Generate one or more luminance edges to form a three-dimensional model of an object

Abstract

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

Description

[0001] This application is a divisional application of the application with the filing date of October 5, 2018, application number 201880063651.1, and invention title "Generating One or More Luminance Edges to Form a 3D Model of an Object (Changed Name to '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 on October 6, 2017, the content of which is incorporated herein by reference in its entirety. Statement regarding federally - sponsored research or development

[0004] Not applicable

[0005] Citation of sequence listing, table, or computer program listing appendix

[0006] Not applicable Background of the invention 1. Technical field

[0008] The present invention belongs to the technical field of scanning devices. More specifically, the preferred embodiments of the present invention generally relate to scanning devices that generate three - dimensional models of scanned objects. More specifically, the preferred embodiments of the present invention generally relate to devices, systems, and methods for using a shadow caster to generate three - dimensional models of scanned objects or regions.

[0009] 2. Description of related technologies

[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 technologies and devices are implemented as three - dimensional ("3D") scanners to form three - dimensional models of the surfaces of scanned objects. 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 traditional structured - light scanner systems are functional, they are not very suitable 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 that need to process the complex light patterns and imaging techniques associated with such scanners.

[0011] In at least one method, scanning techniques using "weakly structured" light have been developed to address one of the limitations of structured - light scanner systems. Traditional weakly - structured - light - based scanners typically employ simple incandescent lamps and / or rods (e.g., pencils) to capture images from which the surface of an object can be derived. Examples of such scanner systems are in Figure 1is depicted in. Sketch 100 depicts a simple incandescent light bulb 102 and a rod 114, or any other cylindrical object (such as a pencil) used to cast a shadow onto a plane 110 to capture the shape of an object 116. The light bulb 102 includes a filament 104 extending at a distance (“d”) 106 between supports within a glass housing, which may be formed of transparent non-frosted glass. The filament 104 typically generates light over a relatively wide range of distances relative to the width of the rod 114. Generally, the filament 104 may be positioned in a plane that is not parallel to the rod 114. A camera 101 may be used to capture an image that can be used to calculate the points on the surface of the object 116. To capture an image of the points, the rod 114 is used to cast a shadow on the object 116 to attempt to determine the relative depth of the pixels on the surface of the object 116 captured by the camera 101 (e.g., the relative depth relative to the pixels at a certain point in the absence of the object 116).

[0012] Figure 1 The scanners in have many drawbacks. Although Figure 1 the scanners of are functionalized, the system of Sketch 100 may not be well-suited for building a 3D image model of a three-dimensional object. The light bulb 102 and the rod 114 may generate a shadow 120, which includes the weakest illumination area 121 for a given light 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 the increasing illumination diffusivity can be depicted as increasing outward along line 119 from line 122 within a distance (“b”) 126, which shows the diffuse boundary between the weakest illumination area 121 and the illuminated portion 111. To counter the detrimental effects of the diffuse boundary, traditional 3D scanning methods rely on illumination thresholds as well as time or video frame coordinates, and associated algorithms that define the boundary based on a sufficient difference between dark and light. The diffuse boundary may reduce the accuracy of the surface calculated from the captured image of the object 116. Similarly, using an illumination threshold during operation may require ignoring the luminous effects of different colors, shadows, or textures. For example, the color “yellow” may have a relatively high luminance that can be distinguished from the effects of the diffuse boundary, while the color “blue” may have a relatively low luminance that can be detected as part of the diffuse boundary. Thus, due to the implementation of traditional illumination thresholds, the blue portion 117 of the object 116 may be ignored. Therefore, colors and other luminous effects typically result in such an omission, which leads to inaccuracies that are evident in conventional 3D scanning. In some methods, algorithmic calculations are employed 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 Sketch 100 and adapt the scanner to a specific scanning application.

[0013] Accordingly, there is a need for a technical solution for facilitating the generation of three-dimensional models or images of objects and environments without the limitations of conventional techniques. SUMMARY OF THE INVENTION

[0014] Various embodiments generally relate to computer vision, graphics, image scanning and image processing, as well as associated mechanical, electrical, and electronic hardware, computer software and systems, and wired and wireless network communications to at least form three-dimensional models or images of objects and environments. Broad embodiments of the present invention generally relate to apparatuses, methods, and systems for generating one or more luminance edges to form a three-dimensional model of an object or environment. In broad embodiments, the present invention includes: one or more light sources and one or more shadow projectors that generate one or more luminance edges on the object or area being modeled; one or more means for detecting the one or more luminance edges; means for moving the one or more luminance edges relative to the object or area being modeled; and means for generating a three-dimensional model of the object or area being modeled; as well as related methods and systems. Some embodiments move the one or more shadow projectors, some embodiments move the one or more light sources, and some embodiments move the object through the one or more luminance 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 recognize 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 apparatus and methods for moving one or more shadow casters 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 that, when projected onto a plane, has at least one straight edge; one or more actuators capable of moving the one or more shadow casters; one or more image capture devices; a memory stored in a non-transitory computer-readable medium; a processor comprising: the computer-readable medium; and a display; wherein the one or more light sources illuminate the one or more shadow casters to project high-contrast shadows of known geometric shapes, which form the one or more brightness edges on the object; wherein the one or more actuators move the one or more shadow casters so as to sweep the one or more brightness edges over 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 in 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 object; and wherein the three-dimensional model is displayed on the display using the processor. This preferred embodiment generally also 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 that, when projected onto a plane, has at least one straight edge; using the one or more light sources and the one or more shadow casting elements to project high-contrast shadows of known geometric shapes to form the one or more brightness edges on the object; moving the one or more shadow casting elements so as to move the one or more brightness edges over the object; capturing images of the one or more brightness edges on the object; forming a three-dimensional data representation from the captured images; 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 casters on the object being scanned and modeled, such as by three-dimensional printing techniques. Additionally, some versions of this embodiment use one or more shadow casters that further comprise configurable shapes, configurable opacities, or color filters.Other versions of this embodiment use one or more actuators to rotate the one or more shadow projectors. Moreover, some versions of this embodiment use a display, which is an augmented reality head-mounted device that can superimpose the three-dimensional model on the field of view of the user of the head-mounted device.

[0016] In another preferred embodiment, the present invention broadly relates to apparatus and methods for moving one or more light sources so as to move one or more brightness edges relative to an object or area 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 projectors, the one or more shadow projectors comprising: a shape which, when projected onto a plane, has at least one straight edge; one or more actuators capable of moving the one or more light sources; one or more image capture devices; a memory stored on a non-transitory computer-readable medium; a processor comprising: the computer-readable medium; and a display; wherein the one or more light sources illuminate the one or more shadow projectors to project 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 over 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 in 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 generally also 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 projecting elements, the one or more shadow projecting elements comprising: a shape which, when projected onto a plane, has at least one straight edge; using the one or more light sources and the one or more shadow projecting elements to project high-contrast shadows of known geometric shapes to form the one or more brightness edges on the object; moving the one or more light sources so as to move the one or more brightness edges over the object; capturing images of the one or more brightness edges on the object; forming a three-dimensional data representation based on the captured images; 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 establish the shape of the one or more shadow projectors on the object being scanned and modeled, such as by three-dimensional printing techniques. Additionally, some versions of this embodiment use one or more shadow projectors that further comprise configurable shapes, configurable opacity, or color filters.In addition, other versions of this embodiment use one or more actuators to rotate the one or more shadow projectors. Moreover, some versions of this embodiment use a display that is an augmented reality headset that can superimpose 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 moving the object to be modeled through the one or more luminance edges. This embodiment generally relates to an apparatus for generating one or more luminance edges to form a three-dimensional model of an object, the apparatus comprising: one or more light sources; one or more shadow projectors, the one or more shadow projectors comprising: a shape which, when projected onto a plane, has at least one straight edge; one or more image capture devices; a memory stored in a non-transitory computer-readable medium; a processor comprising: the computer-readable medium; and a display; wherein the one or more light sources illuminate the shadow projector to project a high-contrast shadow of a known geometric shape, which forms the one or more luminance edges; wherein the object is moved through the one or more luminance edges so as to sweep the one or more luminance edges over the object; wherein the one or more image capture devices detect the movement of the object through the one or more luminance edges and record the movement in the memory; wherein the one or more image capture devices capture an image of the one or more luminance edges on the object moving through the one or more luminance edges and record the image in the memory; wherein the processor calculates the speed at which the object moves through the one or more luminance edges based on the recorded movement; 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 generally also relates to a method for generating one or more luminance edges to form a three-dimensional model of an object, the method comprising: providing one or more light sources; providing one or more shadow projection elements, the one or more shadow projection elements comprising: a shape which, when projected onto a plane, has at least one straight edge; using the one or more light sources and the one or more shadow projection elements to project a high-contrast shadow of a known geometric shape to form the one or more luminance edges on the object; moving the object through the one or more luminance edges; detecting the speed at which the object moves through the one or more luminance edges; capturing an image of the one or more luminance edges on the object moving through the one or more luminance 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, such as establishing the shape of the one or more shadow projectors on the scanned and modeled object by three-dimensional printing technology. Additionally, some versions of this embodiment use one or more shadow projectors, the one or more shadow projectors further including configurable shapes, configurable opacities, or color filters. Other versions of this embodiment use one or more actuators to rotate the one or more shadow projectors. Moreover, some versions of this embodiment use a display, the display being an augmented reality headset that can superimpose the three-dimensional model on the field of view of the user of the headset. Yet another version of this embodiment is installed in a room and installed on the ceiling, where a similar version installs 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 luminance edges to form, the apparatus comprising: one or more light sources mounted on the object; one or more shadow projectors mounted on the object and comprising: a shape which, when projected onto a plane, has at least one straight edge; one or more actuators capable of moving the one or more shadow projectors; one or more image capture devices mounted on the object; a memory stored in a non-transitory computer-readable medium; and a processor comprising: the computer-readable medium; wherein the one or more light sources illuminate the one or more shadow projectors to project high-contrast shadows of known geometric shapes, which form the one or more luminance edges on the surrounding environment of the object; wherein the one or more actuators move the one or more shadow projectors so as to sweep the one or more luminance edges throughout the surrounding environment of the object; wherein the one or more image capture devices capture images of the one or more luminance edges on the surrounding environment of the object and record the images in 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 a three-dimensional model of the surrounding environment of the object; and wherein the three-dimensional model is stored in the memory. This preferred embodiment generally also relates to a method for generating one or more luminance edges to form a three-dimensional model of the surrounding environment of an object, the method comprising: providing one or more light sources mounted on the object; providing one or more shadow projection elements mounted on the object and comprising: a shape which, when projected onto a plane, has at least one straight edge; using the one or more light sources and the one or more shadow projection elements to project high-contrast shadows of known geometric shapes to form the one or more luminance edges on the surrounding environment of the object; moving the one or more shadow projection elements so as to move the one or more luminance edges throughout the surrounding environment of the object; capturing images of the one or more luminance edges on the surrounding environment of the object; forming a three-dimensional data representation based on the captured images; using the three-dimensional data representation to generate a three-dimensional model of the surrounding environment 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 projectors, the one or more shadow projectors further including configurable shapes, configurable opacity, or color filters. In addition, some versions of this embodiment use an augmented reality head-mounted device and display a model superimposed on the surrounding environment of an object, while similar versions display a model superimposed on the surrounding environment of the augmented reality head-mounted device. Moreover, this embodiment of the present invention can be used on a vehicle, such as for the artificial vision of an autonomous vehicle or a submersible, in which case the device includes waterproof components. Similarly, this embodiment can be used for the artificial vision of a robot.

[0019] In another preferred embodiment, the present invention broadly relates to an apparatus and method for modeling the surrounding environment of an object using a static shadow caster. This embodiment generally relates to an apparatus for generating one or more luminance edges to form a three-dimensional model of the surrounding environment of an object, the apparatus comprising: one or more light sources mounted on the object; one or more shadow casters mounted on the object and comprising: a shape which, when projected onto a plane, has at least one straight edge; one or more image capture devices mounted on the object; a memory stored in a non-transitory computer-readable medium; and a processor comprising: the computer-readable medium; wherein the one or more light sources illuminate the one or more shadow casters to project high-contrast shadows of known geometric shapes, which form the one or more luminance 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 luminance edges throughout the surrounding environment of the object; wherein the one or more image capture devices capture images of the one or more luminance edges on the surrounding environment of the object and record the images in 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 generally also relates to a method for generating one or more luminance edges to form a three-dimensional model of the surrounding environment of an object, the method comprising: providing one or more light sources mounted on the object; providing one or more shadow casting elements mounted on the object and comprising: a shape which, when projected onto a plane, has at least one straight edge; using the one or more light sources and the one or more shadow casting elements to project high-contrast shadows of known geometric shapes to form the one or more luminance edges on the surrounding environment of the object; moving the object so as to move the one or more luminance edges throughout the surrounding environment of the object; capturing images of the one or more luminance edges on the surrounding environment of the object; forming a three-dimensional data representation based on the captured images; using the three-dimensional data representation to generate the three-dimensional model of the surrounding environment 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 projectors, the one or more shadow projectors further including configurable shapes, configurable opacities, or color filters. Further, some versions of this embodiment use an augmented reality headset and display a model superimposed on the surrounding environment of an object, while similar versions display a model superimposed on the surrounding environment of the augmented reality headset. Moreover, this embodiment of the present invention can be used on a vehicle, such as for artificial vision of an autonomous vehicle or a submersible, in which case the device includes waterproof components. Similarly, this embodiment can be used for artificial vision of a robot.

