shadow caster and the position of the light source that can be predetermined. In addition, the shadow plane can be determined relative to a reference point and the position of the light or Figure 5The shadow plane is calculated by the equivalent of line 512 of . At 798, for each image, it can be determined that the points along a specific brightness edge are distinguished from all points corresponding to other brightness edges. In some examples, each point can be associated with one or more pixels in the image frame. In addition, the shadow plane associated with the specific point can be identified. The specific brightness edge and the corresponding shadow plane can be captured for a specific image frame during the scanning process. The "specific frame" for a specific point can be obtained based on the sequence number of the frame. At 799, the light to any specific point can be identified, and the estimated coordinates X, Y and Z of the point can be calculated based on the intersection of the light and the shadow plane of the specific brightness edge of the point. The light can be determined based on one or more coordinates and the angle of the calibrated camera. In addition, based on the estimated coordinates of the points coplanar with the surface, a three-dimensional model of the surface can be formed. Note that in some examples, reference to "each image" can describe each image in the image subset. Note also that according to some examples, the color of the point on the three-dimensional model of the surface can be obtained from the image used to obtain the three-dimensional coordinates of the point. In some examples, the image obtained near the sequence number of the frame is used to obtain the three-dimensional coordinates.

[0134] Figure 8 , Fig. 9 , Fig.10 ,and Fig. 10A are simplified diagrams depicting various examples of shadow throwers according to various embodiments. Figure 8 Schematic 800 of 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 800 also shows a projected cross-sectional area 895 of the shadow thrower 815, whereby the size and / or boundaries of the shadow thrower 815 can be projected along a direction 804 to form the projected cross-sectional area 895. For example, the edges of the shadow thrower 815 can be projected 804 onto a plane 811 parallel to the YZ plane to form projected edges 893a and 893b.

[0135] Fig. 9 900 includes a shadow thrower 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 thrower 915 can be relative to a cross-sectional area 996 (e.g., which can be parallel to the plane 911). Figure 8 The cross-sectional area of ​​the shadow thrower 815 of the physical form is oriented at an angle 920. According to this example, the cross-sectional area of ​​the shadow thrower 915 of the physical form 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). Fig. 9The cross-sectional area 996 projected onto the plane 911 is depicted as a projected cross-sectional area 995 having projected edges 993a and 993b. The plane 911 can be parallel to the YZ plane. As shown, a smaller shadow thrower 915 of a size that can reduce the form factor of the 3D scanner can mimic the implementation of the cross-sectional area 996 to form brightness edges 950a and 950b, wherein the outline boundary of the shadow thrower (shown as projected onto the plane 911) is superimposed on the full projected cross-sectional area 995. Scanning in this configuration can be achieved by rotating the shadow thrower 915 having a rotational component about a line containing the light 903 while maintaining the apex (not shown) of the shadow thrower on this line.

[0136] Fig.10 and Fig. 10A 1000 includes a shadow thrower 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 thrower 1015 can be projected onto the plane 1011 to form a projected cross-sectional area 1095. For example, the edges of the shadow thrower 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 projection cross-sectional area 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( Fig.10 and Fig. 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, in the case where the shadow thrower uses a colored transparent material, an image detection device (not shown) using color filtering can be used to determine brightness edges, and the image detection device 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 may be formed from a material used in three-dimensional ("3D") printing technology. Thus, shadow thrower 1015 may 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 that was subjected to the initial profiling. In the example shown, shadow thrower 1015 has been formed to replicate vase 1080 ( Fig.10 ) and for comparison, a vase 1080a ( Fig. 10A ) including surface features of the vase 1080, including surface contour 1082. The shadow thrower 1015 can be formed to establish a gap having a relatively decreasing distance (or a constant or substantially constant distance) between the surface of the shadow thrower 1015 and the surface of the vase 1080 or the differently shaped vase 1080a. The gap distance can be expressed relative to the XY plane.

[0139] Moreover, if combined FIG. 11A to FIG. 11C As described, embodiments with a relatively small gap distance can provide enhanced accuracy and resolution of 3D scanning of the vase 1080 or 1080a. According to some examples, the shadow caster 1015 can provide accuracy in the millimeter range, as well as the sub-millimeter range (e.g., the 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 the vase 1080 or the differently shaped vase 1080a can be scanned by applying power (not shown) to rotate 1092 the vase 1080 or the differently shaped vase 1080a about a wire in the Z direction (and perpendicular to the XY plane).

[0140] FIG. 11A to FIG. 11C is a diagram depicting examples of adaptable structural properties of a shadow caster for scanning three-dimensional objects according to some examples. Fig.11A1 is a simplified diagram 1100 depicting a light source 1103, a shadow thrower 1115, and a three-dimensional object 1170. In the example shown, the shadow thrower 1115 is depicted as being arranged in a plane (e.g., a YZ plane). The light source 1103 is shown as having a width W1, such as a diameter or a distance parallel to the Y axis. Moreover, the light source 1103 can be located at a distance D1a from a point 1111a at the edge of the shadow thrower 1115, and can be located at a distance D1b from a point 1111b at the edge of the shadow thrower 1115. The object 1170 is a pyramid having a surface portion 1172 and a surface portion 1174, which are shadow areas cast by points 1111a and 1111b, respectively. The surface portions 1172 and 1174 are arranged at distances (e.g., average distances) D2a and D2b, respectively, relative to the points 1111a and 1111b and the shadow thrower 1115. The surface portions 1172 and 1174 of the pyramids have widths W2a and W2b, respectively. Note that Fig.11A The entire areas of 1172 and 1174 are not shown because they may be partially obscured by the pyramid, 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 measured along the Y-axis direction or the width of the brightness edge formed in the shadow of the shadow caster 1115 and the light source 1103. 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. Therefore, the distance D2a may be greater than the distance D2b.

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

[0142] In various examples, the width W1 of the light source 1103 can be reduced to reduce 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 the ratio of D2 / D1 to 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 or the like, wherein 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] Fig. 11B and Fig. 11C An example of adjusting at least a subset of distances D1 and D2 based on a position of a surface portion such as surface portion 1172 (e.g., relative to surface portion 1174) is depicted. According to some examples, shadow thrower 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 Fig.11A The distance D1a) affects the Fig.11A The higher resolution scan described in the associated Eq. Fig. 11B 1130 depicts a shadow thrower 1135 having a vertex 1171a oriented at an angle 1131 to a line 1179 (e.g., orthogonal to the XY plane). At angle 1131, distances D2a and D2b may be approximately equal to provide a surface of the shadow thrower 1135 with respect to the vertex 1171a. Fig.11A Providing a substantially constant gap between one or more surface portions of object 1170. Fig. 11C 1160 depicts a shadow thrower 1165 including 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 Fig.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), for example, parallel to the YZ plane. This change is to maintain the existence of the Fig.11A 1165a and 1165b. At angle 1181, distance D2a can be reduced to be close to or approximate distance D2b. Depending on the circumstances, multiple portions 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] Fig.12 12 is a diagram depicting an example of a configurable shadow thrower according to some examples. Diagram 1200 includes shadow throwers 1215a and 1215b having adaptable portions 1265a and 1265b, respectively, to approximate the shape of the surface of the object, thereby reducing or equalizing the size of the gap variation between the shadow throwers 1215a and 1215b and an example scanned object 1270. Object 1270 is a hemisphere arranged on a projection plane 1210. In this example, the adaptable portions 1265a and 1265b are depicted as portions that are angled about axes 1267a and 1267b, respectively. In some examples, shadow throwers 1215a and 1215b can be implemented as a system of shadow throwers that can optionally include an adaptable opaque top portion 1211 coupled between shadow throwers 1215a and 1215b to facilitate the generation of shadows 1220 (or umbras) and one or more brightness edges 1250. At least in some cases, the Figure 3 , Figure 4 or Figure 5 A light source (not shown) that is co-linear with the line defined by lines 312, 412, or 512 can be located above shadow casters 1215a and 1215b, and between the shadow casters if top portion 1211 (or portions 1265a and 1265b) is implemented. 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 may be detected by an image capture device (not shown) to, for example, determine the geometry of the plane of the illumination edge. This determined illumination edge plane may then be used in conjunction with the deformation of the illumination edge to determine the shape of object 1270. Shadow throwers 1215a and 1215b may be similar to 815, 915, and 1015 in the case of having a triangular profile so as to define a single illumination plane edge on each edge. Alternatively, shadow throwers 1215a and 1215b may be structures and supports for portions 1211, 1265a, and 1265b and do not themselves throw shadow edges onto object 1270. Note that while object 1270 is depicted as a smooth-surfaced hemisphere, any shape of object may be used. In some cases, object 1270 may include surface topology and texture including convex and concave surface portions, including but not limited to projected or ridged features and concavities, cracks or grooves, and the like. 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 thrower can include a portion 1211, which can have one or more straight edges parallel to a line containing a 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 may also be multiple light sources (not shown) parallel to each other and parallel 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 thrower or both can be moved to achieve scanning on the surface of object 1270, and can have multiple rows of lights that do not need to be arranged on a rotation axis. This configuration can generate one or more shadow planes with geometric shapes, which can be used in conjunction with deformation of brightness edges 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 extend above 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. The shadow thrower can include multiple wavelength transmission areas arranged in a certain pattern, which can also have combined opaque areas.

[0148] The selectively opaque shadow thrower can be configured to be opaque with respect to one or more light wavelength ranges or light wavelength bands. Thus, the selectively opaque shadow thrower can selectively filter out one or more light wavelength ranges to allow selected wavelengths to pass. In one example, different selectively opaque shadow throwers can be implemented as colored transparent shadow throwers that throw light that transitions from blue light to red light, whereby an example of a 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 and the other can be blue. When scanning, a scene transition from blue to red may constitute an illumination edge and may be filtered to identify the blue to red transition from other changes in the scene. Tracking such color changes provides a technique for tracking shadow movement even when other things in 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 thrower described above can facilitate 3D scanning when the 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 with a camera or any other mobile device, may implement the selectively opaque shadow caster described above.

[0149] Fig.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 implementation of another set of shadow throwers and light sources opposite shadow thrower 1315. Object 1370 is arranged on projection plane 1310, and its reflection 1370r is depicted in reflective surface 1320. In addition, 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 reflection 1370r of the object. Note that photon emissions, including light, can travel a greater distance to illuminate point 1368 (via reflected light) than can travel to point 1366. Thus, the brightness and accuracy of light reflected from the surface portion including point 1368 by reflective surface 1320 into image capture device 1301 may be lower than reflected light from another surface portion including point 1366. However, the 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] The image capture device 1301 can observe the reflective object 1370 as 1370r, and thereby can observe parts of 1370 that would not otherwise be visible by not reflecting or directly observing the object 1370. In this way, other reflective surfaces (not shown) can be arranged within the field of view of the image capture device 1301, so that the image capture device 1301 can observe one or more parts of 1370 that would not otherwise be visible in a reflective manner by not reflecting or directly observing the object 1370. For example, the projection plane 1310 can be made a reflective surface that reflects the bottom surface of an object arranged thereon to the image capture device 1301. The shadow caster can then be moved, for example to achieve scanning, so that brightness edges can also be reflected from the reflective surface to areas that would not otherwise be reached by not reflecting the shadow edges or projecting the shadow edges directly onto the object 1370. The reflective surface can be a flat geometric shape, but can also be curved or include curved surfaces or flat surface segments or a combination of both.

[0151] Fig.1414 is a simplified diagram depicting yet another example of a scanning system according to some examples. The simplified diagram 1400 shows a scanning system 1490, which includes an image capture device 1401, a shadow caster 1415, one or more light sources 1403, and a seat or structure 1409 configured to implement or integrate the foregoing components. The scanning system 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 buildings (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 Fig. 9 and Fig.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 a 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 may be arranged on rotation axis 1412, whereby rotation of shadow thrower 1415a about axis 1412 may generate brightness edge 1450. In addition, light source 1403 may be implemented as light source 1403a, which may 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 may be an elongated halogen bulb. Another example of light source 1403a may be a linear array of light emitting diodes. Points 1431b and 1433b of light source 1403a may be collinear with points 1431a and 1433a, respectively, on axis 1412. According to various examples, shadow thrower 1415 and light source 1403 may 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 may vary and be adapted for any number of applications, including medical applications and augmented reality applications, among others.

[0153] Fig.15An example of a scanning system configured to perform a medical application 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 a three-dimensional scan of in vivo tissue, such as brain tissue (i.e., as an object), for medical applications. In addition, the scanning system of diagram 1500 can facilitate in situ three-dimensional scanning of brain tissue during surgery.

[0154] The surgical microscope 1530 includes an optical component 1538 (including an eyepiece) that can be configured to magnify relatively small features of interest, including tissue, and can be further configured to integrate a digitally created image that can be integrated or superimposed on the magnified view of the brain 1570. According to the example shown, the surgical microscope 1530 can be electronically or optically coupled to an enhanced image generator 1590, which can in turn be electronically or optically coupled to the image capture device 1501. In some examples, the surgical microscope 1530 can be electronically or optically coupled to the image capture device 1501, which can in turn be electronically or optically coupled to the enhanced image generator 1590. In some examples, the 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 to 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 on 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 mm (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 with a finer resolution than that obtainable 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 a change in conditions. For example, a flexible soft tissue may have a first three-dimensional surface shape in a first state (e.g., undisturbed before a surgical procedure), whereby the surface shape may be different from the first state when transitioning to a second state (e.g., after a medical or surgical procedure). 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 enhanced image generator 1590 may determine the X-coordinate, Y-coordinate, and Z-coordinate of a pixel representing a point on the surface of the brain 1570. In cases where the surface shape changes rhythmically in response to changes (e.g., heart beats 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 guide posts) to provide a vascular "road map" to assist the surgeon in navigating the blood vessels to a portion of the brain 1570. Some of these blood 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 the diagram 1500 may optionally be used to generate a 3D scan of the exposed portion of the brain 1570 (e.g., before disturbing the structure of the brain 1570). The enhanced image generator 1590 may 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 the diagram 1500. In addition, the enhanced image generator 1590 may include a processor and electronic components configured to execute instructions (e.g., software, firmware, etc.) to associate a 3D surface of the second data subset with an MRI-generated surface of the first data subset. Thus, the 3D scan data from the second data subset may be associated with data representing the internal structure of the MRI-generated brain scan data from the first data subset.

[0160] In the case where a portion of the skull is removed, 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 the loss of fluid (e.g., cerebrospinal fluid or CSF), resulting in 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 location, the shifted brain tissue will introduce errors.

[0161] After incision, the scanner system of the schematic 1500 can be used to determine the curvature and contour of the brain 1570 after the brain tissue shape is displaced due to the internal fluid pressure reduction. Subsequently, the enhanced image generator 1590 may include logic configured to form a second three-dimensional model of the surface of the brain 1570, which may include positional deviations in the brain tissue and vascular structures relative to the MRI scan data. In addition, the enhanced image generator 1590 may include such logic, which is configured to identify vascular structures and other markers (such as specific sulci and gyri) in the three-dimensional brain model in the pre-incision state and the post-incision state, and determine the positional deviations for registration and alignment of digital images. Since vascular tissue (e.g., blood vessels) can be elastically fixed to adjacent brain tissue, the deviations of vascular structures can be used instead of or in addition to the deviations of specific sulci and gyri to predict the post-incision position of the internal brain tissue portion. In addition, the previously obtained MRI scan data can be adjusted to reflect the predicted post-incision position of the internal brain tissue. Therefore, the movement of capillaries, sulci and gyri and associated brain tissue may help predict the position 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 the vascular structure to predict the positional deviation of the internal brain tissue based on the initial MRI scan data. In addition, the predicted positional deviation of the 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 the brain structure 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 may be located in three-dimensional space of the brain 1570 prior to surgery. An example of a target brain tissue portion may be a portion of brain tissue that causes epileptic seizures in a child. Removing the target brain tissue portion may relieve symptoms, including epileptic seizures. According to the above-described embodiment of the scanner system of schematic diagram 1500, the enhanced image generator 1590 may be configured to identify or predict positional deviations of brain tissue at the surface and within the brain 1570. Thus, the enhanced image generator 1590 may be configured to identify or predict positional deviations of a target brain tissue portion that was otherwise identified, for example, in an initial MRI.

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

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

[0166] Fig. 16B 1610 includes a surgical microscope 1630 and other elements described herein, which are configured to facilitate in situ three-dimensional scanning of a brain 1670. According to some examples, Fig. 16B Elements depicted in the simplified diagram 1610 of can include structure and / or functionality as similarly named or similarly numbered elements depicted in other figures. In this example, the shadow caster 1681 and a subset of light sources 1691a, 1691b, and 1691c can 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. Fig.12An example of a shadow thrower 1681 is described in , 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 multiple 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] Fig.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 the optical component 1738 is coupled is not shown. Diagram 1700 also includes an enhanced image generator 1790 configured to integrate an optical image of the brain 1770 (based on light reflected from the surface of the brain) and digitally generated image overlay data representing, for example, the surface location of a target brain tissue 1788 that can be observed via the optical component 1738. In some examples, a surgeon or any other user can view the image presented in illustration 1722 via the optical component 1738. For example, the brain 1770s and portions thereof can be observed in the optical component 1738 relative to gyri or sulci or relative to a vascular system 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] Fig.18 18 is a functional block diagram depicting in vivo three-dimensional scanning and image integration according to some examples. The schematic 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, Fig.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 deviations 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 structures may change (e.g., with respect to size, location, positioning, etc.) due to a corresponding loss of cerebrospinal fluid or an extracted tumor or brain mass. The enhanced image generator 1890 may retrieve data 1822 from the data models. According to some examples, Fig.18 The elements depicted in diagram 1800 of FIG. 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 function of the enhanced image generator 1890.

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

[0171] The biomarker mapper 1853 can be configured to map or otherwise associate an updated data subset 1844 that includes data representing brain data or vascular data derived by the model generator via a three-dimensional scan (e.g., at the surface of the brain 1870 after dissection). 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 the brain tissue initially detected by the MRI. Based on the displacement of blood vessels and surface features (e.g., ridges and grooves), displacements in the surface portion can be identified as well as displacements of the target brain tissue portion 1888. 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] The target tissue integrator 1855 is configured to identify a portion of the target brain tissue with respect to the MRI data 1824, which portion may or may not be associated with staining. The target brain tissue portion 1888 may represent, for example, brain tissue associated with pediatric epilepsy or a tumor. In addition, the target tissue integrator 1855 may be configured to calculate the displacement of the target brain tissue portion 1888 with respect to post-dissection activity and data from the tissue correlator 1854. For example, the tissue correlator 1854 may be configured to determine a positional deviation, which may be used to adjust the target brain tissue portion 1888 for identification and extraction.

[0174] The image generator 1856 can be configured to generate image data 1846 in real time (or substantially real time) and in vivo, the image data depicting a target brain tissue portion 1888 superimposed on an image 1848 of the brain. The image data 1846 is depicted as a real-time 2D or 3D image of an in vivo view that enhances the 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 process 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 the data subset 1844. The 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 display the remaining tissue to be extracted in vivo. According to various other examples, the functional block diagram 1800 may be varied according to various examples described herein.