[0020] In a most preferred embodiment, the present invention generally relates to an apparatus for generating one or more luminance 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: pivot points; a shadow caster, the shadow caster comprising: a front segment, the front segment being rectangular; two side segments, each side segment vertically suspended from opposite ends of the front segment, each side segment comprising: a triangular shape; and shoulder mounts, each shoulder mount comprising: a shoulder screw hole; and a shoulder screw, the shoulder screw rotatably attached to the side panel using a nut; and a tongue, the tongue suspended from one of the side segments; an actuator assembly, the actuator assembly comprising: an actuator arm, the actuator arm suspended from the housing; an actuator motor, the actuator motor suspended from the actuator arm; and an actuator connector, the actuator connector suspended from the actuator motor and connected to the tongue of the shadow caster; a light source, the light source being discrete, continuous, linear, and extending between the shoulder screws of the shoulder mounts of the side segments of the shadow caster; a video camera assembly, the video camera assembly extending through the camera opening of the back panel of the housing, the video camera assembly comprising: a video camera support platform and a video camera, the video camera being mounted on the video camera support platform, the video camera comprising: a camera lens, a camera 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 project high-contrast shadows of known geometry, which form the one or more luminance edges on the object; wherein the actuator motor moves the shadow caster so as to sweep the one or more luminance edges over the object; wherein the video camera captures an image of the one or more luminance edges on the object and records the image in 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 build the shape of the one or more shadow casters on the scanned and modeled object, such as by three-dimensional printing techniques. Additionally, some versions of this embodiment use one or more shadow casters that further comprise configurable shapes, configurable opacities, or color filters.Moreover, some versions of this embodiment use a display, which is an augmented reality head-mounted device that can superimpose the three-dimensional model on the field of view of the user of the head-mounted device. Other versions of this embodiment use a front segment of a shadow projector having a plurality of front segments and a side segment having a plurality of side segments. Additional versions are used in a room where the device is mounted on the ceiling. For a particular application, a version of this embodiment can be used to scan the whole body and generate a three-dimensional model of the skin of this person, such as for use in dermatology to create a map of moles or skin lesions, or to examine a patient for skin cancer or similar diseases, etc. As another specific application of the most preferred embodiment of the present invention, the device can be used during a patient's brain surgery, wherein the device further includes a drape and a clamp assembly, the drape 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 generally also relates to a method of using the device for a patient's brain surgery, the method comprising: covering the device with a drape, the drape conforming to the housing of the device and being 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 luminance edges over the patient; capturing an image of the one or more luminance edges on the patient using the video camera; stopping recording the video of the patient; collecting and analyzing the images using the processor; forming a three-dimensional data representation of the patient using the processor based on the images; generating the three-dimensional model of the patient using the processor and using the three-dimensional data representation; and displaying the three-dimensional model on the display using the processor.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 capable of navigating the robot, the navigation computer comprising: the memory and the computer-readable medium, one or more positioning robot motors, one or more alignment robot motors, and one or more focusing robot motors; covering the device with a drape that conforms to the housing of the device and is capable of protecting the patient from contamination; using the one or more positioning robot motors to position the device above the patient; using the one or more alignment robot motors to align the device with the patient; using the one or more focusing robot motors to focus the video camera of the device on the patient; recording a video of the patient using the robot-controlled video camera; using the robot-controlled actuator motor to sweep the one or more brightness edges across the patient; capturing an image of the one or more brightness edges on the patient using the robot-controlled video camera; using the processor to collect and analyze the image; using the processor to form a three-dimensional data representation based on the image; using the processor, using the three-dimensional data representation to generate a three-dimensional model of the patient; storing the three-dimensional model in the navigation computer of the robot for use during the robotic automated brain surgery. Additionally, 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 prior model of the brain, the other scanning techniques including: MRI scan, CT scan, PET scan, or ultrasound scan; using the processor to store the prior model in the memory; covering the device with a drape that conforms to the housing of the device and is capable of protecting the patient from contamination; aligning the device with the 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; capturing an image of the one or more brightness edges on the patient using the video camera; stopping the recording of the video of the patient; using the processor to collect and analyze the image; using the processor to form a three-dimensional data representation based on the image; using the processor, using the three-dimensional data representation to generate a three-dimensional model of the patient; using the processor to compare the three-dimensional model with the prior model; and using the processor to display the three-dimensional model superimposed on the prior model on the display.This preferred embodiment generally also relates to a method of performing brain surgery on a patient with a rhythmically pulsating brain using the device, the method comprising: covering the device with a drape that conforms to the housing of the device and is capable of protecting the patient from contamination; aligning the device with the rhythmically pulsating brain of the patient; focusing the video camera of the device on the rhythmically pulsating brain of the patient; starting to record a video of the rhythmically pulsating brain of the patient using the video camera; measuring the blood pressure waveform profile of the patient, the blood pressure waveform profile comprising: the rhythmically pulsating of the patient's blood pressure; using the actuator motor to sweep the one or more luminance edges across the rhythmically pulsating brain of the patient; using the video camera to capture images of the one or more luminance edges on the rhythmically pulsating brain of the patient; stopping the recording of the video of the rhythmically pulsating brain of the patient; using the processor to collect and analyze the images; using the blood pressure waveform profile and the processor to eliminate the rhythmic movement of the rhythmically pulsating brain of the patient; using the processor to record the scanning movement of the shadow projector; using the processor to form a three-dimensional data representation based on the images and the eliminated rhythmic movement of the rhythmically pulsating brain of the patient; using the processor, using the three-dimensional data representation to generate a 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 endoscope device. This embodiment generally relates to a device for generating one or more luminance edges to form a three-dimensional model of an object, the device comprising: an endoscope body including a proximal end; a distal end; an endoscope sleeve spanning between the proximal end and the distal end; a tapered fiber optic bundle disposed within the endoscope sleeve and tapering towards the distal end; and an endoscope camera disposed within the endoscope sleeve and facing outside the distal end; a shadow projector mounted on the distal end of the endoscope body above the tapered fiber optic bundle, the shadow projector comprising: a semi-circular sheet; a light emitting device including: a horizontal platform; a vertical pedestal expanding from the horizontal platform; a stepper motor linear actuator expanding from the horizontal platform; a translation platform connected to the stepper motor linear actuator; a light source suspended from the translation platform; a fiber optic bundle suspended from the light source; a square-to-round taper suspended from the fiber optic bundle; and a slit mounted on the square-to-round taper; a memory stored in a non-transitory computer-readable medium; a processor including: 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 projector to project high-contrast shadows of known geometry, which form the one or more luminance edges on the object; wherein, the stepper motor linear actuator moves the translation platform having the light source so as to sweep the one or more luminance edges across the object; wherein, the endoscope camera captures an image of the one or more luminance edges on the object and records the image into 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 an apparatus for generating one or more luminance edges to form a three-dimensional model of an object, the apparatus comprising: an endoscope body including a proximal end; a distal end; an endoscope sleeve spanning between the proximal end and the distal end; a tapered fiber bundle disposed within the endoscope sleeve and tapering towards the distal end; and an endoscope camera disposed within the endoscope sleeve and facing outside the distal end; a shadow caster mounted on the distal end of the endoscope body above the tapered fiber bundle, the shadow caster including: a semi-circular sheet; a light emitting device including: a horizontal platform; a vertical seat expanding from the horizontal platform; a stepper motor linear actuator expanding from the horizontal platform; a support platform suspended from the vertical seat; a light source suspended from the support platform; a fiber bundle suspended from the light source; a square-to-round taper suspended from the fiber bundle; and a slit mounted to the stepper motor linear actuator; a memory stored in a non-transitory computer-readable medium; a processor including: 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 bundle, the square-to-round taper, the slit, the tapered fiber bundle and the shadow caster to project high-contrast shadows of known geometry, which form the one or more luminance edges on the object; wherein, the stepper motor linear actuator moves the slit to sweep the one or more luminance edges across the object; wherein, the endoscope camera captures an image of the one or more luminance edges on the object and records the image into 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 luminance edges to form a three-dimensional model of an area, the system comprising: a plurality of shadow drones, each of the shadow drones comprising: a drone, the drone comprising: a remotely piloted aircraft and a shadow projector, the shadow projector comprising: a panel suspended from the drone; a plurality of camera drones, each of the camera drones comprising: the drone and an image capture device, the image capture device suspended from the drone; a memory stored in a non-transitory computer-readable medium; a processor capable of controlling the shadow drones and the camera drones, the processor comprising: the computer-readable medium; and a display; wherein the plurality of shadow drones are aligned in a flight formation such that the shadow projectors form a generally continuous unified shadow projector, the unified shadow projector comprising the aligned shadow projectors; wherein the sun illuminates the unified shadow projector to project high-contrast shadows of known geometry, which form the one or more luminance edges on the area; wherein the plurality of shadow drones aligned in the flight formation move throughout the area in formation to sweep the one or more luminance edges across the area; wherein the image capture device of the camera drone captures images of the one or more luminance edges on the area and records the images to the memory; wherein the processor forms a three-dimensional data representation based on the recorded images; wherein the processor uses the three-dimensional data representation to generate the three-dimensional model of the area; and wherein the three-dimensional model is displayed on the display using the processor.This preferred embodiment generally also relates to a system for generating a three-dimensional model of a region by forming one or more luminance edges, the system comprising: a plurality of shadow drones, each of the shadow drones comprising: a drone, the drone comprising: a remotely piloted aircraft and a shadow projector, the shadow projector comprising: a panel suspended from the drone; a plurality of light drones, each of the light drones comprising: the drone and a light source suspended from the drone; a plurality of camera drones, each of the camera drones comprising: the drone and an image capture device suspended from the drone; a memory stored in a non-transitory computer-readable medium; a processor capable of controlling the shadow drones, the light drones and the camera drones, the processor comprising: the computer-readable medium; and a display; wherein the plurality of shadow drones are aligned in a flight formation such that the shadow projectors form a generally continuous unified shadow projector, the unified shadow projector comprising the aligned shadow projectors; wherein the light drones illuminate the unified shadow projector to project high-contrast shadows of known geometry, which form the one or more luminance edges on the region; wherein the plurality of shadow drones aligned in the flight formation move throughout the region in formation to sweep the one or more luminance edges throughout the region; wherein the image capture device of the camera drones captures images of the one or more luminance edges on the region and records the images in 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 region; and wherein the three-dimensional model is displayed on the display using the processor. Other versions of this embodiment use one or more shadow projectors that further comprise configurable shapes, configurable opacities or color filters. Additionally, some versions of this embodiment use a display that is an augmented reality head-mounted device that can superimpose 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 luminance edges to form a three-dimensional model of an area, the system comprising: a shadow projector platform that is horizontal and rotatable; a light source suspended from the center of the shadow projector platform; at least one shadow projector, each shadow projector being suspended from the shadow projector platform around the light source and comprising: a vertical panel and an angled panel, the angled panel being angled towards the light source; a plurality of image capture devices, each image capture device being mounted on a tripod; a memory storing on a non-transitory computer-readable medium; a processor comprising: the computer-readable medium; and a display; wherein the plurality of image capture devices are arranged around the shadow projector platform; wherein the light source illuminates the shadow projector to project high-contrast shadows of known geometry, which form the one or more luminance edges on the area; wherein the shadow projector platform is rotated so as to rotate the shadow projector around the light source in order to sweep the one or more luminance edges over the area; wherein the plurality of image capture devices capture images of the one or more luminance edges on the area and record the images in 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 generally also relates to a system for generating a three-dimensional model of an object by generating one or more luminance edges to form a region, the system comprising: a shadow caster platform, the shadow caster platform being horizontal; a light source, the light source being directional, rotatable, and suspended from the center of the shadow caster platform; at least one shadow caster, each shadow caster being suspended from the shadow caster platform around the light source and comprising: a vertical panel and an angled panel, the angled panel being angled towards the light source; a plurality of image capture devices, each image capture device 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 caster platform; wherein, the light source illuminates the shadow caster to project high-contrast shadows of known geometry, which form the one or more luminance edges on the region; wherein, the light source is moved so as to sweep the one or more luminance edges across the region; wherein, the plurality of image capture devices capture images of the one or more luminance edges on the region and record the images in 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 region; and wherein, the three-dimensional model is displayed on the display using the processor. Other versions of this embodiment use one or more shadow casters that further include configurable shapes, configurable opacities, or color filters. Additionally, some versions of this embodiment use a display that is an augmented reality head-mounted device that can superimpose the three-dimensional model on the field of view of the user of the head-mounted device.

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

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

[0026] In another preferred embodiment, the present invention relates to an apparatus for generating sharpened shadows, the apparatus comprising: two side shadow casters, each side shadow caster 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 at which the two sides meet and a pivot point; a main shadow caster, the main shadow caster being arranged between the bases of the side shadow casters, wherein the side shadow casters are suspended from the main shadow caster; a rotation axis, the rotation axis intersecting the pivot points of the side shadow casters; and a light source, the light source being linear, spanning between the vertices of the side shadow casters, and arranged along the rotation axis; wherein the side shadow casters and the main shadow caster are rotatable about the rotation axis; and wherein the light source projects light over the side shadow casters and the main shadow caster to generate the sharpened shadows. Other versions of this embodiment use side shadow casters and a main shadow caster, the shadow casters further comprising configurable shapes. Still other versions of this embodiment use side shadow casters and a main shadow caster, the shadow casters further comprising configurable opacity. Additional versions of this embodiment use side shadow casters and a main shadow caster, the shadow casters further comprising color filters. Additionally, other versions of this embodiment use side shadow casters and a main shadow caster, the shadow casters further comprising multiple segments. When used with a shadow caster scanner, the camera must be separate from the light source.