[0175] Fig.19 19 is a diagram depicting 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 ear and temple structures 1907, which can include electronics, light guides, etc. to facilitate implementation of the glasses as a three-dimensional scanner including a shadow thrower 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 the wearable system 1911, the glasses may also include an optional transparent structure 1924 through which photon emissions including light may be transmitted. The transparent structure 1924 may implement a Fresnel prism as a layer for controlling forward transmitted light in a direction parallel to the edge 1950. The lens 1901 (which may be optional) may be configured to receive projection light (not shown) at least in some cases, on which a head-up display or HUD may be formed. In the example shown, 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 superposition of many light beams 1930, 1930a, and 1930n, more light beams may be implemented, or the light beams may be in the shape of a continuously emitted line. In addition, the wavelength of light transmitted via the optical fiber as light emission or light beams 1930, 1930a, and 1930n may belong to 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, the front view 1940 depicts light beams 1930, 1930a, and 1930n from the optical fiber, whereby the light emission can impinge at an edge 1950 of the shadow caster 1920 to form a brightness edge. In this example, the front view 1940 is shown as being in a plane parallel to the YZ plane (e.g., viewed along the X axis). Further with respect to the 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 the 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 so that at the edge 1950 their direction is parallel to the line 1919 normal surface of the shadow thrower 1920. Alternatively, the light beams 1930, 1930a, and 1930n from each optical fiber and / or the end of the optical fiber can each be emitted so that at the edge 1950 their direction can be at a certain angle relative to 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 that is projected onto the shadow thrower 1920 and the edge 1950 to form a beam 1930n. As shown in side view 1942, the light 1946 can be collimated (e.g., straight), or it can diverge so that the light becomes wider when it reaches the shadow thrower 1950. In this example, side view 1942 is shown in a plane parallel to the XZ plane. The end 1969 of the optical fiber 1966 from which the light is emitted can have a certain dimension, such as a width ("W1") 1927. The end 1969 of the optical fiber 1966 can be disposed, for example, in one or more of the front shell 1921 and the temple structure 1907. In addition, the end 1969 of the optical fiber 1966 can be disposed at any distance ("D1") 1929 from the shadow thrower 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. In addition, as described above with respect to line 1919, a Fresnel prism layer can be used to affect the light emitted from the optical fiber end 1969 to generate light beams 1930, 1930a, and 1930n.

[0179] In operation, the wearable system 1911 is configured to generate at least one brightness edge that is projected onto an environment such as a room including appliances, furniture, people, etc. The movement of the shadow caster 1920 can be consistent with the movement of the user's head when the user is assessing and reviewing his surroundings (such as a room). In some examples, the electronic devices in the temple structure 1907 may include a processor, a memory, an accelerometer, etc. In one case, one or more accelerometers, inclinometers, compasses, gyroscopes, etc. can determine the rate at which the user moves his head. Therefore, if necessary, the logic in the temple structure 1907 can detect the rate at which the brightness edge is swept throughout the environment or scene in order to form a 3D model of the environment. The sweep rate can be transmitted via a radio transceiver in the glasses system or the power and light generation module 1909. In another case, an external reference (e.g., a reflective marker or IR LED transmitter 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 field 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, whereby the wearable shadow thrower (and the image capture device) may capture the three-dimensional spatial dimensions and surface of the chair. In addition, 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] Fig. 20 2000 is a simplified diagram depicting examples of light projection directions from a wearable system according to some examples. As shown, the light projection directions may be emitted from a number of optical fibers or LED sources arranged along the temples of the wearable system 2011. The simplified diagram 2000 includes a user 2091 wearing the wearable system 2011 and a front shell depicted as a dashed line through which light beams 2030, 2030a, 2030n, 2032, 2032a, and 2032n are transmitted. The front shell may have a shape as shown in reference Fig.19 Depth described ("H") 1931. Return to reference Fig. 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, light beams 2030, 2030a, 2030n, 2032, 2032a, and 2032n may each 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 may 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 emission depicted in diagram 2000 may be varied or adapted based on suitability for a particular application. For example, wearable system 2011 may be worn by a surgeon performing brain surgery or any other medical application. According to various examples, wearable system 2011 may be implemented for communication purposes, such as three-dimensional webcam communications, etc. In some cases, wearable system 2011 may be configured to facilitate virtual reality applications and augmented reality applications. For example, wearable system 2011 may include one or more lenses or one or more transparent surfaces (not shown) on which a head-up display ("HUD") or a reduced video image may be projected.

[0183] Fig.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 including 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 a distance 2180 from the light emissions 2135. According to some examples, the distance 2180 may be at, or within a range including, 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 created by the wearable system 2111. Fig. 20In at least one example, distance 2180 can be reduced without adversely affecting the wearable system 2111 by modifying other parameters used in the operation of the wearable system 2111. Fig. 20 3D information of the contour surface 2060 can be determined. In various other examples, the camera 2117 can be arranged away from the person (e.g., the camera does not need to be worn). Therefore, another camera 2117 can be co-located in the environment where the wearable system 2111 is arranged, so that the camera 2117 and the wearable system 2111 can exchange data wirelessly with each other. According to some examples, Fig. 20 A diagram of 2000 and Fig.21 The elements depicted in the schematic diagram 2100 of FIG. 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 Fig.14 The scanning system 1490 is used interchangeably.

[0184] Fig. 22 2200 depicts an environment such as a room 2210 that includes various surface features such as a sofa 2222, a pool table 2224, and a chair 2226. In addition, the room 2210 includes a subset of users 2210a, 2210b, 2210c, and 2210d wearing wearable shadow throwers 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), etc. 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, Fig. 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 camera 2201, the enhanced 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 camera). Moreover, a fiducial (e.g., a reflective marker or IR LED transmitter not shown) can be arranged in any position 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 may be configured to determine differences between the wearable shadow throwers 2211a, 2211b, 2211c, and 2211d, and may be further configured to implement the wearable shadow throwers 2211b, 2211c, and 2211d using visible wavelengths or any other wavelengths. Also shown is an augmented image generator 2290, which may 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 may perform image registration based on data from the wearable shadow throwers 2211a to 2211d to align multiple 3D images to form an integrated image or 3D model. In addition, the augmented image generator 2290 may generate data representing a graphical image that may be superimposed on a 3D surface of an object in the room 2210. For example, the augmented image generator 2290 may generate a graphical image of a "virtual costume" that users 2210a, 2210b, 2210c, and 2210d may select for others to view. Consider that user 2210a wishes users 2210b, 2210c, and 2210d to perceive that user 2210a is wearing a "pirate costume." The augmented image generator 2290 may generate a graphical image that may be superimposed on lenses in wearable shadow throwers 2211b, 2211c, and 2211d. Thus, users 2210b, 2210c, and 2210d may visually perceive user 2210a wearing the superimposed "pirate costume." Thus, these users may organize a virtual costume party.

[0186] The wearable shadow throwers 2211a, 2211b, 2211c, and 2211d may include an RF radio for generating wireless data links 2213a, 2213b, 2213c, and 2213d, respectively. In addition, 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 an RF radio for transmitting and receiving data using 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] Fig.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, the computing platform 2300 can be used to implement computer programs, applications, methods, processes, algorithms or other software, as well as any hardware implementation thereof, to perform the above-mentioned 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, a system memory 2306 (e.g., RAM, etc.), a storage device 2308 (e.g., ROM, etc.), a cache in memory (which can be implemented in RAM 2306 or other parts of the computing platform 2300), and a communication interface 2313 (e.g., an Ethernet or wireless controller, a Bluetooth controller, NFC logic, etc.) to facilitate communication via a port on a communication link 2321, thereby, for example, communicating with a computing device, the computing device including a mobile computing and / or communication device with a processor, the processor including a database device (e.g., a storage device configured to store an atomized data set (including but not limited to a ternary database, etc.)). The processor 2304 can be implemented as one or more graphics processing units ("GPU"), one or more central processing units ("CPU") (such as manufactured by Intel Corporation), or one or more virtual processors, and 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 keyboards, mice, audio input (e.g., voice-to-text driven devices), user interfaces, displays, monitors, cursors, touch-sensitive displays, LCD displays or LED displays, and other I / O-related devices.

[0190] Note that in some examples, input and output devices 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 implemented as any mobile computing device (including smart phones, etc.). Such instructions or data can be read from another computer-readable medium (such as storage device 2308) to the system memory 2306. In some examples, hard-wired circuit systems 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, etc. Volatile media include dynamic memory, such as system memory 2306.

[0192] Known forms of computer-readable media include, for example, floppy disks, flexible disks, hard disks, magnetic tapes, any other magnetic media, CD-ROMs, any other optical media, punch cards, paper tapes (e.g., or hole patterns), any other physical media (such as RAM, PROM, EPROM, FLASH-EPROM devices), any other memory chips or memory cartridges, or any other media 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 wires, and optical fibers, including wires (the wires include bus 2302 for transmitting computer data signals).

[0193] In some examples, execution of the sequence of instructions may be performed by computing platform 2300. According to some examples, computing platform 2300 may be connected to the computer via communication link 2321 (e.g., a wired network (such as 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) through communication link 2321 and communication interface 2313. The received program code can be executed by processor 2304 when it is received, and / or stored in memory 2306, or other non-volatile storage device, for later execution.

[0194] In the example shown, the system memory 2306 may include various modules that include executable instructions for implementing the functionality described herein. The system memory 2306 may include an operating system ("O / S") 2332 and application programs 2336 and / or module(s) 2359. Fig.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 of the 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 vary and are not limited to the examples or descriptions provided.

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

[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 function of any feature described herein. As depicted in the above-mentioned figures, the structure and / or function of any of the above-mentioned features can be implemented with software, hardware, firmware, circuit system or any combination thereof. Note that the above structure 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 formatting 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 function.

[0198] For example, module 2359 or one or more of its components, 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. Therefore, at least some of the elements in the above-mentioned figures may represent one or more algorithms. Alternatively, at least one of these elements may represent a portion of logic, which includes a portion of hardware configured to provide a constituent structure and / or function. 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 including one or more circuits. Thus, at least one element in the above-mentioned figures may represent one or more hardware components. Alternatively, at least one of these elements may represent a portion of logic including a portion of a circuit configured to provide a constituent structure and / or function.

[0201] According to some embodiments, the term "circuit" may refer to any system including, for example, 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 ("FPGA"), application specific integrated circuits ("ASIC")), 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 an algorithm is stored is a "component" of a circuit. Thus, the term "circuit" may also refer to, for example, a system of components including 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 may be applied to any number of applications. For example, any of the above structures and functions may be incorporated into a mobile phone having a camera. Thus, a shadow caster and / or a light source may be attached to or integrated within a mobile phone to perform 3D scanning. In another example, any of the above structures and functions may 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 may implement the structures and functions described herein.