[0027] Although the foregoing examples have been described in detail for purposes of clear understanding, the above-described inventive techniques are not limited to the details provided. There are many alternative ways of implementing the above inventive techniques. 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 present invention are shown in the drawings, in which:

[0029] Figure 1 is a known scanner system;

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

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

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

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

[0034] Figure 6 is a schematic diagram depicting an example of a shadow caster for generating a luminance edge to scan multiple objects according to some examples;

[0035] Fig. 7A is a schematic diagram depicting a side view of a scanned object according to some examples;

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

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

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

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

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

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

[0042] Fig.11A is a schematic diagram depicting an example of an adaptable structural feature of a shadow caster for scanning three-dimensional objects according to some examples;

[0043] Fig. 11B is a schematic diagram depicting an example of an adaptable structural feature of a shadow caster for scanning three-dimensional objects according to some examples;

[0044] Fig. 11C is a schematic diagram depicting an example of an adaptable structural feature of a shadow caster for scanning three-dimensional objects according to some examples;

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

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

[0047] Fig.14 is a schematic 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 schematic diagram depicting a dedicated surgical microscope including a shadow caster system according to some examples;

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

[0051] Fig.17 is a schematic diagram depicting an enlarged image based on three-dimensional scanning features 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 schematic diagram depicting yet another example of one or more shadow casters configured to generate one or more luminance edges according to some examples;

[0054] Fig. 20 is a schematic diagram depicting an example of a light projection pattern originating from a wearable shadow caster according to some examples;

[0055] Fig.21 is a schematic diagram depicting an image capture device implemented using a wearable shadow caster according to some examples;

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

[0057] Fig.23 shows examples of various computing platforms configured to provide various functions to components for three - dimensional scanning according to embodiments;

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

[0059] Fig.25 is according to some examples Fig.24 of the rear perspective view of the device;

[0060] Fig.26 is according to some examples Fig.24 of the exploded view of the device;

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

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

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

[0064] Fig.30 depicts a flowchart describing the operation of the device according to some examples Fig.24 of the device;

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

[0066] Fig.32 shows a flowchart describing the operation of the device of the present invention used during brain surgery according to some examples;

[0067] Fig.33 illustrates a flowchart describing the operation of the device of the present invention used during brain surgery according to some examples;

[0068] Fig.34 depicts a flowchart describing the algorithm used in the present invention according to some examples;

[0069] Fig.35 shows a flowchart describing the device of the present invention for patient registration according to embodiments;

[0070] Fig.36 A flowchart demonstrating the operation of the device of the present invention used during robotic automated brain surgery according to some examples;

[0071] Fig.37 is a front perspective view of the device of the present invention according to various embodiments;

[0072] Fig.38 is according to some examples Fig.37 exploded view of the device;

[0073] Fig.39 is a front perspective view of the device 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 end of an endoscope according to various embodiments;

[0075] Fig.41 depicts a block diagram according to some examples, the block diagram describing Fig.40 the device;

[0076] Fig.42 shows a flowchart describing the operation of the endoscope version of the device of the present invention according to various embodiments;

[0077] Fig.43 depicts a flowchart describing the algorithm used by the endoscope version of the present invention according to some examples;

[0078] Fig.44 shows a flowchart of the shadow caster sweep of the endoscope version of the device of the present invention according to some examples;

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

[0080] Fig.46 shows according to some examples describing Fig.45 the operation of the device;

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

[0082] Fig.48 is according to some examples describing Fig.47 the operation of the device;

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

[0084] Fig.50 is a close-up view of a device according to some examples Fig.49 ;

[0085] Fig.51 shows a flowchart depicting the operation of a device according to some examples Fig.49 ;

[0086] Fig.52 displays a flowchart depicting the operation of a device of the present invention incorporated into a robot according to various embodiments

[0087] Fig.53 is a flowchart depicting the operation of a device of the present invention incorporated into a submersible according to various embodiments

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

[0089] Fig.55 is a flowchart depicting the operation of a system according to some examples Fig.54 ;

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

[0091] Fig.57 shows a flowchart depicting the operation of a system according to some examples Fig.56 ;

[0092] Fig.58 depicts a flowchart of an algorithm used by a system of the present invention using a drone according to various embodiments

[0093] Fig.59 is a flowchart of the shadow caster sweep of a 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 used to scan a stadium according to various embodiments

[0095] Fig.61 is according to some examples Fig.60 perspective view of the system during the process of scanning the stadium;

[0096] Fig.62 shows a flowchart depicting an algorithm used by an embodiment of the present invention using a single shadow caster according to some examples

[0097] Fig.63A flowchart depicting the sweep of a shadow caster used in an embodiment of the present invention that uses a single shadow caster, according to some examples;

[0098] Fig.64 A flowchart demonstrating the operation of a device or system of the present invention for desktop scanning, according to the descriptions of various embodiments;

[0099] Fig.65 A flowchart showing the operation of a device or system of the present invention, according to the descriptions of various embodiments, which can be used with a tripod for scanning a room;

[0100] Fig.66 A flowchart depicting the operation of a device or system of the present invention, according to the descriptions of various embodiments, which can be used with an overhead light for scanning a room;

[0101] Fig.67 A flowchart showing the algorithm used in an embodiment of the present invention that uses multiple cameras, according to some examples;

[0102] Fig.68 A flowchart of an algorithm used in an embodiment of the present invention that uses multiple cameras and a single static shadow caster, according to some examples;

[0103] Fig.69 A flowchart showing a method for creating a custom shadow caster, according to some examples;

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

[0105] Fig.71 Shows, according to some examples, Fig.70 An exploded view of the device. Detailed Description

[0106] For purposes of illustration, the present invention is shown in the preferred embodiments of an apparatus, method, and system for generating one or more luminance edges to form a three-dimensional model of an object or environment. In broad embodiments, the present invention includes: one or more light sources and one or more shadow casters that generate one or more luminance edges on the object or area being modeled; one or more means for detecting the one or more luminance edges; means for moving the one or more luminance edges relative to the object or area being modeled; and means for generating a three-dimensional model of the object or area being modeled; 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 luminance edges. The various embodiments or examples can 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 transmits program instructions via an optical, electronic, or wireless communication link). Generally speaking, unless otherwise provided in the claims, the operations of the disclosed processes can 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 connection 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. To provide a thorough understanding, many specific details are set forth in the following description. These details are provided for purposes of example, and the described techniques can be practiced according to the claims without some or all of these specific details. For clarity, technical material known in the art related to the examples is not described in detail to avoid unnecessarily obscuring the description.

[0108] Reference is now made to the preferred embodiments of the present invention, Figure 2A simplified diagram depicting an example of a shadow caster according to some embodiments. Simplified diagram 200 depicts an example of a shadow caster 215 configured to form luminance edges 250a and 250b at or above a projection plane or an object (not shown) or an environment (not shown), thereby facilitating a three-dimensional representation of the shape and image of the object or environment. In some examples, the shadow caster 215 may be configured to receive a photon emission (e.g., as light), which may impinge on at least edge portions 211a and 211b of an edge 213a of the shadow caster 215, which in turn may cause projections 204a and 204b of light originating from the edge portions 211a and 211b to form a luminance edge 250a on the projection plane 210. Similarly, light may also impinge on edge portions 211aa and 211bb of the edge 213b, which in turn may cause projections 204aa and 204bb of light originating from the edge portions 211aa and 211bb to form another luminance edge 250b. According to various examples, either or both of the luminance edge 250a or the luminance edge 250b may be used to facilitate three-dimensional scanning and digital replication. In the example shown, the shadow caster 215 may be opaque to form an umbra 220 based on the luminance edges 250a and 250b. The umbra 220 may be associated with a relatively high darkness (e.g., as low as a negligible illumination level) relative to the illuminated portion 299 of the plane 210 (including the illuminated plane portion 228).

[0109] In view of the foregoing, the shadow projector 215 may be implemented according to the various functions and / or structures described herein to form a luminance edge, thereby facilitating three-dimensional scanning and digital replication of the spatial characteristics associated with the surfaces of objects and the environment. According to some examples, the shadow projector 215 includes a triangular cross-sectional region that provides a triangular profile when projected onto the YZ plane, and the shadow projector projects a sharpened shadow, wherein each edge remains parallel to the line 212 throughout the scan, and wherein the sharpened shadow is projected onto any plane parallel to the line 212. That is, during the scan (e.g., when one or both of the luminance edges 250a and 250b move on the object, the environment, and / or the projection plane 210), the parallelism of one or both edges to the line 212 can be maintained as projected onto the plane 210. The geometry and dimensions of the shadow projector 215, the light source 203, and the luminance edge 250a (or luminance edge 250b) contribute to maintaining the parallelism when, for example, one or more luminance edges move during the scan. Since the angle of the shadow projector 215 can be known a priori, the parallelism can be maintained for one or more luminance 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 projector 215 may be implemented to form a shadow plane parallel to the line 212 that passes through the light source 203 at the point L and the vertex 262 of the shadow projector 215. An example of a shadow plane is formed by the points L, A, and B, and an example of a second shadow plane is formed by the points L, C, and D. Thus, according to some examples, the luminance edge 250a between the points A and B can be maintained parallel (or substantially parallel) to the luminance edge 250b between the points C and 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 that can extend to the line 212. However, the shadow projector may not necessarily project a shadow along this line.

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

[0112] Still referring to Figure 2, sketch 200 depicts that the light source 203 is arranged in a region associated with the negative X-plane (e.g., "-X") portion of the projection plane 210, where the shadow caster 215 (or its projection) is arranged in a certain plane (e.g., YZ plane). A part 260 of the shadow caster 215 can be arranged at or near the line 212. The line 212 can also include the light source 203 located thereon. In at least one example, the part 260 can coextend with the line 212. In one example, the line 212 can coincide with one or more points of the shadow caster 215, and the one or more points can include the points at the vertex 262 of the triangular shadow caster 215 shown in the sketch 200. At least in some cases, the line 212 can be parallel to the XY plane and orthogonal to the YZ plane. Another part of the shadow caster 215 can be arranged distally, such as at the end portion 230. For example, the end portion 230 can be arranged at or near the projection plane 210.

[0113] In some examples, the depiction of the shadow caster 215 can represent a cross-sectional area or its projection that is associated with a certain plane (e.g., YZ plane) and can form the luminance edges 250a and 250b. Alternatively, the shadow caster 215 (or its cross-sectional area) can be positioned or oriented at an angle (e.g., angle 280 with respect to the plane coextending with the XY plane) with respect to a certain plane. Thus, the structure and function of the shadow caster 215 need not be limited to regarding Figure 2Those depicted and described. For example, a rectangular shadow caster can be implemented using one or more of the features, functions, and / or structures described herein (such as one or more light sources 203 (e.g., light spots)), whereby the rectangular shadow caster can rotate about a point on its edge (e.g., about a rotation axis parallel to line 212) to form at least one relatively sharpened shadow edge (or brightness edge). According to some examples, the shadow caster 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 portion of the illumination amount from the light source 203 (or any other light source) can modify or limit the maximum darkness (e.g., the portion of the illumination amount can cause the pixel intensity value to increase above 000 (which can represent complete darkness)). In any case, 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, the transition can be detected or determined in a single frame where adjacent pixels can be compared. Alternatively, the transition can be determined as a change in the brightness of a pixel over time (e.g., over multiple frames). In at least one instance, the brightness (or shadow) edge can be resolved at a finer size than a pixel (e.g., during one or more frames, where the pixel values may change relatively slowly as the shadow edge moves across the pixel during a scan). Thus, the brightness edge can be determined with sub-pixel accuracy.

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

[0115] Depending on various functions and structures, the luminance edges 350a and 350b can transition or move on the surface of the object 370 to determine the three-dimensional spatial characteristics of the surface. Any number or type of power (not shown), such as through a device such as an electromechanical motor (not shown) or by gravity, can be used to move one of the shadow projector 315 and the object 370 relative to the other, thereby achieving the movement of the luminance edge 350 relative to the object 370. For example, the power can cause an angular displacement of the shadow projector 315 in a plane (e.g., the YZ plane) (e.g., a rotation 384 having at least some rotational component about an axis parallel to the line 312). In some examples, the above parallelism can be maintained so that by rotating the shadow projector 315 about Figure 3 the vertex 362 to provide parallel luminance edges that move (e.g., synchronously) throughout the scan. Similarly, Figure 2 the shadow projector 215 of can rotate 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 equivalent to the width of one or more squares of the checkerboard pattern depicted in the schematic diagram 300. However, here, or in any other example described herein, the width of the bottom portion 331 can be less than or greater than the width of any number of checkerboard squares. Thus, the dimensions of the shadow projector 315 shown in the schematic diagram 300 are exemplary. In various examples, any number of configurations and widths can be used to form any distance 333 between the parallel luminance edges 350a and 350b.

[0116] To perform the scan, the angular displacement of the shadow projector 315 in the YZ plane can cause the luminance edge 350 and the umbra 320 to move along a direction parallel to (e.g.) the Y-axis and on the projection plane 310 380. As another example, the power can cause the shadow projector 315 to translate (e.g., non-rotationally) in the orientation shown along the Y-axis, thereby causing the luminance edges 350a and 350b and the umbra 320 to move along the direction 380. In yet another example, the power can cause the object 370 to rotate 382 or translate 383 (e.g., a linear displacement parallel to the Y-axis) relative to the shadow projector 315 so that the luminance edges 350a and 350b contact different portions of the object 370 at different time points. In another example, the power can cause the object 370 to move relative to the shadow projector 315 to cause the movement of the luminance edge.

[0117] In some examples, motive power can cause one of the light source 303, the shadow caster 315, and the object 370 to move relative to other objects to effect movement of the luminance edges 350a and 350b. Note that the motive power on the light source 303 or the shadow caster 315 can be any type of motive 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 effect movement simulating the shadow caster 315), or any other motive power. Additionally, the device that generates the motive power need not be limited to an electromechanical motor, but can be gravity or any known device for causing movement of the luminance edge 350 relative to the surface of the object 370.

[0118] The image capture device 301 can be configured to capture an image of the scene or environment including the object 370 as the luminance edges 350a and 350b travel or move across the projection plane 310. Examples of the image capture device 301 can include any type of camera, such as a digital video camera, a charge-coupled device (“CCD”)-based image sensor, etc., as well as an analog camera. In the example shown, the image capture device 301 can capture one or more image frames (e.g., video at a particular frame rate) as the shadow 320 (e.g., umbra) crosses the object 370, where one or more pixels 373 can be associated with the luminance edges 350a and 350b. One or more pixels 373 can be pixels on the camera corresponding to points on the object 370, which are depicted as one or more pixels 373. In this example, the image capture device 301 can capture the change in the reflected light luminance from dark to bright or from bright to dark for a given luminance edge. As detected from the viewpoint of the image capture device 301, the surface of the object 370 can cause a portion of the luminance edges 350a and 350b (e.g., the portion cast on the object 370) to deviate from other more straight portions of the luminance edges 350a and 350b (e.g., in the XY plane). The deviation or distortion of the luminance edges 350a and 350b can be due to the positive extension of the surface dimension of the (object 370) along the Z axis. In at least one implementation, 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 4is a schematic diagram depicting another example of a shadow projector according to some embodiments. Schematic diagram 400 depicts a system of shadow projectors 415a and 415b configured to form one or more luminance edges 450 at or above a projection plane 410 to facilitate three-dimensional object scanning. Schematic diagram 400 also depicts an arrangement in which shadow projectors 415a and 415b can be configured to project luminance edges 451 and 453 to coincide with each other to form a common edge 450. Schematic diagram 400 also depicts an image capture device 401, a subset 403a of one or more light sources, and a subset 403b of one or more light sources. The subset 403a of one or more light sources is shown arranged in region 430 (e.g., on one side of shadow projector 415a), and the subset 403b of one or more light sources can be arranged in region 434. Regions 430, 432, and 434 can define a two-dimensional or three-dimensional space. The light sources of subsets 403a and 403b can be axially arranged on line 412 and can be any type of light-emitting source that can emit any number of lumens (e.g., from 200 lumens (or less) to 1300 lumens (or more)). Examples of light-emitting sources can include, but are not limited to, LEDs, incandescent lamps, halogen lamps, lasers, etc., as well as any type of light conduit, lens (e.g., Fresnel lens), or light guide, such as an illuminated optical fiber (e.g., an optical fiber, such as an optical fiber 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 as well as any other spectral range (e.g., ultraviolet spectrum, infrared spectrum, etc.) and can emit within a relatively narrow spectral range. One or more wavelength ranges can be selectively implemented depending on the application of shadow projectors 415a and 415b. In some cases, the light sources in subsets 403a and 403b can be implemented to emit light wavelengths that constitute "white light" or "broadband light", which can reduce or eliminate diffraction effects at the edges of the shadow projector (e.g., combining one or more wavelength ranges can reduce or eliminate artifacts associated with light diffraction due to the edges). Moreover, the light sources in subsets 403a and 403b can implement any number of wavelength ranges, regardless of whether these 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 light spots, and / or can have a reduced (or relatively short) radial dimension ("r") 499 around line 412, for example, to achieve a relatively sharp transition from "bright" to "dark" along edge 450. As the number of light sources (e.g., relatively narrow light sources) increases along the length ("L") 407 of a portion of line 412, the brightness edge 453 generated by the shadow projector 415b becomes sharper (e.g., increases the transition rate from the umbra or shadow region 420 of zone 432 to the illuminated portion of the projection plane 410). In some examples, light sources such as subset 403b can be arranged at a greater distance 490 from the shadow projector 415b to sharpen the brightness edge 453. Similarly, any number of light sources can be arranged in subset 403a along the corresponding portion of line 412 to generate an enhanced brightness edge 451 associated with the shadow projector 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. At least in 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 that describe a "narrow light source" with a radius of "r" 499.

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

[0122] The brightness edge 453 can co - extend (or substantially co - extend) simultaneously with the brightness edge 451 to form the brightness edge 450 based on the shadow projectors 415a and 415b. Thus, the shadow projector 415b can form the brightness edge 453 to enhance the brightness edge 451 (e.g., adjacent shadow projector 415b), and similarly, the shadow projector 415a can form the brightness edge 451 to enhance the brightness edge 453 (e.g., adjacent shadow projector 415a). According to at least one example, the enhanced brightness edge 453 can provide a relatively sharp shadow for parallel shadows.

[0123] Since the shadow projectors 415a and 415b have a common rotational component about the line 412 as the axis, the luminance edge 450 can be translated synchronously on the projection plane 410, where the line 412 can be maintained to extend from the light source subsets 403a and 403b to the vertices 462a and 462b of the shadow projectors 415a and 415b, respectively. In other examples, the shadow projectors 415a and 415b and the light source subsets 403a and 403b can be translated along the Y-axis (e.g., along the lines 431 and 433, respectively) with a certain component. In other examples, the shadow projectors 415a and 415b and the light source subsets 403a and 403b can rotate together while maintaining the common line 412. In this case, the illumination edge 450 does not have to be along a single axis (e.g., the X-axis as depicted in Figure 4 ). In other examples, the shadow projectors 415a and 415b and the light source subsets 403a and 403b can all be translated and / or rotated in unison while maintaining the common line 412.

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

[0125] In some examples, the light source 503 can be implemented as an extended light source (e.g., an elongated light source) along the axis 512. In some embodiments, a halogen lamp can be used with a filament extending longitudinally along the axis 512. As a halogen lamp, the light source 503 can have a diameter (“d”) 566 as shown in the end view 556 and can be implemented as Figure 4Twice the “r” 499 (e.g., 2 * diameter, ‘r’). According to a particular embodiment, the diameter 566 of the light source 503 may be two (2) mm or less. In some cases, the diameter 566 may be larger or otherwise sized according to the type of light source implemented. Additionally, the light source 503 may be a real or virtual image of a light source that is affected by a positive or negative lens or lens system (not shown) in addition to being reflected, including a light source image that is an enlarged or reduced image of the light source. Such an image may be expansively considered the light source 503.

[0126] In at least one embodiment, the shadow throwers 515a and 515b may be implemented using liquid crystal displays (“LCDs”) 570a and 570b or other switchable opaque glass, films, or materials. For example, the LCDs 570a and 570b may be transparent (e.g., typically transparent) and may be activated to form an opaque cross-sectional shape to simulate the shadow throwers 515a and 515b and / or their movement. The LCDs 570a and 570b may have portions selectively activated at different times to cause the light emitted from the light source 503 to generate a luminance edge 550 that moves across the surface of the projection plane 510.

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

[0128] Figure 6 is a schematic diagram depicting an example of a shadow thrower that generates luminance edges to scan multiple objects. The schematic 600 depicts the shadows cast by shadow throwers 615a and 615b in an illumination arrangement as shown to generate luminance edges 650a and 650b. As shown, the luminance edges 650a and 650b maintain their common edge and a relatively rapid transition from light (e.g., illuminated region) to dark (e.g., region with reduced illumination or no illumination) on a three-dimensional object such as a cone 630, a hemisphere 632, and a rectangular block 634. Additionally, the illuminated regions of the object are illuminated by lamps corresponding to the shadow throwers from 615a and 615b such that they may be illuminated from multiple directions to provide enhanced information during 3D scanning (e.g., based on the multiple directions). As regarding Figure 4 shown, the luminance edges 650a and 650b maintain their common edge and a relatively rapid transition from light (e.g., illuminated region) to dark (e.g., region with reduced illumination or no illumination) on a three-dimensional object such as a cone 630, a hemisphere 632, and a rectangular block 634. Additionally, the illuminated regions of the object are illuminated by lamps corresponding to the shadow throwers from 615a and 615b such that they may be illuminated from multiple directions to provide enhanced information during 3D scanning (e.g., based on the multiple directions). As regarding Figure 4As described for the shadow projectors 415a and 415b, the shadow projectors 615a and 615b can be rotated or moved to translate or rotate the shadow on the cone 630, hemisphere 632, and rectangular block 634, thereby forming a three-dimensional data representation or model of each object. An image capture device such as a camera (not shown) can capture an image composed of pixels associated with a point ("P1") 664 on the surface of the hemisphere 632 at the time point when the luminance edge 650a coincides with the point 664. Similarly, the image capture device can capture an image of a point ("P2") 665 on the surface of the rectangular block 634 at the time point when the luminance edge 650b coincides with the point 665.

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

[0130] During the scanning of an object 770 disposed on a projection plane 710, a point (“P1x”) 764 can be identified when a brightness edge including an illumination ray 751b crosses the object 770 at a first time point. At a subsequent time point, when a brightness edge including an illumination ray 751c crosses the object 770, the image capture device 701 can capture another point (“P1y”) 765. Since 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) of points 764 and 765, respectively, and the Z depths 777 and 778.

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

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

[0133] Figure 7C is an example process for determining the spatial position of points on an object surface according to some examples. Process 790 can calculate the spatial position in three dimensions for points having X, Y, and Z coordinates that co - extend with the surface of the object. At 792, one or more shadow projectors can be used to project a luminance edge moving across the scene. At 794, the luminance edges of points sampled at each image on the object can be detected. For example, an image capture device can utilize each image to capture a set of luminance edges with respect to an object disposed on a projection plane, and multiple images can be used to sample multiple parts of the object. Each luminance edge of each image can be stored as a data representation or can be processed in real - time (substantially in real - time) to determine data representing 3D points along the edge, and the 3D points 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 projector can be determined for each image. For each point at a luminance edge on the surface, the shadow plane can be determined, for example, based on mechanical or optical measurements of the position of the shadow projector and the position of the light source that can be pre - determined. Additionally, relative to a reference point and the position of the lamp or Figure 5The equivalent of line 512 calculates the shadow plane. At 798, for each image, it can be determined that the points along a particular luminance edge are distinguishable from all points corresponding to other luminance edges. In some examples, each point can be associated with one or more pixels in the image frame. Additionally, the shadow plane associated with a particular point can be identified. The particular luminance edge and the corresponding shadow plane can be captured for a particular image frame during the scanning process. The "particular frame" for a particular point can be obtained based on the sequence number of the frame. At 799, the light rays to any particular 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 rays with the shadow plane of the particular luminance edge of the point. The light rays can be determined based on one or more coordinates and the angles of the calibrated camera. Additionally, 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, referring to "each image" can describe each image in a subset of images. Also note that according to some examples, the color of the points on the three-dimensional model of the surface can be obtained from the image used to obtain the three-dimensional coordinates of the points. In some examples, the images obtained near the sequence number of the frame are used to obtain the three-dimensional coordinates.

[0134] Figure 8 , Fig. 9 , Fig.10 , and Fig. 10A are schematic diagrams depicting various examples of shadow projectors according to various embodiments. Figure 8 The schematic diagram 800 includes a shadow projector 815 and a light source 803 (e.g., one or more point or relatively narrow light sources) configured to form a shadow 820 and luminance edges 850a and 850b on a projection plane 810. The schematic diagram 800 also shows the projection cross-sectional area 895 of the shadow projector 815, whereby the size and / or boundary of the shadow projector 815 can be projected along direction 804 to form the projection cross-sectional area 895. For example, the edges of the shadow projector 815 can be projected 804 onto a plane 811 parallel to the YZ plane to form projection edges 893a and 893b.

[0135] Fig. 9 The schematic diagram 900 includes a shadow projector 915 and a light source 903 (e.g., one or more point light sources) configured to form a shadow 920 and luminance edges 950a and 950b on a projection plane 910. As shown, the shadow projector 915 can be oriented at an angle 920 relative to a cross-sectional area 996 (e.g., Figure 8 the cross-sectional area of the shadow projector 815) that can be parallel to the plane 911. According to this example, the cross-sectional area of the physical form of the shadow projector 915 can be reduced in association with a reduced size (e.g., a reduced distance between the vertex portion and the distal portion of the shadow projector 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-sized shadow caster 915 that can reduce the form factor of the 3D scanner can simulate the implementation of the cross-sectional area 996 to form brightness edges 950a and 950b, where the contour boundary of the shadow caster (shown projected onto the plane 911) is superimposed on the sufficient projected cross-sectional area 995. By rotating the shadow caster 915 having a rotational component about the line containing the lamp 903 while maintaining the vertex of the shadow caster (not shown) on this line, scanning in this configuration can be achieved.

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

[0137] The shadow caster 1015 can be flexibly deformable or can be rigidly formed. The shadow caster 1015 can be formed of any material such as plastic, metal, wood, etc. (e.g., an opaque material). The shadow caster 1015 can be formed of a colored transparent material such 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 caster uses a colored transparent material, an image detection device (not shown) employing color filtering can be used to determine the brightness edges, and the image detection device enables the detection of light transitions of one or more specific colors. For improved iterations of the shadow caster 1015, a rough shadow caster can be used for rough three-dimensional scanning, and then the three-dimensional scan can be used for other closer shadow casters.

[0138] In one example, the shadow projector 1015 can be formed of materials used in three-dimensional (“3D”) printing techniques. In this way, a series of photographs (or digital images) or, for example, a previous 3D scan can be used to form the shadow projector 1015 to follow, mimic, or replicate the dimensions and contours of the surface of an object that has undergone an initial profiling. In the example shown, the shadow projector 1015 has been formed to replicate the surface features of the vase 1080( Fig.10 ), and for comparison, to replicate the surface features of a differently shaped vase 1080a( Fig. 10A ), including the surface profile 1082. The shadow projector 1015 can be formed to establish a gap with a relatively reduced distance (or a constant or substantially constant distance) between the surface of the shadow projector 1015 and the surface of the vase 1080 or the differently shaped vase 1080a. The gap distance can be represented relative to the XY plane.