[0203] In one example, a method may include receiving a photon emission at a shadow thrower, and forming a brightness edge. The method may include receiving the photon emission as light, and projecting the brightness edge onto a projection plane. The method may include receiving the photon emission 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 another photon emission at another shadow thrower, and forming another brightness edge. The other brightness edge may be substantially coextensive with the brightness edge. The method may include generating the photon emission at a light source disposed adjacent to an end of the shadow thrower (e.g., substantially on an axis), the shadow thrower being at a distance (e.g., a maximum distance) from the projection plane. In some examples, receiving the photon emission at the shadow thrower may include receiving the photon emission 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 power to move the brightness edge on 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, Fig.24 , Fig.25 , Fig.26 , Fig. 27 , Fig.28 , Fig.29 and Fig.30 , a shadow thrower scanner 2400 is shown. Fig.24 A front perspective view of the Shadow Thrower Scanner 2400 is demonstrated. Fig.25 is a rear perspective view of the Shadow Thrower Scanner 2400. Fig.26 is an exploded view of the Shadow Thrower Scanner 2400. Fig. 27 is a front perspective view of the filtered shadow thrower 2400a of the present invention. Fig.28 is a front perspective view of the blade-type shadow thrower 2400b of the present invention. Fig.29 is a front perspective view of the wide blade shadow thrower 2400c of the present invention. Fig.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 Fig.24 , Fig.25 , Fig.26 , Fig. 27 , Fig.28 , Fig.29 and Fig.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 is rectangular; two side sections 2422, each of the side sections 2422 is vertically suspended from opposite ends of the front section 2424, each of the side sections 2422 includes: a triangular shape and a shoulder mount 2423, each of the shoulder mount 2423 includes: The shadow thrower 2420 includes a shoulder screw hole 2421 and a shoulder screw 2428, wherein the shoulder screw 2428 is rotatably attached to the side panel 2414 using a nut 2419 and a washer 2413; and a tab 2426, wherein the tab 2426 is suspended from one of the side segments 2422; an actuator assembly 2440, wherein the actuator assembly 2440 includes: an actuator arm 2442, wherein the actuator arm 2442 is suspended from the housing 2410; an actuator motor 2446, wherein the actuator motor 2446 is suspended from the actuator arm 2442; and an actuator connector 2444, wherein the actuator connector 2444 is suspended from the actuator motor 2446 and connected to the tab of the shadow thrower 2420. 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 thrower 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 into the memory;wherein the processor forms a three-dimensional data representation from 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. Alternatively,; Fig. 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 drawings, any number of filters may be used. Alternatively, Fig.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 mounting member 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 accompanying drawings, any number of segments may be used. Alternatively, Fig.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 accompanying drawings, any number of segments may be used. Fig.30 In the operational flow chart 3000 described in , the first step in the operation of the shadow thrower scanner 2400 includes positioning the scanner over the object in a position scanner step 3005. Next, in an alignment determination step 3010, it is determined 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, it is determined in a focus determination step 3015 whether the camera is focused on the object. 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 from 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, it is determined 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 scanner step 3080, the scanner is stored after the operation.

[0206] like Fig.24 , Fig.25 , Fig.26 , Fig. 27 , Fig.28 , Fig.29 and Fig.30The structural details of the present invention shown 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 materials. 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 materials. 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 materials. The base 2416 of the housing 2410 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 2420 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. The shoulder screw 2428 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 nut 2419 and the washer 2413 include 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 tongue 2426 of the shadow thrower 2420 includes a lightweight 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 actuator arm 2442 of the actuator assembly 2440 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. The actuator motor 2446 of the actuator assembly 2440 includes a linear stepper motor, an electric motor, a hydraulic system, etc.The actuator connector 2444 of the actuator assembly 2440 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. The light source 2450 includes an incandescent lamp, a halogen lamp, a fluorescent lamp, a linear lamp, a tube lamp with a slit, an LED, an LED array, a linear array of LEDs, light sources of different colors, color LEDs, lasers, X-ray sources, UV sources, infrared sources, etc. The video camera support platform 2436 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. The video camera 2434 includes a digital or analog video camera, etc. The camera lens 2435 includes a telephoto lens, a filter lens, a magnifying lens, a lens with a negative focal length, etc. 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 a 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 may 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, a composite material, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood or other similar materials, and may further include configurable shapes, three-dimensional printed shapes, configurable opacity (such as liquid crystals, etc.) or various color filters, etc.

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

[0208] In more detail, still referring to the present invention Fig.31 , Fig.32 , Fig.33 , Fig.34 , Fig.35 and Fig.36 ,exist Fig.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 scanned area on the patient 3170. Fig.32, an 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 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 in a cover scanner step 3203. Next, in a position scanner step 3205, the surgical shadow thrower scanner 3100 is positioned over the object. Next, in an alignment determination step 3210, it is determined whether the scanner is aligned with the object, in this case, the craniotomy 3180 of the patient 3170. If the scanner is not aligned, the scanner is aligned with the object in an align scanner step 3240. Once the scanner is aligned, it is determined in a focus determination step 3215 whether the camera is focused on the object. If the camera is not focused, the camera is focused in a focus camera step 3220. Once the camera is focused, the camera begins recording video of the object in a start recording step 3225. Next, in a start sweep step 3245, the shadow caster begins sweeping brightness edges across the object. Next, in a collect and analyze step 3250, the processor collects frames of the recorded video and analyzes them 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 model of a three-dimensional surface 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 determines the position of the patient 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 desired. If another scan is desired, the alignment determination step 3210 is repeated as described above. Next, in a stop sweeping step 3260, the shadow caster stops sweeping the brightness edges 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. Fig.33, a side scanner flow chart 3300 describes the operation of a surgical shadow thrower scanner 3100 used as a side scanner during brain surgery. The first step in the operation of the surgical shadow thrower scanner 3100 as a side scanner includes: in a cover scanner step 3303, covering the scanner with a customized drape that is well suited for surgery, conforms to the exterior of the surgical shadow thrower scanner 3100, and is capable of protecting the patient 3170 from contamination during surgery. Next, in a position scanner step 3305, the surgical shadow thrower scanner 3100 is positioned to one side of the object. Next, in an alignment determination step 3310, it is determined 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 3340. Once the scanner is aligned, it is determined in a focus determination step 3315 whether the camera is focused on the object. If the camera is not focused, the camera is focused in a focus camera step 3320. Once the camera is focused, the camera begins recording video of the object in a 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 frames of the recorded video and analyzes them 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 model of the three-dimensional surface 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 a display. In another scan determination step 3330, it is determined whether another scan is needed. If another scan is needed, then in a still aiming step 3333, it is determined whether the scanner is still facing the target. If the scanner is still facing the target, then the start recording step 3325 is repeated as described above. If the scanner is no longer facing the target, wait until the scanner is moved back in a move back step 3337. Once the scanner is moved back to the target, repeat the start recording step 3325 as described above. If another scan is not needed, 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. Fig.34, an algorithm flow chart 3400 describes an algorithm used by a surgical shadow thrower scanner 3100 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 a start program step 3404. Next, in a collect parameters step 3408, the scanning and analysis parameters provided by the user or specified by the program are collected. Next, in a start recording step 3425, the camera begins recording video. Next, in a start sweep step 3445, the motor is started so as to move the shadow thrower and sweep the brightness edges across the object. Next, in a collect video step 3450, frames of the recorded video are collected. Next, in a buffer determination step 3424, it is determined whether the video buffer is filled enough for analysis. If the buffer is not filled enough, the collect video step 3450 is repeated as described above. If the buffer is filled enough for analysis, the video frames are analyzed in an analyze frames step 3444 to build a point cloud. Next, in filter new cloud point step 3452, the processor filters the new cloud point. Next, in update filtered point cloud step 3454, the filtered point cloud display is updated. Next, in still buffer determination step 3458, it is determined whether there are still enough frames in the buffer. If there are not enough frames in the buffer, repeat buffer determination step 3424 as described above. If there are still enough frames in the buffer, determine whether the sweep is complete in complete sweep determination step 3478. If the sweep is not complete, repeat analyze frame step 3444 as described above. If the sweep is complete, stop the motor in stop motor step 3468. Next, in stop recording step 3465, the camera stops recording video of the object. Next, in complete analyze frame step 3464, the analysis of the frame is completed. Next, in filter point cloud step 3470, the processor filters the point cloud. Next, in construct surface step 3475, the processor constructs a model of the three-dimensional surface based on the filtered point cloud. Next, in 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 reference is still visible in the camera's field of view. If the target or reference is still visible, then the start recording step 3425 is repeated as described above. If the target or reference is not still visible, then in a wait step 3412 it is waited until the target or reference is visible again, and once the target or reference 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. Fig.35, a registration flow chart 3500 depicts a surgical shadow thrower scanner 3100 used for patient registration. The first step in registering a patient includes 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, the processor collects frames of the recorded video and analyzes them to form a point cloud. Next, in a stop sweep step 3560, the shadow caster stops sweeping brightness edges 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 model of the three-dimensional surface 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 scan determination step 3531, a determination is made as to whether two scans were collected. If two scans were not collected, then the position scanner step 3505 is repeated as described above. If two scans were collected, then in an identify first fiducial step 3581, a fiducial is identified on the first surface. Next, in an identify second fiducial step 3583, a corresponding fiducial is identified on the second surface. Next, in a calculate step 3585, a rigid transformation is calculated using the processor. Next, when the scanner or patient is moved, in a mapping step 3587, all surface points are mapped to their new positions using a rigid transformation. Finally, in a continue operation step 3595, the operation continues. Fig.36, a robotic flowchart 3600 describes the operation of a surgical shadow thrower scanner 3100 used during robotic automated brain surgery. The first step in the robotic automated operation of the surgical shadow thrower scanner 3100 includes: in a 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 is capable of protecting the patient 3170 from contamination during surgery. Next, in a position scanner step 3605, the surgical shadow thrower scanner 3100 is positioned over the object using a robotically controlled motor. Next, in an alignment determination step 3610, it is determined 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 3640. Once the scanner is aligned, it is determined in a focus determination step 3615 whether the camera is focused on the object. If the camera is not focused, the camera is focused in a focus camera step 3620. Once the camera is focused, the camera 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 frames of the recorded video and analyzes them to form a point cloud. Next, in a filter new cloud point step 3652, the processor filters the new cloud point. Next, in an update filtered cloud point step 3654, the filtered point cloud display is updated. Next, in a whole 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 entire point cloud step 3670. Next, in a construct surface step 3675, the processor constructs a model of the three-dimensional surface from 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 a display. In another scan determination step 3630, a determination is made as to whether another scan is desired. If another scan is desired, the alignment determination step 3610 is repeated as described above. If another scan is not desired, the shadow caster stops sweeping the brightness edges across the object in a stop sweep step 3660. 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 Fig.31 , Fig.32, Fig.33 , Fig.34 , Fig.35 and Fig.36 The structural details of the present invention shown are that the surgical shadow thrower scanner 3100 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. The shadow thrower 3120 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 may further include a configurable shape, a three-dimensional printed shape, a configurable opacity (such as liquid crystal, etc.) or various color filters, etc. The video camera 3130 includes 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, composites, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood or other similar materials.