[0139] Moreover, as described in connection with FIG. 11A to FIG. 11C , embodiments with gaps having relatively small distances can provide enhanced accuracy and resolution of the 3D scan of the vase 1080 or 1080a. According to some examples, the shadow projector 1015 can provide accuracy in the millimeter range, as well as in the sub-millimeter range (e.g., the resolution can be expressed in units of microns or less) for determining the 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 rotating 1092 the vase 1080 or the differently shaped vase 1080a about an axis along the Z direction (and perpendicular to the XY plane) by applying power (not shown).

[0140] FIG. 11A to FIG. 11C is a schematic diagram depicting an example of an adaptable structural feature of a shadow projector for scanning a three-dimensional object according to some examples. Fig.11AFIG. 1100 is a schematic diagram depicting a light source 1103, a shadow caster 1115, and a three-dimensional object 1170. In the example shown, the shadow caster 1115 is depicted as being disposed in a plane (e.g., the 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. Also, the light source 1103 may be located at a distance D1a from a point 1111a at the edge of the shadow caster 1115, and may be located at a distance D1b from a point 1111b at the edge of the shadow caster 1115. The object 1170 is a pyramid having surface portions 1172 and 1174 that are shadow regions cast by the points 1111a and 1111b, respectively. The surface portions 1172 and 1174 are disposed at distances (e.g., average distances) D2a and D2b, respectively, relative to the points 1111a and 1111b and the shadow caster 1115. The surface portions 1172 and 1174 of the pyramid have widths W2a and W2b, respectively. Note that Fig.11A The entire regions 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 luminance 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 apex 1171, the distance of the surface portion from the shadow caster 1115 increases. Thus, the distance D2a may be greater than the distance D2b.

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

[0142] In various examples, the width W1 of the light source 1103 can be reduced, and thus W2a and W2b can be reduced, according to relationships such as the following: 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 as 1 / 4 or less, the width W2a can be reduced to less than 1 millimeter, such as reduced to 250 micrometers or less. According to one example, the light source 1103 can be a halogen bulb or the like, where the linear range (not shown) of the light source is along the line 1199 that connects the light source 1103 to the vertex of the shadow projector 1115.

[0143] Fig. 11B and Fig. 11C Examples are depicted of adjusting at least a subset of the distances D1 and D2 according to the position of a surface portion such as surface portion 1172 (e.g., relative to surface portion 1174). According to some examples, the shadow projector 1115 can be configured, adapted, or shaped to reduce a subset of the distance D2 (including the distance D2a) while increasing a subset of the distance D1 (including Fig.11A the distance D1a), thereby affecting a higher resolution scan as described in the equations associated with Fig.11A above. Fig. 11B Sketch 1130 depicts a shadow projector 1135 having a vertex 1171a oriented at an angle 1131 with respect to a line 1179 (e.g., orthogonal to the XY plane). At the angle 1131, the distances D2a and D2b can be approximately equal to provide a substantially constant gap between the surface of the shadow projector 1135 and Fig.11A one or more surface portions of the object 1170. Fig. 11C Sketch 1160 depicts a shadow projector 1165 that includes a portion 1165a adapted to vary in the X direction (which is the direction between a light source (not shown) and the vertex 1171b) such that the shadow projector 1165 has a portion 1165a oriented at an angle 1181 with respect to a portion 1165b about an axis 1167. This variation maintains the profile of the shadow projector projected onto a projection plane (not shown) parallel to the YZ plane along the line between Fig.11A the light source 1103 and the vertex 1171b of the shadow projector 1165. This variation is an example of maintaining a single plane that includes Fig.11A the light source 1103 and the two portions 1165a and 1165b. At the angle 1181, the distance D2a can be reduced to be close to or approximately equal to the distance D2b. In some cases, multiple portions 1165a (not shown) can be implemented to approximate the curvature of the object to be scanned, or the shadow projector can be similarly deformed in a continuous manner along the Y direction to achieve a smooth profile.

[0144] Fig.12 is a schematic diagram depicting an example of a configurable shadow caster according to some examples. Schematic diagram 1200 includes shadow casters 1215a and 1215b, which respectively have adaptable portions 1265a and 1265b to approximate the shape of the object surface, thereby reducing or equalizing the magnitude of the gap variation between shadow casters 1215a and 1215b and the example object 1270 to be scanned. Object 1270 is a hemisphere disposed on the projection plane 1210. In this example, adaptable portions 1265a and 1265b are respectively described as portions angled about axes 1267a and 1267b. In some examples, shadow casters 1215a and 1215b may be implemented as a system constituting the shadow caster, which optionally may include an adaptable opaque top portion 1211 coupled between shadow casters 1215a and 1215b to facilitate the generation of shadow 1220 (or umbra) and one or more luminance edges 1250. At least in some cases, a light source (not shown) collinear with lines defined by, for example Figure 3 , Figure 4 or Figure 5 such as line 312, 412, or 512 may be located above shadow casters 1215a and 1215b and between the shadow casters in the case where the top portion 1211 (or portions 1265a and 1265b) is implemented. Note that adaptable portions 1211, 1265a, and 1265b may be subdivided into any number of planar portions to approximate the curvature. Alternatively, adaptable portions 1265a and 1265b may be formed or configured to include one or more curved portions.

[0145] According to some embodiments, the shadow projectors 1215a and 1215b can 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 can then be used in combination with the deformation of the illumination edge to determine the shape of the object 1270. The shadow projectors 1215a and 1215b can be similar to 815, 915, and 1015 in having a triangular profile, so as to define a single illumination plane edge on each edge. Alternatively, the shadow projectors 1215a and 1215b can be the structure and support of the parts 1211, 1265a, and 1265b and do not themselves project shadow edges onto the object 1270. Note that although the object 1270 is depicted as a hemisphere with a smooth surface, an object of any shape can be used. In some cases, the object 1270 can include surface topologies and textures that include convex surface portions and concave surface portions, including but not limited to projecting or ridged features and recesses, cracks, or grooves, etc. In some examples, the object 1270 can represent the surface of the brain or any other organ structure.

[0146] In at least one example, the shadow projector can include the part 1211, which can have one or more straight edges parallel to a line containing a light source (not shown), and the part 1211 can extend longitudinally (e.g., having a perimeter 1299) to project shadows in each dimension of the object 1270. Thus, the parts 1265a and 1265b can be omitted. In this case, there may also be multiple light sources (not shown) that are parallel to each other and parallel to 1211. The multiple parallel light sources can be sequentially (and / or spatially) illuminated to generate a series of straight shadows. The parallel light sources or the shadow projector or both can be moved to effect a scan on the surface of the object 1270 and can have multiple rows of lights that do not need to be arranged on the axis of rotation. Such a configuration can generate one or more shadow planes having a geometry that can be used in combination with the deformation of the luminance edge to determine the three-dimensional shape of the object 1270. The parallel light sources can extend into the region above the part 1211 to generate the illumination edge of the object 1270. According to at least one example, the range of one or more light sources can be limited to extending above the part 1211 without (or minimally or negligibly) longitudinally extending on either side in the X direction, so as to sufficiently illuminate the illuminated portion of the object 1270 (e.g., uniformly illuminate the object 1270) while also generating a luminance edge with enhanced contrast.

[0147] According to various examples, a selectively opaque shadow caster can be formed such that the shadow caster can implement one or more portions that are opaque to white light, or the selectively opaque shadow caster can include a colored portion that can be configured to selectively reduce or eliminate the transmission of light of certain wavelengths (e.g., implement color filtering). A brightness edge can then be determined by a transition from an illuminated region to a relatively darker illuminated region (e.g., a less illuminated region) at wavelengths transmitted by the shadow caster in various ways. Alternatively, a brightness edge can be determined by a transition from a region illuminated under one wavelength range to a region illuminated by one or more other wavelength ranges. The shadow caster can include a plurality of wavelength transmission regions arranged in a pattern, and the pattern can also have combined opaque regions.

[0148] The selectively opaque shadow caster can be configured to be opaque with respect to one or more light wavelength ranges or light wavelength bands. Thus, the selectively opaque shadow caster can selectively filter out one or more light wavelength ranges to allow selected wavelengths to pass through. In one example, different selectively opaque shadow casters can be implemented as colored transparent shadow casters that cast light transitioning from blue light to red light, whereby an example of a set of colored transparent shadow casters can include at least two flat color filters adjacent to each other. One transparent shadow caster can be red, while another can be blue. During scanning, the transition of the scene 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 if other things in the scene change. Thus, specific color changes (irrespective of color) can be processed to identify illumination edges. According to various examples, when the object 1270 (or any other object) can move relative to the image capture device (e.g., in a controllable manner), the above-described selectively opaque shadow caster can facilitate 3D scanning. According to some embodiments, a mobile computing device such as a mobile phone with a camera or any other mobile device can implement the above-described selectively opaque shadow caster.

[0149] Fig.13is a schematic diagram depicting an example of a scanning system according to some examples. Schematic diagram 1300 depicts another example of a shadow caster 1315 as a component of a scanning system, the scanning system including an image capture device 1301, one or more light sources 1303, a reflective surface 1320 (e.g., a reflective plane or a mirror). The reflective surface 1320 can eliminate the implementation of another set of shadow casters and light sources opposite the shadow caster 1315. An object 1370 is disposed on the projection plane 1310, and its reflection 1370r is depicted in the reflective surface 1320. Additionally, schematic diagram 1300 depicts a point (“P2”) 1368 on the surface of the object 1370 as a reflected point (“P2r”) 1369 in the reflective surface 1320. As shown, the cast shadow 1398 on the 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 than can reach point 1366 to illuminate point 1368 (by reflected light). Thus, the brightness and accuracy of the light reflected from the surface portion including point 1368 by the reflective surface 1320 into the image capture device 1301 may be lower than the 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 the contrast, especially the contrast associated with the brightness edge at point 1368.

[0150] The image capture device 1301 can observe the reflected object 1370 as 1370r, and thereby can observe portions of 1370 that would otherwise be invisible without reflecting or directly observing the object 1370. In this way, other reflective surfaces (not shown) can be disposed within the field of view of the image capture device 1301 such that the image capture device 1301 can observe one or more portions of 1370 that would otherwise be invisible in a reflected manner without 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 disposed thereon to the image capture device 1301. Then the shadow caster can be moved, for example to effect scanning, such that the brightness edge can also be reflected from the reflective surface to areas that the shadow would not otherwise reach without reflecting the shadow edge or directly projecting the shadow edge onto the object 1370. The reflective surface can be a flat geometry, but can also be curved or include curved surfaces or flat surface segments or a combination of both.

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

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

[0153] Fig.15Depicts an example of a scanning system configured to perform medical applications according to some examples. Sketch 1500 includes a medical device or tool, such as a surgical microscope 1530. The surgical microscope can be adapted to implement data generated by the scanning system, which is configured to perform a three-dimensional scan of in-vivo tissue (such as brain tissue (i.e., as an object)) for medical applications. Additionally, the scanning system of sketch 1500 can facilitate in-situ three-dimensional scanning of brain tissue during surgery.

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

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

[0156] In various applications, including medical applications, at least in some cases, the scanning system of schematic 1500 can have a resolution of less than 1 millimeter (e.g., 25 microns or less) to form a 3D representation of at least a portion of the brain 1570. In some cases, the scanning system of schematic 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 surgery), whereby when transitioning to a second state (e.g., after a medical or surgical procedure), the surface shape may be different from the first state. In one example, the state of the surface shape may change rhythmically (e.g., in response to rhythmic blood pressure changes due to a heartbeat). In at least one state, one or more of the shadow projectors 1515a, 1515b, 1515c, and 1515d can 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 can capture an image of the brain 1570, and the enhanced image generator 1590 can determine the X, Y, and Z coordinates of the pixels representing points on the surface of the brain 1570. In cases where the surface shape changes rhythmically in response to changes (e.g., heartbeat and pulsatile blood flow), the 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, such 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 during the scan with the stages in the rhythmic response.

[0158] In particular, the scanning system of schematic 1500 can be configured to digitally capture the contour and other anatomical features of the brain 1570. For example, the surface curvature and contour 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. Additionally, the scanning system of schematic 1500 can be configured to capture the three-dimensional surface features of the vascular system serving the brain (e.g., veins, arteries, capillaries, etc.), whereby the vascular tissue can be used as a landmark (or guidepost) to provide a vascular “roadmap” to assist a surgeon in navigating blood vessels to a portion of the brain 1570. Some of these blood vessels may be finer than the resolution of the associated MRI scan or CT scan.

[0159] Before surgery, a patient may undergo a diagnostic process (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 can be exposed after a craniotomy or removal of a portion of bone. The scanning system of schematic 1500 can 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 can be configured to receive a first data subset representing an MRI scan of the brain from the scanner system of schematic 1500 and a second data subset representing 3D scan data of the brain 1570. Additionally, the enhanced image generator 1590 can include a processor and electronic components configured to execute instructions (e.g., software, firmware, etc.) to correlate the 3D surface of the second data subset with the MRI-generated surface of the first data subset. Thus, the 3D scan data from the second data subset can be correlated with data representing the internal structures of the MRI-generated brain scan data from the first data subset.

[0160] In the case where a portion of the skull is removed, the brain tissue forming part of the cerebral cortex can be reached via an incision into the membrane (e.g., pia mater, etc., or other fluid barrier tissue). An incision at the membrane surrounding the brain tissue can cause fluid (e.g., cerebrospinal fluid or CSF) to leak out, resulting in a change in the structural state of the brain. As the fluid leaks out, the brain tissue structure may contract or deform due to changes in mechanical properties, which may cause a displacement of the brain tissue structure. Thus, when using MRI data to localize the surface and internal structures of the brain tissue to identify the target brain tissue location, the displaced brain tissue introduces errors.

[0161] After incision, the scanner system of schematic 1500 can be used to determine the curvature and contour of the brain 1570 after the shape of the brain tissue has shifted due to a decrease in internal fluid pressure. Subsequently, the enhanced image generator 1590 can include logic configured to form a second three-dimensional model of the surface of the brain 1570, which model can include positional deviations in the brain tissue and vascular structures relative to the MRI scan data. Additionally, the enhanced image generator 1590 can include logic 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 to determine positional deviations for registering and aligning digital images. Since vascular tissue (e.g., blood vessels) can be elastically fixed to adjacent brain tissue, deviations in the vascular structure can be used, instead of or in addition to deviations in specific sulci and gyri, to predict the post-incision position of internal brain tissue portions. Additionally, previously acquired MRI scan data can be adjusted to reflect the predicted post-incision position of the internal brain tissue. Thus, movement of capillaries, sulci and gyri, and associated brain tissue can contribute to predicting the position of the target brain tissue. During a medical procedure, the scanner system of schematic 1500 can also be used to determine the affected portion of the brain (e.g., after brain tissue has been resected or otherwise altered). Previously acquired MRI scan data can be adjusted to reflect the predicted post-incision portion of the brain tissue thus affected by the medical procedure.

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

[0163] In view of the foregoing, a target brain tissue portion can be located in the three-dimensional space of the brain 1570 prior to surgery. An example of a target brain tissue portion can be a brain tissue portion that causes pediatric seizures. Removal of the target brain tissue portion can alleviate symptoms, including seizures. According to the foregoing embodiments of the scanner system of schematic 1500, the enhanced image generator 1590 can be configured to identify or predict positional deviations of brain tissue at and within the surface of the brain 1570. Thus, the enhanced image generator 1590 can be configured to identify or predict, for example, positional deviations of a target brain tissue portion that is additionally identified in an initial MRI.

[0164] According to various examples, the above-described techniques for implementing the scanner system of schematic diagram 1500 can be applied to other brain-related diagnostics, tests, surgeries, and treatments. Additionally, the above techniques can be applied to any medical application, including hard tissues (e.g., bones, etc.). Another example is using the scanner system of schematic diagram 1500 for wound healing. For example, consider that a scanner system similar to the scanner system of schematic 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 perform a three-dimensional scan of the wound (e.g., colored or colorless) to generate wound shape data, which can be transmitted via a network to a healthcare provider to monitor the wound healing rate. The above examples are non-limiting and can be applied to any medical or non-medical application.

[0165] Fig.16A is a schematic diagram depicting a dedicated surgical microscope including a shadow-casting system according to some examples. Schematic diagram 1600 includes a surgical microscope 1630, an enhanced image generator 1690, and an image capture device 1601, which are configured to facilitate in-situ three-dimensional scanning of the brain 1670. According to some examples, Fig.16A the elements depicted in schematic diagram 1600 of may include structures and / or functions similar to those of elements with similar names or similar numbers depicted in other figures. In this example, the shadow-casters 1615c and 1615d and the light source 1603 can interact as a system 1680 to form a shadow 1620 and one or more brightness edges 1650. In some embodiments, according to the examples described herein, the shadow-casters 1615c and 1615d and the light source 1603 or their equivalents can be arranged within the housing 1632 to form an integrated three-dimensional scanning surgical microscope configured to perform 3D scanning.

[0166] Fig. 16B is a schematic diagram depicting yet another dedicated surgical microscope including at least one shadow-caster according to some examples. Schematic diagram 1610 includes a surgical microscope 1630 and other elements described herein, which are configured to facilitate in-situ three-dimensional scanning of the brain 1670. According to some examples, Fig. 16B the elements depicted in schematic diagram 1610 of may include structures and / or functions similar to those of elements with similar names or similar numbers depicted in other figures. In this example, the shadow-caster 1681 and a subset of the light sources 1691a, 1691b, and 1691c can interact as a system 1690 to form a shadow 1620 and one or more brightness edges 1650 according to the subset of the light sources 1691a, 1691b, and 1691c that are illuminated at different time points. In Fig.12An example of a shadow projector 1681 is described, and light sources 1691a, 1691b, and 1691c can be arranged above the shadow projector 1681. According to some examples, a subset of the light sources 1691a, 1691b, and 1691c are implemented as a plurality of parallel light sources that can be sequentially and / or spatially illuminated to generate a series of shadows (e.g., straight shadows or luminance edges). In some embodiments, according to the examples described herein, the shadow projector 1681 and the light sources 1691a, 1691b, and 1691c or their equivalents can be arranged within a housing 1632 to form an integrated three-dimensional scanning surgical microscope configured to perform 3D scanning.

[0167] Fig.17 is a schematic diagram depicting a magnified image based on three-dimensional scanning features according to some examples. Schematic diagram 1700 includes an optical component 1738 configured to magnify a portion of the brain 1770. The surgical microscope to which the optical component 1738 is coupled is not shown. Schematic 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 brain surface) and digitally generated image overlay data representing, for example, the surface location of target brain tissue 1788, which 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 its parts 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 contour of the brain 1770s can be captured as ridges (gyri) 1784 and grooves (sulci) 1786 via three-dimensional scanning. According to at least one example, illustration 1722 can include a real (e.g., directly magnified) image or a simulated image (e.g., based on image processing), or a combination of both.

[0168] Fig.18 is a functional block diagram depicting in vivo three-dimensional scanning and image integration according to some examples. Schematic diagram 1800 includes an enhanced image generator 1890, a tissue model data repository 1830, and a scanned tissue data repository 1832, and one or more of these devices can be implemented to form, for example Fig.17The depicted image. 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 can include MRI data, CT data, MEG data, PET data, or any other brain-related data that can 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 can be configured to store data models to determine or predict the rate of change of brain deformation or the positional deviation in the brain as a function of various factors (e.g., amount of fluid loss, incision size, gender, age, frailty, etc.). The enhanced image generator 1890 can use these data models to mathematically (e.g., probabilistically) predict and simulate the extent to which the brain structure can change (e.g., with respect to size, position, orientation, etc.) due to the corresponding loss of cerebrospinal fluid or the extracted tumor or brain mass. The enhanced image generator 1890 can retrieve data 1822 from the data models. According to some examples, Fig.18 The elements depicted in the schematic diagram 1800 can include structures and / or functions similar to those of elements with similar names or similar numbers 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 the 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 (such as the spatial dimensions, location, etc.) of the vascular or brain data 1842. The data 1842 represents a data structure including data 1840 specifying geometric features based on, for example, blood vessels or any other physiological features (such as features of brain sulci, gyri, etc.) including spatial dimensions, location, 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 “markers” (e.g., survey markers for an “roadmap” to an area 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 prior to surgery or other structural perturbations.

[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 (e.g., at the surface of the brain 1870 after incision) derived from a three-dimensional scan by the model generator. In some examples, the biomarker mapper 1853 can be capable of calculating and characterizing the positional displacement of portions of the brain data or vascular data 1842 based on structural brain deformations. 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 portions of the brain tissue initially detected by the MRI. Based on the displacement of the blood vessels and surface features (e.g., ridges and grooves), the displacement in the surface portions as well as the displacement of the target brain tissue portion 1888 can be identified. The tissue correlator can also be configured to access the tissue model data repository 1830 to perform calculations estimating and predicting the displacement of the surface of the internal brain structure.

[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 may or may not be associated with staining. The target brain tissue portion 1888 can represent, for example, brain tissue associated with pediatric epilepsy or a tumor. Additionally, the target tissue integrator 1855 can be configured to calculate the displacement of the target brain tissue portion 1888 with respect to the post-incision activity and data from the tissue correlator 1854. For example, the tissue correlator 1854 can be configured to determine a positional deviation with which the target brain tissue portion 1888 can be adjusted for identification and extraction.

[0174] The image generator 1856 can be configured to generate image data 1846 in real time (or substantially in 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, the image enhancing the data 1844 to provide a view with a view of the target brain tissue portion 1888 superimposed thereon. Thus, a surgeon can be enabled to handle 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 graphic overlay data to optically present the remaining tissue to the surgeon for subsequent treatment. Thus, the surgeon can view the "peeling off" 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 can be varied in accordance with the various examples described herein.

[0175] Fig.19 is a schematic diagram depicting yet another example of one or more shadow projectors configured to generate one or more luminance edges according to some examples. The schematic diagram 1900 depicts a wearable shadow projector, such as a wearable system 1911 that can be configured to generate at least one luminance edge to facilitate 3D scanning. In this example, the wearable system 1911 is glasses including at least one front housing 1921 having at least one shadow projector 1920 having an edge 1950 configured to generate a luminance edge. At least in some examples, the shadow projector 1920 can be an opaque film applied to a transparent surface (e.g., a lens or a glasses frame). The glasses can also include ear pads 1906 for securing around the user's ears and temple structures 1907 that can include electronic devices, light guides, etc. to facilitate implementing the glasses as a 3D scanner including a shadow projector disposed therein. The glasses can receive optical and electrical signals via a conduit 1908 from a power and light generation module 1909, which can be optional and can be disposed anywhere on or otherwise on the user's person.

[0176] Regarding the wearable system 1911 further, the glasses may also include an optional transparent structure 1924 through which photon emissions including light can 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 projected 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 the temple or a similar structure). Due to the combined 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 the light emitted or transmitted as light beams 1930, 1930a, and 1930n via the optical fiber may belong to any wavelength range. For example, the light emitted from the optical fiber may be within a wavelength range of light that is not detectable or perceivable by the human eye (e.g., within the invisible spectrum). In some examples, the front view 1940 depicts the light beams 1930, 1930a, and 1930n from the optical fiber, whereby the light emission may strike the edge 1950 of the shadow caster 1920 to form a brightness edge. In this example, the front view 1940 is shown in a plane parallel to the YZ plane (e.g., viewed along the X axis). Regarding the front view 1940 further, the light beams may be guided along the edge 1950 relative to each other (e.g., adjacent to each other) at any distance (“F”) 1941, and the distances between them do not have to be the same. Any number of optical fiber ends may 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 directed 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 ends of the optical fibers (not shown) can be emitted such that at the edge 1950, their directions are parallel to the normal surface of the line 1919 of the shadow projector 1920. Alternatively, the light beams 1930, 1930a, and 1930n from each optical fiber and / or the ends of the optical fibers can be emitted such that at the edge 1950, their directions can be at an angle with respect to 1919 that is parallel to the XY plane containing the shadow projector 1920. To achieve a sharpened luminance edge in the case where the shadow projector 1920 is linear in all dimensions X, Y, and Z, one or more optical fibers can be arranged such that one or more of the light beams 1930, 1930a, and 1930n are emitted such that at the edge 1950, their directions are at any angle in the X and Y planes and contain a common component in the Z direction with respect to the line 1919.

[0178] Side view 1942 depicts the side of the optical fiber 1966 that emits light 1946, which is projected onto the shadow projector 1920 and the edge 1950 to form the light beam 1930n. As shown in side view 1942, the light 1946 can be collimated (e.g., straight), or it can diverge such that the light becomes wider when it reaches the shadow projector 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 size, such as a width ("W1") 1927. The end 1969 of the optical fiber 1966 can be arranged in one or more of, for example, the front shell 1921 and the temple structure 1907. Additionally, the end 1969 of the optical fiber 1966 can be arranged at any distance ("D1") 1929 from the shadow projector 1920. The depth ("H") of the front shell 1921 can extend to accommodate a 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 up to 400 microns. In another example, an LED or a micro-LED can be used instead of the optical fiber 1966 having the width W1. Additionally, as described above with respect to the line 1919, a Fresnel prism layer can be used to affect the light emitted from the end 1969 of the optical fiber to generate the light beams 1930, 1930a, and 1930n.

[0179] In operation, the wearable system 1911 is configured to generate at least one luminance edge that is projected onto an environment such as a room that includes appliances, furniture, people, etc. When the user is evaluating and reviewing their surrounding environment (such as a room), the movement of the shadow projector 1920 can be consistent with the movement of the user's head. In some examples, the electronics in the temple structure 1907 can include a processor, memory, accelerometer, etc. In one case, one or more accelerometers, inclinometers, compasses, gyroscopes, etc. can determine the rate at which the user moves their head. Thus, if desired, the logic in the temple structure 1907 can detect the rate at which the luminance edge is swept across 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 fiducial (e.g., a reflective marker or IR LED emitter not shown) can be used by an external detector (not shown) of the position and orientation of 1911. Such an external detector can be, for example, a camera or a field proximity sensor.

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

[0181] Fig. 20 is a schematic diagram depicting an example of a light projection direction originating from a wearable system according to some examples. As shown, the light projection direction can emanate from a number of optical fibers or LED sources arranged along the temples of the wearable system 2011. The schematic diagram 2000 includes a user 2091 wearing the wearable system 2011 and a front housing depicted as a dashed line through which the light beams 2030, 2030a, 2030n, 2032, 2032a, and 2032n are transmitted. The front housing can have a depth (“H”) 1931 as described in reference Fig.19 Return reference Fig. 20, the light beams 2030, 2030a, 2030n, 2032, 2032a, 2032n may alternatively be partially superimposed to affect a continuous distribution of light (not shown). At least the light beams 2030n and 2032n may be parallel to the line of sight. In some cases, the light beams 2030, 2030a, 2030n, 2032, 2032a, and 2032n may each be projected into the environment 2090 parallel to the line of sight (not shown). As shown, a subset of the light emissions (such as the 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, the light beams 2030, 2030a, 2030n, 2032, 2032a, and 2032n may be used to determine the three-dimensional spatial dimensions of a contoured surface 2060 that is at a distance of 2040 relative to the wearable system 2011.