[0210] Now referring to another embodiment of the present invention, Fig.37 , Fig.38 , Fig.39 , Fig.40 , Fig.41 , Fig.42 , Fig.43 and Fig.44 , an endoscopic version of the shadow thrower scanner is shown. Fig.37 is a front perspective view of the Endoscopic Shadow Thrower Scanner 3700. Fig.38 is an exploded view of the Endoscopic Shadow Thrower Scanner 3700. Fig.39 is a front perspective view of the mobile slit endoscope shadow thrower scanner 3900. Fig.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. Fig.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. Fig.42 An endoscopic operation flow chart 4200 is shown describing the operation of the endoscopic shadow thrower scanner 3700 and the mobile slit-type endoscopic shadow thrower scanner 3900 during a surgical procedure. Fig.43An endoscopic algorithm flow chart 4300 is depicted which describes the algorithm used by the endoscopic shadow thrower scanner 3700 and the moving slit-type endoscopic shadow thrower scanner 3900. Fig.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 Fig.37 , Fig.38 , Fig.39 , Fig.40 , Fig.41 , Fig.42 , Fig.43 and Fig.44 ,exist Fig.37 , Fig.38 and Fig.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 and 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 and 4060b, wherein the tapered optical fiber bundles 4060a and 4060b are arranged in the endoscope sleeves 4010, 40 10a or 4010b and gradually narrows toward the distal end 4001, 4001a or 4001b; and an endoscopic camera 4030, 4030a or 4030b, which is arranged in the endoscope sleeve 4010, 4010a or 4010b and faces the outside of the distal end 4001, 4001a or 4001b; a shadow thrower 4020, 4020a or 4020b, which is installed 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 sheet; an endoscopic shadow thrower scanner 3700, the endoscopic shadow thrower scanner 3700 comprising: 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, the light source suspended from the translation platform 3715; a cylindrical lens 37 60; a fiber bundle 3710, which may be an image-maintaining fiber bundle, the fiber bundle 3710 suspended from the light source; a square to round cone 3720, the square to round cone 3720 suspended from the fiber bundle 3710; and a slit 3725 mounted on the square to round cone 3720; a memory stored in a non-transitory computer-readable medium; a processor (not shown), the processor comprising: 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 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 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. In; Fig.39 and Fig.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 Fig.37 and Fig.381a or 4001b); a distal end 4001, 4001a or 4001b; an endoscope sleeve 4010, 4010a or 4010b, the 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, the tapered fiber optic bundle 4060a being arranged within the endoscope sleeve 4010 or 4010a and gradually narrowing toward the distal end 4001, 4001a or 4001b; and an endoscope camera 4030, 4030a or 4030b, the endoscope camera 4030, 4030a or 4030b being arranged 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 installed 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 includes: a semicircular sheet; a mobile slit-type endoscope shadow thrower scanner 3900, the mobile slit-type endoscope shadow thrower scanner 3900 includes: a horizontal a platform 3930; a vertical seat 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 seat 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; a computer program product 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 geometry, 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. Fig.41 , the optical path block diagram 4100 describes the optical path of the endoscope shadow thrower scanner 3700 and the moving slit type endoscope shadow thrower scanner 3900. First, in the light source step 4110, light is emitted from the light source. Next, in the light source injector step 4120, the light is illuminated by the endoscope shadow thrower scanner 3700 and the moving slit type endoscope shadow thrower scanner 3900, in which the light source is moved or the slit 3925 is moved. Next, in the optical fiber step 4130, the light from the endoscope shadow thrower scanner 3700 and the moving slit type endoscope shadow thrower scanner 3900 travels along the tapered optical fiber 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 to be processed into a three-dimensional model. Fig.42, 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: in a cover scanner step 4203, covering the scanner with a customized cover cloth 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 is capable of protecting the patient from contamination during the surgical procedure. 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 enable step 4210, the light source and the endoscope camera 4030, 4030a, or 4030b are enabled. Next, in a navigation step 4240, the distal end 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, it is determined 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 the endoscope camera 4030, 4030a, or 4030b is focused, the endoscope camera 4030, 4030a, or 4030b begins recording video of the object in a start recording step 4225. Next, in a start sweep step 4245, a brightness edge begins to sweep across the object by moving the light source of the endoscope shadow thrower scanner 3700 or moving the slit 3925 of the slit-type endoscope shadow thrower scanner 3900. Next, in a collection and analysis 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, it is determined whether the entire region of interest has been scanned. If the entire region of interest has not been scanned, the collection and analysis 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 model of the three-dimensional surface from the filtered point cloud in a construct surface step 4275. 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 a display. In another scan determination step 4230, a determination is made as to whether another scan is desired. If another scan is desired, then the start sweep step 4245 is repeated as described above. If another scan is not desired, 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. In. Fig.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 scanning 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 started 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 so as 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 filled sufficiently for analysis. If the buffer is not filled sufficiently, the collect video step 4350 is repeated as described above. If the buffer is filled sufficiently for analysis, the video frames are analyzed in an analyze frames step 4344 to build a point cloud. Next, in a still buffer determination step 4358, a determination is made as to whether there are still enough frames in the buffer. If there are not enough frames in the buffer, the buffer determination step 4324 is repeated as described above. If there are still enough 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 endoscope camera 4030, 4030a, or 4030b stops recording video of the object. Next, in complete analysis frame step 4364, the analysis of the frame is completed. Next, in filter point cloud step 4370, the processor filters the point cloud. Next, in construct surface step 4375, the processor constructs a model of the three-dimensional surface based on the filtered point cloud. Next, in save file step 4335, the surface is saved to a file. Next, in 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, then as described above, start recording step 4325 is repeated. Finally, if another scan is not required, the user exits the algorithm in exit algorithm step 4390. Fig.44, an 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 the set motor parameters step 4407, the parameters of the stepper motor linear actuator 3740 or 3940 are set. Next, in the 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 the get current motor position step 4447, the position of the stepper motor linear actuator 3740 or 3940 is determined. Next, in the 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 the sweep and another scan is needed, 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 gradually narrow to the same shape as the distal tapered fiber bundle 4060b, such as a semicircle to a full circle.

[0212] like Fig.37 , Fig.38 , Fig.39 , Fig.40 , Fig.41 , Fig.42 , Fig.43 and Fig.44The structural details of the present invention are shown as endoscope sleeve 4010, 4010a or 4010b including flexible materials such as plastic, silicone, metal, etc. The tapered fiber bundles 4060a and 4060b include optical fibers, glass, plastic, composite materials, etc. The endoscope camera 4030, 4030a or 4030b includes a standard endoscope camera, etc. The shadow thrower 4020, 4020a or 4020b includes 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 include configurable shapes, three-dimensional printed shapes, configurable opacity (such as liquid crystal, etc.) or various color filters, etc. Horizontal platforms 3730 and 3930 include a strong 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 materials. Vertical seats 3705 and 3905 include a strong 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 materials. Stepper motor linear actuators 3740 and 3940 include linear stepper motors, electric motors, hydraulic systems, etc. Translation platform 3715 includes a strong 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 materials. Light sources include incandescent lamps, halogen lamps, fluorescent lamps, linear lamps, tube lamps with slits, LEDs, LED arrays, LED linear arrays, light sources of different colors, colored LEDs, lasers, X-ray sources, UV sources, infrared sources, etc. Cylindrical lens 3760 includes optical materials such as glass, acrylic, ceramic, etc. Fiber bundles 3710 and 3910 include optical materials such as glass, acrylic, ceramic, etc. Square to round cones 3720 and 3920 include glass, plastic, etc. Slit 3725 includes opaque materials such as steel, coated copper, plastic, high-density plastic, opaque paint, 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, etc. Processors include computers, mobile phones, PCs, CPUs, etc. Displays include monitors, screens, televisions, augmented reality head-mounted devices, microscopes, etc. 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 materials, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood or other similar materials.

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

[0214] In more detail, still referring to the present invention Fig.45 and Fig.46 The structure of the whole body shadow scanner 4500 is similar to the shadow thrower scanner 2400; however, the whole body shadow scanner is scaled and adapted to be able to scan the surface of the 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 on the whole body 4570, and uses a whole body camera 4530 to record the brightness edges. The whole body shadow scanner 4500 is used to scan the skin or perform dermatological examinations, and is capable of mapping features on the skin of the whole body 4570, such as moles, freckles, skin lesions, skin cancer, warts, hyperplasia, defects, wounds, etc. Optionally, a person can be placed very close to the whole body shadow scanner 4500 and / or a smaller embodiment of a similar scanner to perform a high-resolution scan on a smaller area of ​​interest, so as to focus on the three-dimensional shape of, for example, a single mole. Scans performed at different times can also provide a record of skin changes of the whole body 4570, for example, a record of new moles or different features can be established. Additionally, use with color filters can allow identification of different tissues during a scan, such as identifying tumors or cancerous areas. Fig.4646, a whole body operation flow chart 4600 describes the operation of the whole body shadow scanner 4500 being 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 determination step 4610, it is determined whether the whole body shadow scanner 4500 is aligned with the object, in this case, the whole body 4570. If the scanner is not aligned, the scanner is aligned with the object in an align scanner step 4640. Once the scanner is aligned, it is determined in a focus determination step 4615 whether the camera is focused on the object. 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 object in a start recording step 4625. Next, in a start sweep step 4645, the shadow caster begins sweeping the brightness edge across the object. Next, in a collection and analysis step 4650, the processor collects frames of the recorded video and analyzes them to form a point cloud. Next, in a stop sweeping step 4660, the shadow caster 4520 stops sweeping brightness edges 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 model of the three-dimensional surface from 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, it is determined whether another scan is required. If another scan is required, the start sweeping step 4645 is repeated as described above. If another scan is not required, the surface is 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 Fig.45 and Fig.46 The structural details of the present invention shown are similar to those shown in Fig.37 , Fig.38 , Fig.39 , Fig.40 , Fig.41 , Fig.42 , Fig.43 and Fig.44 The structural details of the invention shown are substantially the same.

[0216] Now referring to another embodiment of the present invention, Fig.47 and Fig.48 , a security shadow scanner 4700 is shown. Fig.47is a front perspective view of a security shadow scanner 4700 scanning a walking person 4770. Fig.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 Fig.47 and Fig.48 , the structure of the security shadow scanner 4700 is similar to the shadow thrower scanner 2400; however, the security shadow scanner can use the motion of the walking person 4770 to sweep the brightness edge, and can further include one or more additional cameras 4737, which can be mounted on the wall 4772 to measure the speed of the walking person 4770. The security shadow scanner 4700 is scaled and adapted to be able to scan the surface of the walking person 4770, and can be mounted above the walking person 4770, such as on the ceiling 4776 of the room 4710. Other versions may mount the light source in the ceiling of the room. The security shadow scanner 4700 uses a fixed shadow thrower 4720 to project a brightness edge on the walking person 4770, and uses a security camera 4730 and an optional additional camera 4737 to record the brightness edge. The additional camera 4737 (and in fact, both the security camera 4730 and the additional camera 4737) can detect not only the brightness edge, but also the object itself to help determine the speed of the object. 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 port of entry to a secure area. In addition, use with color filters can identify different features during scanning, such as identifying weapons or contraband. Fig.4848, the 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, it is determined whether the security camera 4730 and the optional additional camera 4737 are focused on the object. If the security camera 4730 and the optional additional camera 4737 are not focused, then the security camera 4730 and the optional additional camera 4737 are focused in a Focus Camera Step 4820. Once the security camera 4730 and the optional additional camera 4737 are focused, then in a Start Recording Step 4825, the security camera 4730 and the optional additional camera 4737 begin recording video of the object as the walking person 4770 walks in the field of view of the security camera 4730 and the optional additional camera 4737. 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, the walking person 4770. Next, in an analyze frames step 4844, the processor is used to analyze the frames from the security camera 4730 to form a point cloud. Next, in a whole scan determination step 4867, it is determined whether the entire region of interest has been scanned. If the entire region of interest has not been scanned, 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 model of the three-dimensional surface from 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 another scan determination step 4830, it is determined 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 Fig.47 and Fig.48 The structural details of the present invention shown are similar to those shown in Fig.37 , Fig.38 , Fig.39 , Fig.40 , Fig.41 , Fig.42 , Fig.43 and Fig.44 The structural details of the invention shown are substantially the same.

[0219] Now referring to another embodiment of the present invention, Fig.49 , Fig.50 , Fig.51, Fig.52 and Fig.53 , a visual shadow scanner 4900 is shown. Fig.49 A front perspective view of a visual shadow scanner 4900 incorporated into a vehicle, which is a car 4901, is shown. Fig.50 yes Fig.49 A close-up view of the indicated area 4911. Fig.51 A visual scanner operation flow chart 5100 is shown describing the operation of a visual shadow scanner 4900 incorporated into a vehicle. Fig.52 A robot vision scanner operation flow chart 5200 is shown, which describes the operation of the visual shadow scanner 4900 incorporated into the robot. Fig.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 Fig.49 , Fig.50 , Fig.51 , Fig.52 and Fig.53 ,exist Fig.49 and Fig.50 In the embodiment, 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 is suspended from the vertex 4999, above a headlight 4998 of a car 4901, or placed inside the car 4901, wherein the light source 4950 is aligned with the headlight 4998 of the car 4901. Fig.14 A light source consistent with that described in ; a camera 4930 mounted on the roof 4903 of the car 4901; and a processor (not shown). Fig.51, the visual scanner operation flow chart 5100 describes the operation of the visual shadow scanner 4900 incorporated into the vehicle. The first step in the operation of the visual shadow scanner 4900 includes activating the visual shadow scanner 4900 in the activate scanner step 5101. Next, in the alignment determination step 5110, it is determined 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 the align scanner step 5140. Once the visual shadow scanner 4900 is aligned, it is determined in the focus determination step 5115 whether the camera 4930 is focused. If the camera 4930 is not focused, the motor is used to focus the camera 4930 in the focus camera step 5120. Once the camera 4930 is focused, the camera 4930 starts recording a video of the vehicle's surroundings in the start recording step 5125. Next, in the collect frame step 5150, the processor collects frames of the recorded video. Next, in the determine speed step 5151, the speed of the vehicle is determined by the processor. Next, in the analyze frame step 5144, a processor is used to analyze the frames from the camera 4930 to form a point cloud. Next, in the entire 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 the filter point cloud step 5170. Next, in the construct surface step 5175, the processor constructs a three-dimensional model of the vehicle's surroundings based on the filtered point cloud. Next, in the send surface step 5171, the surface is sent to the processor. Next, in the 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 the stop recording step 5165. Finally, in the deactivate scanner step 5181, the scanner is deactivated. Fig.52, the robot visual scanner operation flow chart 5200 describes the operation of a shadow thrower scanner incorporated into a robot, which differs from the visual shadow scanner 4900 in that it actively scans the robot's surroundings without relying on the speed of the vehicle to sweep brightness edges in the surroundings. The first step in the operation of the scanner incorporated into the robot includes activating the scanner in an activate scanner step 5201. Next, in an alignment determination step 5210, it is determined whether the scanner is aligned. If the scanner is not aligned, the robot-controlled motors are used to align the scanner in an align scanner step 5240. Once the scanner is aligned, it is determined in a focus determination step 5215 whether the camera is focused. If the camera is not focused, the robot-controlled motors are used to focus the camera in a focus camera step 5220. Once the camera is focused, the camera begins recording video of the robot's surroundings in a start recording step 5225. Next, in a start sweep step 5245, the shadow thrower begins sweeping brightness edges in the robot's surroundings. Next, in a collect and analyze frames step 5250, the processor collects frames of the recorded video and analyzes them to form a point cloud. Next, in the entire scan determination step 5267, it is determined 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 the filter point cloud step 5270. Next, in the construct surface step 5275, the processor constructs a three-dimensional model of the robot's surroundings based on the filtered point cloud. Next, in the send surface step 5271, the surface is sent to the robot's processor. Next, in the another scan determination step 5230, it is determined 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 the stop sweep step 5260, the shadow caster stops sweeping the brightness edge in the robot's surroundings. Next, in the stop recording step 5265, the camera stops recording video of the robot's surroundings. Finally, in the deactivate scanner step 5281, the scanner is deactivated. Fig.53, a submersible visual scanner operation flow chart 5300 describes the operation of a shadow caster scanner incorporated into an underwater submersible. The first step in the operation of the scanner incorporated into the submersible includes activating the scanner in an activate scanner step 5301. Next, in a focus determination step 5315, a determination is made as to whether the camera is focused. If the camera is not focused, the camera is focused in a focus camera step 5320. Once the camera is focused, the camera begins recording video of the submersible's surroundings in a start recording step 5325. Next, in a start sweep step 5345, the lights or the moving submersible begins sweeping a brightness edge across the submersible's surroundings. Next, in a collect and analyze frames step 5350, the processor collects and analyzes frames of the recorded video to form a point cloud. Next, in a stop sweep step 5360, the lights stop sweeping, or the submersible stops moving, so that the brightness edge stops sweeping across the submersible's surroundings. Next, in a 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 submersible'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 a display. Next, in another scan determination step 5330, a determination is made as to whether another scan is required. If another scan is required, then the start recording step 5325 is repeated as described above. Finally, if another scan is not required, then the scanner is deactivated in a deactivate scanner step 5381.