[0182] The example of light emission depicted in the schematic diagram 2000 may vary or be adapted based on the applicability of a particular application. For example, the wearable system 2011 may be worn by a surgeon performing a brain surgery or any other medical application. According to various examples, the wearable system 2011 may be implemented for communication purposes, such as three-dimensional network camera communication, etc. In some cases, the wearable system 2011 may be configured to facilitate virtual reality applications and augmented reality applications. For example, the 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 schematic diagram depicting an image capture device implemented using a wearable shadow thrower according to some examples. The schematic diagram 2100 includes a user 2191 wearing a wearable system 2111 and a wearable camera 2117. The wearable camera may include a processor, a memory, and a radio for transmitting and receiving data, the data including data associated with luminance edges projected onto a surface 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, especially the position and orientation relative to the wearable system 2111. As shown, the light emission 2130 may be projected in a plane including the line of sight, or may be projected as a light emission 2135 at an angle to the line of sight. As shown, the light 2182 reflected back into the camera 2117 may be at a distance of 2180 from the light emission 2135. According to some examples, the distance 2180 may be at 20 centimeters, or within a range including 20 centimeters. In this example, as in other examples, the camera position at a distance 2180 separates the camera from the shadow plane to observe by Fig. 20Brightness edge distortion caused by the contour surface 2060. In at least one example, by modifying other parameters used in the operation of the wearable system 2111, the distance 2180 can be reduced without adversely affecting the determination of the 3D information of the Fig. 20 contour surface 2060. In various other examples, the camera 2117 can be arranged away from the person (e.g., the camera does not need to be worn). Thus, another camera 2117 can be co-located in the environment where the wearable system 2111 is arranged, whereby the camera 2117 and the wearable system 2111 can wirelessly exchange data with each other. According to some examples, Fig. 20 The schematic diagram 2000 of Fig.21 and the elements depicted in the schematic diagram 2100 of Fig.14 may include structures and / or functions similar to those of elements with similar names or similar numbers depicted in other figures. In one example, the wearable system 2111 and the wearable camera 2117 can be interchangeably used with

[0184] Fig. 22 is a schematic diagram depicting a plurality of wearable shadow projectors collaborating in a common environment. The schematic diagram 2200 depicts an environment such as a room 2210, which includes various surface features such as a sofa 2222, a pool table 2224, and a chair 2226. In addition, the room 2210 includes a subset of users 2210a, 2210b, 2210c, and 2210d wearing wearable shadow projectors 2211a, 2211b, 2211c, and 2211d, respectively. Each of the wearable shadow projectors 2211a, 2211b, 2211c, and 2211d can include a processor, a 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 a camera can be associated with each of the users 2210a, 2210b, 2210c, and 2210d. According to some examples, Fig. 22 the elements depicted in the schematic diagram 2200 of

[0185] In some examples, one or more off-person (or remote) cameras 2201 may capture images of multiple luminance edges reflected from various surfaces of multiple wearable shadow projectors. According to various examples, one or more of the camera 2201, the enhanced image generator 2290, and the wearable shadow projectors 2211a, 2211b, 2211c, and 2211d may be configured to determine the positions and orientations of the users 2210a, 2210b, 2210c, and 2210d (and the cameras). Moreover, fiducials (e.g., a reflective marker or an IR LED emitter not shown) may be arranged at any position in the room 2210 to detect the positions and orientations of the wearable shadow projectors 2211a, 2211b, 2211c, and 2211d. One or more of the camera 2201, the enhanced image generator 2290, and the wearable shadow projectors 2211a, 2211b, 2211c, and 2211d may be configured to determine the differences between the wearable shadow projectors 2211a, 2211b, 2211c, and 2211d, and may be further configured to implement the wearable shadow projectors 2211b, 2211c, and 2211 using visible wavelengths or any other wavelengths. The enhanced image generator 2290 is also shown, 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 enhanced image generator 2290 may perform image registration based on data from the wearable shadow projectors 2211a to 2211d to align multiple 3D images to form an integrated image or a 3D model. In addition, the enhanced image generator 2290 may generate data representing graphic images that may be superimposed on the 3D surfaces of objects in the room 2210. For example, the enhanced image generator 2290 may generate graphic images of "virtual clothing" that the users 2210a, 2210b, 2210c, and 2210d may select for others to view. Considering that user 2210a wishes for users 2210b, 2210c, and 2210d to perceive that user 2210a is wearing a "pirate costume". The enhanced image generator 2290 may generate graphic images that may be superimposed on the lenses of the wearable shadow projectors 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 clothing party.

[0186] The wearable shadow projectors 2211a, 2211b, 2211c, and 2211d may include RF radios for generating wireless data links 2213a, 2213b, 2213c, and 2213d, respectively. Additionally, one or more cameras 2201 and an enhanced 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 projectors. In one embodiment, the wearable shadow projectors 2211a, 2211b, 2211c, and 2211d may form a peer-to-peer network via 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 projectors 2211a, 2211b, 2211c, and 2211d may implement a client-server network with the camera 2201 and the enhanced image generator 2290 via the wireless data links 2214, 2215, 2213a, 2213b, 2213c, and 2213d, and each of the wireless data links may also be adapted to implement other network topologies.

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

[0188] In some cases, according to the various examples described herein, the computing platform 2300 or any part (e.g., any structural part or functional part) may be arranged in any device, such as a computing device 2390a, a mobile computing device 2390b, a wearable device 2390c, and / or a processing circuit 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 the memory (which can be implemented in the RAM 2306 or other parts of the computing platform 2300), 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, so as to communicate with, for example, a computing device, which includes a mobile computing and / or communication device having a processor, and the processor includes a database device (e.g., a storage device configured to store atomized data sets, including but not limited to a triple database, etc.). The processor 2304 can be implemented as one or more graphics processing units (“GPUs”), one or more central processing units (“CPUs”) (such as those manufactured by Intel Corporation), or one or more virtual processors, and any combination of a CPU and a virtual processor. The computing platform 2300 exchanges data representing inputs and outputs via input and output devices 2301, which include but are not limited to a keyboard, a mouse, an audio input (e.g., a voice-to-text driven device), a user interface, a display, a monitor, a cursor, a touch-sensitive display, an LCD display or an LED display, and other I / O-related devices.

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

[0191] According to some examples, the computing platform 2300 performs specific operations by the processor 2304 executing one or more sequences of one or more instructions stored in the system memory 2306, 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 a smart phone, etc.). Such instructions or data can be read from another computer-readable medium (such as the storage device 2308) into the system memory 2306. In some examples, hardwired circuitry can be used instead of or in combination with software instructions for implementation. The 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 a medium can take many forms, including (but not limited to) non-volatile media and volatile media. Non-volatile media includes, for example, optical discs or magnetic disks, etc. Volatile media includes dynamic memory, such as the system memory 2306.

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

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

[0194] In the example shown, the system memory 2306 can include various modules, the modules including executable instructions for implementing the functions described herein. The system memory 2306 can include an operating system ("O / S") 2332 and application programs 2336 and / or (one or more) modules 2359. In Fig.23 the example shown, the system memory 2306 can include any number of modules 2359, and any of the modules or one or more portions thereof can 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, circuitry, or any combination thereof. Note that the above structures and constituent elements and their functions can be aggregated with one or more other structures or elements. Alternatively, the elements and their functions can be subdivided into constituent sub-elements (if any). As software, various types of programming languages or formatting languages, frameworks, syntaxes, applications, protocols, objects, or technologies can be used to implement the above technologies. As hardware and / or firmware, various types of programming languages or integrated circuit design languages can be used to implement the above technologies, 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 hardware circuitry or software or any 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 of its components, or any process or device described herein can communicate (e.g., wired or wirelessly) with a mobile device (such as a mobile phone, a wearable device, or a computing device), or can be disposed therein.

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

[0198] For example, module 2359 or one or more of its components, or any process or apparatus 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 a memory. Thus, at least some of the elements in the above-described figures may represent one or more algorithms. Alternatively, at least one of these elements may represent a portion of logic, the portion of logic including a portion of hardware configured to provide a compositional structure and / or functionality. These may vary and are not limited to the examples or descriptions provided.

[0199] As hardware and / or firmware, various types of programming languages or integrated circuit design languages may be used to implement the above structures and techniques, 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 of its components, or any process or apparatus described herein, may be implemented in one or more computing devices including one or more circuits. Thus, at least one of the elements in the above-described figures may represent one or more hardware components. Alternatively, at least one of these elements may represent a portion of logic, the portion of logic including a portion of a circuit configured to provide a compositional structure and / or functionality.

[0201] According to some embodiments, the term "circuit" may refer to, for example, any system including a plurality of components through which current flows to perform one or more functions, the components including discrete components and complex components. Examples of discrete components include transistors, resistors, capacitors, inductors, diodes, etc., while examples of complex components include memories, 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 thus, a component of the circuit). According to some embodiments, the term "module" may refer to, for example, an algorithm or a portion thereof, and / or logic implemented in a hardware circuitry system 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 storing the algorithm 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, FIGS. 200 through 2300 illustrate any number of structures and functions that can be applied to any number of applications. For example, any of the foregoing structures and functions can be incorporated into a mobile phone having a camera. Accordingly, a shadow caster and / or a light source can be attached to or integrated within the mobile phone to perform 3D scanning. In another example, any of the foregoing structures and functions can be implemented to store surface patterns for identification purposes, such as scanning a fingerprint in three dimensions as data for providing security authorization or identification. Any number of applications can implement the structures and functions described herein.

[0203] In one example, a method can include receiving a photon emission at a shadow caster and forming a luminance edge. The method can include receiving the photon emission as light and projecting the luminance edge onto a projection plane. The method can include receiving photon emissions at two edge portions of the shadow caster and forming two of at least two portions of the luminance edge. The at least two portions of the luminance edge can be generally parallel when projected onto the projection plane. The method can include receiving other photon emissions at another shadow caster and forming another luminance edge. The other luminance edge can generally coextend with the luminance edge. The method can include generating photon emissions at a light source disposed adjacent to an end of the shadow caster (e.g., generally on an axis), the shadow caster being a distance (e.g., a maximum distance) from the projection plane. In some examples, receiving the photon emission at the shadow caster can include receiving the photon emission in a first zone and projecting the luminance edge onto the projection plane. The shadow caster can be disposed between one or more light sources and the projection plane. The method can include applying power to move the luminance edge on the projection plane.

[0204] Turning now to a particular and specific application of the present invention, reference is now made to the most preferred embodiments of the present invention, in Fig.24 , Fig.25 , Fig.26 , Fig. 27 , Fig.28 , Fig.29 and Fig.30 , a shadow caster scanner 2400 is shown. Fig.24 A front perspective view of the shadow caster scanner 2400 is demonstrated. Fig.25 is a rear perspective view of the shadow caster scanner 2400. Fig.26 is an exploded view of the shadow caster scanner 2400. Fig. 27 is a front perspective view of a filtered shadow caster 2400a of the present invention. Fig.28 is a front perspective view of a vane shadow caster 2400b of the present invention. Fig.29 is a front perspective view of a wide vane shadow caster 2400c of the present invention. Fig.30 Depicts an operational flowchart 3000 that describes the operation of the shadow caster scanner 2400.