[0221] like Fig.49 , Fig.50 , Fig.51 , Fig.52 and Fig.53 The structural details of the present invention shown are that the shadow thrower 4920 includes 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 can further include configurable shapes, three-dimensional printed shapes, configurable opacity (such as liquid crystal, etc.) or various color filters, etc. The headlight 4998 includes a standard headlight or a customized 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, Fig.54 , Fig.55 , Fig.56 , Fig.57 , Fig.58 and Fig.59 , a system of the present invention is shown that uses a drone to scan a large area using a shadow thrower. Fig.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. Fig.55 is the solar drone operation flow chart 5500, which describes the operation of the solar drone shadow thrower scanner system 5400. Fig.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. Fig.57 A drone operations flow chart 5700 is shown describing the operation of the drone shadow thrower scanner system 5600. Fig.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. Fig.59 is a drone sweep flow chart 5900 which 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 Fig.54 , Fig.55 , Fig.56 , Fig.57 , Fig.58 and Fig.59 ,exist Fig.54 and Fig.55In the invention, a 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 multiple shadow drones 5420 in the flight formation fly across the area in formation to sweep the one or more brightness edges across 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 into 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. Fig.555500, the operation of the solar drone shadow thrower scanner system 5400 is described. 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 an attach shadow thrower step 5502. Next, in an arrange shadow thrower step 5511, the shadow drones 5420 are arranged to form a nearly continuous shadow thrower in mid-air. Next, in a position camera drone step 5505, the camera drone 5430 is positioned in mid-air above the shadow drone 5420. Next, in an alignment determination step 5510, it is determined 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 an align drone step 5540. Once the shadow drone 5420 is aligned with the camera drone 5430, it is determined in a focus determination step 5515 whether the camera drone 5430 is focused on the object. If the camera drone 5430 is not focused, the camera drone 5430 is focused in a focus camera step 5520. Once the camera drone 5430 is focused, the camera drone 5430 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 collection and analysis step 5550, the processor collects and analyzes frames of the recorded video to form a point cloud. Next, in a filter new cloud point step 5574, the processor filters the new cloud point. Next, in an update filtered cloud point step 5554, the filtered point cloud display is updated. Next, in a whole scan determination step 5567, it is determined whether the entire object has been scanned. If the entire object has not been scanned, the collection and analysis step 5550 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 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 arrange shadow caster 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. Fig.56 and Fig.57In the invention, the 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), the processor being 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 so that the shadow throwers 5624 form a substantially continuous unified 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 a high-contrast shadow 5667 of a known geometric shape, and the shadow forms 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 into 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. Fig.575700, 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 an attach shadow thrower step 5702. Next, attaching the light to the light drone 5650 in an attach light step 5708. Next, in a position light drone step 5718, the light drone 5650 is positioned in mid-air. Next, in an arrange shadow thrower step 5711, the shadow drones 5620 are arranged to form a nearly continuous shadow thrower in mid-air. Next, in a position camera drone step 5705, the camera drone 5630 is positioned in mid-air above the shadow drone 5620. Next, in an alignment determination step 5710, it is determined whether the shadow drone 5620 and the light drone 5650 are aligned with the camera drone 5630. If the shadow drone 5620 and the light drone 5650 are not aligned with the camera drone 5630, the drones are aligned in an align drone step 5740. Once the shadow drone 5620 and the light drone 5650 are aligned with the camera drone 5630, it is determined in a focus determination step 5715 whether the camera drone 5630 is focused on the object. If the camera drone 5630 is not focused, the camera drone 5630 is focused in a focus camera step 5720. Once the camera drone 5630 is focused, the camera drone 5630 begins recording video of the object in a start recording step 5725. Next, in a start sweep step 5745, the shadow drone 5620 begins sweeping brightness edges across the object by flying consistently across and over the object using the light drone 5650 as a light source. Next, in a collect and analyze step 5750, the processor collects frames of the recorded video and analyzes them to form a point cloud. Next, in a filter new cloud points step 5774, the processor filters new cloud points. Next, in an update filtered point cloud step 5754, the filtered point cloud display is updated. Next, in an entire 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 steps 5750 are 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, then in a stop sweeping step 5760, the shadow drone 5620 stops sweeping the brightness edges across the object. Finally, in a store scanner step 5780, the drone is stored after the operation. Fig.58, 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 a start program step 5804. Next, in a collect parameters step 5808, the scanning and analysis parameters provided by the user or specified by the program are collected. Next, in an ensure coordination step 5811, the drones are ensured to be coordinated. Next, in a start recording step 5825, the camera drone 5430 or 5630 begins recording video. Next, in a 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 a collect video step 5850, frames of the recorded video are collected. Next, in a buffer determination step 5824, a determination is made as to whether the video buffer is filled enough for analysis. If the buffer is not filled sufficiently, then the collect video step 5850 is repeated as described above. If the buffer is filled sufficiently for analysis, then the video frames are analyzed in an analyze frames step 5844 to build a point cloud. Next, in a still buffer determination step 5858, it is determined whether there are still enough frames in the buffer. If there are not enough frames in the buffer, then the buffer determination step 5824 is repeated as described above. If there are still enough frames in the buffer, then it is determined whether the drone is still aligned in a drone alignment determination step 5810. If the drone is not aligned, then the drone is aligned in an align drone step 5840. Once the drone is aligned, it is determined whether the sweep is complete in a complete sweep determination step 5878. If the sweep is not complete, then the analyze frames step 5844 is repeated as described above. If the sweep is complete, then in a stop sweep step 5860, the shadow drone 5420 or 5620 stops sweeping. Next, in a recording stop 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, a determination is made as to whether another scan is required. If another scan is required, then as described above, the ensure coordination step 5811 is repeated. Finally, if another scan is not required, then the user exits the algorithm in an exit algorithm step 5890. Fig.59, 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 movement parameters of the drone 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 position is determined. Next, in drone misalignment determination step 5910, it is determined whether the drone is misaligned. If the drone is misaligned, the drone is aligned in align drone step 5940. Once the drone is not misaligned, it is determined in end sweep determination step 5978 whether the shadow drone 5420 or 5620 has reached the end of the sweep. 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 reached the end of the sweep and another sweep is desired, then in the Repeat Algorithm step 5997 the Set Parameters step 5908 is repeated with the drone traveling in the opposite direction of the first sweep.

[0224] like Fig.54 , Fig.55 , Fig.56 , Fig.57 , Fig.58 and Fig.59 The structural details of the present invention shown are that the drone includes a standard remote control aircraft, etc. The shadow thrower 5424 and 5624 include a lightweight, 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. The video camera of the camera drone 5430 or 5630 includes a digital or analog video camera, etc. The light source of the light drone 5650 includes an incandescent lamp, a halogen lamp, a fluorescent lamp, a linear lamp, a tube lamp with slits, an LED, an LED array, a linear array of LEDs, light sources of different colors, color LEDs, lasers, X-ray sources, UV sources, infrared sources, etc. The memory stored in a non-transitory computer readable medium includes software, instructions, data, algorithms, etc. The processor includes 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, Fig.60 and Fig.61, a tripod shadow scanner system 6000 is shown. Fig.60 is a perspective view of the tripod shadow scanner system 6000 in the stadium 6070. Fig.61 is a perspective view of a tripod shadow scanner system 6000 in the process of scanning a stadium.

[0226] In more detail, still referring to the present invention Fig.60 and Fig.61 , the tripod shadow scanner system 6000 includes: a shadow thrower platform 6037, which is horizontal and can rotate; 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 arranged around the shadow thrower wherein the directional light source 6050 illuminates the at least one shadow thrower 6020 to project a high contrast shadow 6067 of a known geometry, 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 when the directional light source 6050 rotates.

[0227] like Fig.60 and Fig.61The structural details of the present invention shown are that the shadow thrower platform 6037 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. The light source 6050 includes an incandescent lamp, a halogen lamp, a fluorescent lamp, a linear lamp, a tube lamp with slots, an LED, an LED array, a linear array of LEDs, light sources of different colors, color LEDs, lasers, X-ray sources, UV sources, infrared sources, etc. The shadow thrower 6020 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 vertical panel 6024 comprises a solid 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 three-dimensional printed shape, a configurable opacity (such as liquid crystal, etc.) or various color filters, etc. The angled panel 6022 comprises a solid 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 three-dimensional printed shape, a configurable opacity (such as liquid crystal, etc.) or various color filters, etc. The video camera 6030 comprises a digital or analog video camera, etc. The memory stored in a non-transitory computer-readable medium comprises software, instructions, data, algorithms, etc. The processor comprises a computer, a mobile phone, a PC, a CPU, etc. The display comprises a monitor, a screen, a television, an augmented reality head-mounted device, a microscope, etc.

[0228] Now referring to another embodiment of the present invention, Fig.62 , Fig.63 and Fig.64 In the figure, the algorithm, sweep and operation flow chart of a single mobile shadow thrower scanner or a desktop shadow scanner are shown. Fig.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. Fig.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. Fig.64 An operational flow chart 6400 describing the operation of a single mobile shadow thrower scanner or a desktop shadow scanner is demonstrated.

[0229] In more detail, still referring to the present invention Fig.62 , Fig.63 ,and Fig.64 ,exist Fig.62 , an algorithm flow chart 6200 describes an 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 a start program step 6204. Next, in a collect parameters step 6208, the scanning and analysis parameters provided by the user or specified by the program are collected. Next, in a start recording step 6225, the camera begins recording video. Next, in a start sweep step 6245, the motor is started so as to move the shadow thrower and sweep the brightness edges across the object. Next, in a collect video step 6250, frames of the recorded video are collected. Next, in a buffer determination step 6224, it is determined whether the video buffer is filled enough for analysis. If the buffer is not filled enough, the collect video step 6250 is repeated as described above. If the buffer is filled enough for analysis, the video frames are analyzed in an analyze frames step 6244 to build a point cloud. Next, in a filter new cloud points step 6252, the processor filters the new cloud points. Next, in an update filtered point cloud step 6254, the filtered point cloud display is updated. Next, in a still buffer determination step 6258, 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 6224 is repeated as described above. If there are still enough frames in the buffer, it is determined whether the sweep is complete in a complete sweep determination step 6278. If the sweep is not complete, the analyze frames step 6244 is repeated as described above. If the sweep is complete, the motor is stopped in a stop motor step 6268. Next, in a stop recording step 6265, the camera stops recording video of the object. Next, in a complete analyze frames step 6264, the frames are analyzed. Next, in a filter point cloud step 6270, the processor filters the point cloud. Next, in a construct surface step 6275, the processor constructs a model of the three-dimensional surface based on the filtered point cloud. Next, in a save file step 6235, the surface is saved to a file. Next, in a 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. Fig.63, sweep flow chart 6300 describes a shadow thrower sweep used by a single mobile shadow thrower scanner or a desktop shadow scanner. First, in set motor parameters step 6308, the motor parameters are set. Next, in start sweep step 6345, the shadow thrower begins sweeping brightness edges across the object. Next, in get current motor position step 6327, the motor position is determined. Next, in 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 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 scan is desired, then in repeat algorithm step 6397, set motor parameters step 6308 is repeated in the opposite direction of the first scan. In . Fig.64, an 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 frames of the recorded video and analyzes them to form a point cloud. Next, in a filter new cloud points step 6452, the processor filters new cloud points. Next, in an update filtered point cloud step 6454, the filtered point cloud display is updated. Next, in a whole 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 a filter entire point cloud step 6470. Next, in a construct surface step 6475, the processor constructs a model of the three-dimensional surface from the filtered point cloud. Next, in a save file step 6435, the surface is saved to a file. Next, in a 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 a stop sweep step 6460. Next, in a 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, Fig.65 and Fig.66 , an operational flow chart of a room shadow caster scanner is shown. Fig.65 An operational flow chart 6500 of a single tripod room scanner is shown, describing the operation of a shadow caster scanner that can be used with a tripod to scan a room. Fig.66 An operational flow diagram 6600 of an overhead light room scanner is depicted, describing 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 Fig.65 and Fig.66 ,exist Fig.65 6500, an operational flow chart of a single tripod room scanner 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 that can be used with a tripod to scan a room includes setting up the tripod in the room in a position scanner step 6505. Next, in a light up step 6509, the light is turned on. Next, in an alignment determination step 6510, it is determined whether the scanner is aligned with the room. If the scanner is not aligned, the scanner is aligned with the room in an align scanner step 6540. Once the scanner is aligned, it is determined in a focus determination step 6515 whether the camera is focused on the room. If the camera is not focused, the camera is focused in a focus camera step 6520. Once the camera is focused, the camera begins recording video of the room in a start recording step 6525. Next, in a start sweep step 6545, the light source begins sweeping brightness edges across the room. Next, in a collect and analyze step 6550, the processor collects frames of the recorded video and analyzes them to form a point cloud. Next, in a filter new cloud point step 6552, the processor filters the new cloud point. Next, in an update filtered cloud point step 6554, the filtered point cloud display is updated. Next, in a whole scan determination step 6567, it is determined 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 entire point cloud step 6570. Next, in a construct surface step 6575, the processor constructs a model of the three-dimensional surface 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, it is determined 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 in 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. Fig.666600, an operation flow chart of an overhead light room scanner describes the operation of a shadow thrower scanner that can be used with an overhead light to scan a room. The first step in the operation of a shadow thrower that can be used with an overhead light to scan a room includes setting up the scanner in the room in a setup step 6605. Next, in a light up step 6616, the overhead light is turned on. Next, in an illumination determination step 6617, it is determined whether an 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, it is determined in an alignment determination step 6610 whether the shadow thrower is aligned with the camera. 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, it is determined in a focus determination step 6615 whether the camera is focused on the room. If the camera is not focused, the camera is focused in a focus camera step 6620. Once the camera is focused, the camera 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 edge across the room. Next, in a collect and analyze step 6650, the processor collects frames of the recorded video and analyzes them to form a point cloud. Next, in a filter new cloud point step 6652, the processor filters the new cloud point. Next, in an update filtered cloud point step 6654, the filtered point cloud display is updated. Next, in a whole 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 entire point cloud step 6670. Next, in a construct surface step 6675, the processor constructs a model of the three-dimensional surface of the room from 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 another scan determination step 6630, a determination is made as to whether another scan is desired. If another scan is desired, then the start sweep step 6645 is repeated as described above. If another scan is not desired, 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, Fig.67 and Fig.68 , an algorithm flow chart of a multi-camera shadow thrower scanner is shown. Fig.67A multi-camera algorithm flow chart 6700 is shown describing the algorithm used by the multi-camera shadow thrower scanner. Fig.68 A flowchart 6800 of a multi-camera static shadow caster is shown, which describes the algorithm of a multi-camera shadow caster scanner using a single static shadow caster.

[0233] In more detail, still referring to the present invention Fig.67 ,and Fig.68 ,exist Fig.67 67. In the multi-camera algorithm flow chart 6700, an algorithm used by a shadow thrower scanner using multiple cameras is described. 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, the scanning and analysis parameters provided by the user or specified by the program 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 started so as to move the shadow thrower and sweep the 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 filled enough for analysis. If the buffer is not filled enough, the collect video step 6750 is repeated as described above. If the buffer is filled enough 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 buffer determination step 6758, a determination is made as to whether there are still enough frames in the buffer. If there are not enough frames in the buffer, the buffer determination step 6724 is repeated as described above. If there are still enough frames in the buffer, it is determined whether the sweep is completed in the completed sweep determination step 6778. If the sweep is not completed, the analyze frame step 6744 is repeated as described above. If the sweep is completed, the motor is stopped in the stop motor step 6768. Next, in the stop recording step 6765, the multiple cameras stop recording the video of the object. Next, in the complete analysis frame step 6764, the analysis of the frame is completed. Next, in the filter point cloud step 6770, the processor filters the point cloud. Next, in the register point cloud step 6279, the point clouds from the multiple cameras are registered with each other. Next, in the construct surface step 6775, the processor constructs a model of the three-dimensional surface based on the filtered point cloud. Next, in the save file step 6735, the surface is saved to a file. Next, in the display image step 6755, the processor displays the model on the display. In the another scan determination step 6730, it is determined 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. Fig.68 , a 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, a 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 filled enough for analysis. If the buffer is not filled enough, the collect one frame step 6850 is repeated as described above. If the buffer is filled 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 build a point cloud. Next, in a still buffering determination step 6858, it is determined whether there are still enough frames in the buffer. If there are not enough frames in the buffer, then the buffer determination step 6824 is repeated as described above. If there are still enough frames in the buffer, then in a viewing target determination step 6814, it is determined whether the target is out of the line of sight of the main camera. If the target is not out of the line of sight of the main camera, then the analyze frames step 6844 is repeated as described above. If the target is out of the line of sight of the main camera, then the plurality of cameras stop recording video of the object 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 model of the three-dimensional surface 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 another scan determination step 6830, it is determined whether another scan is required. If another scan is required, then 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, Fig.69 , a flowchart describing a method for creating a custom shadow caster is shown.

[0235] In more detail, still referring to the present invention Fig.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 three-dimensional 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 scan.

[0236] like Fig.69 The structural details of the present invention shown are custom-shaped shadow throwers comprising strong rigid materials such as steel, coated copper, plastic, high-density plastic, silicone, PVC, fiberglass, carbon fiber, composites, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood or other similar materials, and may 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, Fig.70 and Fig.71 , a slitted linear light source 7000 is shown that utilizes a shadow caster scanner to provide improved scanning results. Fig.70 A perspective view of a linear light source 7000 with slits is shown. Fig.71 An exploded view of a linear light source 7000 with slits is shown.

[0238] In more detail, still referring to the present invention Fig.70 and Fig.71, a slotted linear light source 7000 comprises a slotted tube 7010, the slotted tube 7010 comprising: an interior 7011, the interior 7011 being painted white (a paint comprising TiO2); an exterior 7012, the exterior 7012 being opaque; and a slot 7020, the slot 7020 extending along the length of the slotted tube 7010 and comprising: a width; two light sources 7060, the light sources 7060 being suspended at opposite ends of the slotted tube 7010; two heat sinks 7050, the heat sinks 7050 being suspended from the light sources 7060; two clamps 7030, each of the clamps 7030 being wound around the slotted tube and comprising: a screw 7040; wherein the clamps 7030 are capable of adjusting the width 7020 of the slot. The slotted 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 bare, as depicted. Alternatively, the LEDs may be placed in a linear array (such as in a strip) in the slit tube 7010 so that they do not emit light directly from the slits 7020 (which may produce uneven illumination). Alternatively, optical fibers may be used to guide light into the slit tube 7010. This alternative eliminates local heating at the expense of the need to attach a fiber optic bundle to the lamp. The LED needs 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 and 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 one or more 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 Fig.70 and Fig.71The structural details of the present invention shown are that the slotted tube 7010 includes a flexible material such as plastic, metal, composite material, etc. The light source 7060 includes an incandescent lamp, a fiber optic bundle, a halogen lamp, a fluorescent lamp, a linear lamp, a slotted tube lamp, an LED, an LED array, an LED linear array, a light source of different colors, a color LED, a laser, an X-ray source, a UV source, an infrared source, etc. The heat sink 7050 includes a thermally conductive material such as metal, etc. The clamp 7030 includes a strong flexible material such as steel, 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 screw 7040 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.

[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 scanned object; 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, one 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 greater 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 of the following elements The invention is separated into: 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 farther from the edge of the shadow caster, on average, the linear light source increases the brightness while improving the resolution of the light source; the extended light sources do not have to be continuous, and there can be more than one light source as long as they are co-linear; the light sources of the present 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 custom 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 more locally used with 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, which retain their sharpness due to geometric effects rather than effects caused by lenses, while lenses inherently introduce depth of field problems (such as problems with projectors using lenses) and lenses must be customized to produce sharp patterns 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 with simple single-line geometry are 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 scans because it is difficult to fake 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 real-time comparisons of scattering characteristics can be made for different frequencies of light (e.g., such as blue versus red); two different frequencies can be used with 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 thrown 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 components 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 scannin...

Claims

1. A method for determining the exact position of a reference using a plurality of shadow thrower scanners, the method comprising: providing one or more wide field of view shadow thrower scanners; providing one or more narrow field of view shadow thrower scanners; Provide the reference device, the reference device comprising one or more recognizable two-dimensional or three-dimensional patterns or shapes; scanning the one or more narrow field of view shadow thrower scanners with the one or more wide field of view shadow thrower scanners to measure shadow thrower positions of the one or more narrow field of view shadow thrower scanners relative to the one or more wide field of view shadow thrower scanners over a wide range; scanning the fiducial with the one or more narrow field of view shadow thrower scanners to measure a fiducial position of the fiducial relative to the one or more narrow field of view shadow thrower scanners over a fine range; and For the exact position of the fiducial, a transfer calculation between the shadow caster position and the fiducial position is performed.

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