[0205] More specifically, still referring to the present invention's Fig.24 , Fig.25 , Fig.26 , Fig. 27 , Fig.28 , Fig.29 and Fig.30, the shadow projector scanner 2400 includes a housing 2410, and the housing 2410 includes: a back panel 2418, and the back panel 2418 includes: a camera opening 2432, a top panel 2412, two side panels 2414, and the side panels 2414 include: a pivot point 2411 and a base 2416; a shadow projector 2420, and the shadow projector 2420 includes: a front section 2424, and the front section 2424 is rectangular; two side sections 2422, each of the side sections 2422 vertically suspends from opposite ends of the front section 2424, and each of the side sections 2422 includes: a triangular shape and a shoulder mount 2423, and each of the shoulder mounts 2423 includes: a shoulder screw hole 2421 and a shoulder screw 2428, and the shoulder screw 2428 is rotatably attached to the side panel 2414 using a nut 2419 and a washer 2413; and a tongue 2426, and the tongue 2426 suspends from one of the side sections 2422; an actuator assembly 2440, and the actuator assembly 2440 includes: an actuator arm 2442, and the actuator arm 2442 suspends from the housing 2410; an actuator motor 2446, and the actuator motor 2446 suspends from the actuator arm 2442; and an actuator connector 2444, and the actuator connector 2444 suspends from the actuator motor 2446 and is connected to the tongue 2426 of the shadow projector 2420; a light source 2450, and the light source 2450 is discrete, continuous, linear, and extends between the shoulder screws 2428 of the shoulder mounts 2423 of the side sections 2422 of the shadow projector 2420; a video camera assembly 2430, and the video camera assembly 2430 extends through the camera opening 2432 of the back panel 2418 of the housing 2410, and the video camera assembly 2430 includes: a video camera support platform 2436 and a video camera 2434, and the video camera 2434 is mounted on the video camera support platform 2436, and the video camera 2434 includes: a camera lens 2435, a camera synchronization 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), and the processor includes: the computer-readable medium; and a display (not shown); wherein, the light source 2450 illuminates the shadow projector 2420 to project high-contrast shadows of known geometries, which form the one or more brightness edges on the object; wherein, the actuator motor 2446 moves the shadow projector 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 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. Alternatively,; Fig. 27 The illustrated filtered shadow caster 2420a can be used with the shadow caster scanner 2400 to replace the shadow caster 2420, and it includes: a front section 2424a, the front section 2424a being rectangular; two side sections 2422a, each side section 2422a vertically suspended from opposite ends of the front section 2424a, each side section 2422a including: a triangular shape and a shoulder mount 2423a, each shoulder mount 2423a including: a shoulder screw hole 2421a and a tongue 2426a. The front section 2424a and the two side sections 2422a further include a first filter 2429a, a second filter 2425a, and a third filter 2427a, the filters being capable of filtering light of different colors or having different opacities. Although only three filters are shown in the drawings, any number of filters can be used. Alternatively, Fig.28 The illustrated vane shadow caster 2400b can be used with the shadow caster scanner 2400 to replace the shadow caster 2420, and it includes: a front section 2424b, the front section 2424b being rectangular; two side sections 2422b, each side section 2422b vertically suspended from opposite ends of the front section 2424b, each side section 2422b including: a triangular shape and a shoulder mount 2423b, each shoulder mount 2423b including: a shoulder screw hole 2421b and a tongue 2426b. The front section 2424b and the two side sections 2422b further include a first section 2429b, a second section 2425b, and a third section 2427b for generating more luminance edges. Although only three sections are shown in the drawings, any number of sections can be used. Alternatively, Fig.29The wide vane shadow caster 2400c shown can be used with the shadow caster scanner 2400 to replace the shadow caster 2420, and it includes: a front section 2424c; two side sections 2422c, each of the side sections 2422c being vertically suspended from opposite ends of the front section 2424c, each of the side sections 2422c including: a triangular shape and a shoulder mount 2423c, each of the shoulder mounts 2423c including: a shoulder screw hole 2421c and a tongue 2426c. The front section 2424c and the two side sections 2422c further include a first wide section 2429c, a second wide section 2425c, and a third wide section 2427c for generating more luminance edges. Although only three sections are shown in the drawings, any number of sections can be used. In Fig.30 In the operation flowchart 3000 described in, the first step in the operation of the shadow caster scanner 2400 includes positioning the scanner above the object in the position scanner step 3005. Next, in the 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 the align scanner step 3040. Once the scanner is aligned, it is determined in the focus determination step 3015 whether the camera is focused on the object. If the camera is not focused, the camera is focused in the focus camera step 3020. Once the camera is focused, the camera starts recording a video of the object in the start recording step 3025. Next, in the start sweep step 3045, the shadow caster starts sweeping luminance edges across the object. Next, in the collect and analyze step 3050, the processor collects the frames of the recorded video and analyzes them to form a point cloud. Next, in the stop sweep step 3060, the shadow caster stops sweeping luminance edges across the object. Next, in the filter point cloud step 3070, the processor filters the point cloud. Next, in the construct surface step 3075, the processor constructs a model of the three-dimensional surface based on the filtered point cloud. Next, in the 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 combined and saved to a file in the save file step 3035. Finally, in the store scanner step 3080, the scanner is stored after the operation.

[0206] As 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 includes a 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 includes a 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 include a 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 includes a 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 shadow caster 2420 includes a 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 and may further include a configurable shape, a three-dimensional printed shape, configurable opacity (such as liquid crystal, etc.), or various color filters. The shoulder screw 2428 includes a 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 nut 2419 and washer 2413 include a 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 tongue 2426 of the shadow caster 2420 includes a lightweight 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 actuator arm 2442 of the actuator assembly 2440 includes a 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 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 rigid and sturdy 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 light source 2450 includes an incandescent lamp, halogen lamp, fluorescent lamp, linear lamp, slotted tube lamp, LED, LED array, LED linear array, light sources of different colors, color LEDs, lasers, X-ray sources, UV sources, infrared sources, etc. The video camera support platform 2436 includes a rigid and sturdy 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 video camera 2434 includes a digital or analog video camera, etc. The camera lens 2435 includes a telephoto lens, filter lens, magnifying lens, 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, mobile phone, PC, CPU, etc. The display includes a monitor, screen, TV, augmented reality headset, microscope, etc. The filtered shadow projector 2420a includes configurable opacity (such as liquid crystal, etc.), or various color filters, etc., which can filter light of different colors or have different opacities. The vane shadow projector 2400b includes a rigid and sturdy 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, and may further include a configurable shape, three-dimensional printed shape, configurable opacity (such as liquid crystal, etc.), or various color filters, etc. The wide vane shadow projector 2400c includes a rigid and sturdy 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, and may further include a configurable shape, three-dimensional printed shape, configurable opacity (such as liquid crystal, etc.), or various color filters, etc.

[0207] Now referring to another embodiment of the present invention, in Fig.31 , Fig.32 , Fig.33 , Fig.34 , Fig.35 and Fig.36 a surgical shadow projector scanner 3100 used during a surgical operation is shown. Fig.31 is a front perspective view of the surgical shadow projector scanner 3100 used during a brain surgery on a patient 3170. Fig.32Displays an operation flowchart 3200 depicting the operation of a surgical shadow-casting scanner 3100 used during brain surgery. Fig.33 Shows a side scanner flowchart 3300 depicting the operation of a surgical shadow-casting scanner 3100 used as a side scanner during brain surgery. Fig.34 Depicts an algorithm flowchart 3400 depicting the algorithm used by a surgical shadow-casting scanner 3100 used as a side scanner during brain surgery. Fig.35 Displays a registration flowchart 3500 depicting the use of a surgical shadow-casting scanner 3100 for patient registration. Fig.36 Demonstrates a robot flowchart 3600 depicting the operation of a surgical shadow-casting scanner 3100 used during robotic automated brain surgery.

[0208] More specifically, still referring to the present invention Fig.31 、 Fig.32 、 Fig.33 、 Fig.34 、 Fig.35 and Fig.36 ,in Fig.31 ,the surgical shadow-casting scanner 3100 is shown casting a shadow 3167 from the shadow-caster 3120 over the craniotomy 3180 of the patient 3170 while the video camera 3130 is recording the sweep. The head clamp 3165, the right-angle clamp 3161, and the lockable flex arm 3163 fix the position of the surgical shadow-casting scanner 3100 relative to the scanned area on the patient 3170. In Fig.32Among them, the operation flow chart 3200 describes the operation of the surgical shadow projector scanner 3100 used during brain surgery. The first step in the operation of the surgical shadow projector scanner 3100 includes: in the covering the scanner step 3203, covering the scanner with a customized drape, which is well-suited for surgery, conforms to the exterior of the surgical shadow projector scanner 3100, and can protect the patient 3170 from contamination during surgery. Next, in the positioning the scanner step 3205, position the surgical shadow projector scanner 3100 above the object. Next, in the alignment determination step 3210, determine whether the scanner is aligned with the object, in this case, the object is the craniotomy 3180 of the patient 3170. If the scanner is not aligned, align the scanner with the object in the aligning the scanner step 3240. Once the scanner is aligned, determine in the focusing determination step 3215 whether the camera is focused on the object. If the camera is not focused, focus the camera in the focusing the camera step 3220. Once the camera is focused, the camera starts recording a video of the object in the starting recording step 3225. Next, in the starting sweep step 3245, the shadow projector starts sweeping the brightness edge across the object. Next, in the collecting and analyzing step 3250, the processor collects and analyzes the frames of the recorded video to form a point cloud. Next, in the filtering new cloud points step 3252, the processor filters the new cloud points. Next, in the updating the filtered cloud points step 3254, update the display of the filtered point cloud. Next, in the filtering the entire point cloud step 3270, the processor filters the entire point cloud. Next, in the constructing the surface step 3275, the processor constructs a model of the three-dimensional surface based on the filtered point cloud. Next, in the sending the surface step 3263, send the surface to the 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 surgery. Next, in the saving the file step 3235, save the surface to a file. Next, in the displaying the image step 3255, the processor displays the model on the monitor. In another scan determination step 3230, determine whether another scan is needed. If another scan is needed, repeat the alignment determination step 3210 as described above. Next, in the stopping the sweep step 3260, the shadow projector stops sweeping the brightness edge across the object. Next, in the stopping the recording step 3265, the camera stops recording the video of the object. Next, in the uncovering the scanner drape step 3277, uncover the scanner drape. Finally, in the storing the scanner step 3280, store the scanner after the operation. In Fig.33In [the figure], the side scanner flow chart 3300 describes the operation of the surgical shadow-casting scanner 3100 used as a side scanner during a brain surgery. The first step in the operation of the surgical shadow-casting scanner 3100 as a side scanner includes: in the covering the scanner step 3303, covering the scanner with a customized drape that is well-suited for the surgery, conforms to the exterior of the surgical shadow-casting scanner 3100, and can protect the patient 3170 from contamination during the surgery. Next, in the positioning the scanner step 3305, position the surgical shadow-casting scanner 3100 on one side of the object. Next, in the alignment determination step 3310, determine whether the scanner is aligned with the object. If the scanner is not aligned, then in the aligning the scanner step 3340, align the scanner with the object. Once the scanner is aligned, in the focusing determination step 3315, determine whether the camera is focused on the object. If the camera is not focused, then in the focusing the camera step 3320, focus the camera. Once the camera is focused, in the starting recording step 3325, the camera starts recording a video of the object. Next, in the starting sweep step 3345, the shadow-caster starts sweeping a brightness edge over the object. Next, in the collecting and analyzing step 3350, the processor collects the frames of the recorded video and analyzes them to form a point cloud. Next, in the stopping sweep step 3360, the shadow-caster stops sweeping the brightness edge over the object. Next, in the stopping recording step 3365, the camera stops recording the video of the object. Next, in the filtering the point cloud step 3370, the processor filters the point cloud. Next, in the constructing surface step 3375, the processor constructs a model of a three-dimensional surface based on the filtered point cloud. Next, in the saving file step 3335, save the surface to a file. Next, in the displaying image step 3355, the processor displays the model on a monitor. In another scan determination step 3330, determine whether another scan is needed. If another scan is needed, then in the still aiming step 3333, determine whether the scanner is still facing the target. If the scanner is still facing the target, then as described above, repeat the starting recording step 3325. If the scanner is no longer facing the target, then in the moving back step 3337, wait until the scanner is moved back. Once the scanner is moved back to the target, then as described above, repeat the starting recording step 3325. If another scan is not needed, then in the uncovering the scanner drape step 3377, uncover the scanner drape. Finally, in the storing the scanner step 3380, store the scanner after the operation. In Fig.34Among them, the algorithm flowchart 3400 describes the algorithm used by the surgical shadow projector scanner 3100, which is used as a side scanner during brain surgery. The first step in the algorithm for the surgical shadow projector scanner 3100 includes starting the program in the start program step 3404. Next, in the collect parameters step 3408, scan and analysis parameters provided by the user or specified by the program are collected. Next, in the start recording step 3425, the camera starts recording video. Next, in the start sweep step 3445, the motor is started so as to move the shadow projector and sweep the brightness edge over the object. Next, in the collect video step 3450, the frames of the recorded video are collected. Next, in the buffer determination step 3424, it is determined whether the video buffer is filled enough for analysis. If the buffer is not filled enough, then as described above, the collect video step 3450 is repeated. If the buffer is filled enough for analysis, then in the analyze frames step 3444, the video frames are analyzed to build a point cloud. Next, in the filter new cloud points step 3452, the processor filters the new cloud points. Next, in the update filtered point cloud step 3454, the display of the filtered point cloud is updated. Next, in the still buffered determination step 3458, it is determined whether there are still enough frames in the buffer. If there are not enough frames in the buffer, then as described above, the buffer determination step 3424 is repeated. If there are still enough frames in the buffer, then in the complete sweep determination step 3478, it is determined whether the sweep is complete. If the sweep is not complete, then as described above, the analyze frames step 3444 is repeated. If the sweep is complete, then in the stop motor step 3468, the motor is stopped. Next, in the stop recording step 3465, the camera stops recording the video of the object. Next, in the complete analyze frames step 3464, the analysis of the frames is completed. Next, in the filter point cloud step 3470, the processor filters the point cloud. Next, in the construct surface step 3475, the processor constructs a model of a three-dimensional surface based on the filtered point cloud. Next, in the save file step 3435, the surface is saved to a file. Next, in the display image step 3455, the processor displays the model on the monitor. In another scan determination step 3430, it is determined whether another scan is required. If another scan is required, then in the still visible step 3414, it is determined whether the target or fiducial is still visible in the field of view of the camera. If the target or fiducial is still visible, then as described above, the start recording step 3425 is repeated. If the target or fiducial is not still visible, then in the wait step 3412, wait until the target or fiducial is visible again, and once the target or fiducial is visible again, then as described above, the start recording step 3425 is repeated. Finally, if another scan is not required, then in the exit algorithm step 3490, the user exits the algorithm. In Fig.35In it, the registration flowchart 3500 describes the surgical shadow casting scanner 3100 that is used for patient registration. The first step in registering a patient includes covering the scanner with a custom drape in the covering scanner step 3503. Next, in the positioning scanner step 3505, the surgical shadow casting scanner 3100 is positioned above the object. Next, in the alignment determination step 3510, 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 the aligning scanner step 3540. Once the scanner is aligned, it is determined in the focusing determination step 3515 whether the camera is focused on the object. If the camera is not focused, the camera is focused in the focusing camera step 3520. Once the camera is focused, the camera starts recording a video of the object in the start recording step 3525. Next, in the start sweep step 3545, the shadow caster starts sweeping a brightness edge over the object. Next, in the collecting and analyzing step 3550, the processor collects and analyzes the frames of the recorded video to form a point cloud. Next, in the stop sweep step 3560, the shadow caster stops sweeping the brightness edge over the object. Next, in the stop recording step 3565, the camera stops recording the video of the object. Next, in the filtering point cloud step 3570, the processor filters the point cloud. Next, in the constructing surface step 3575, the processor constructs a model of the three-dimensional surface based on the filtered point cloud. Next, in the saving file step 3235, the surface is saved to a file. Next, in the sending surface step 3563, the surface is sent to the navigation computer. Next, in the two-scan determination step 3531, it is determined whether two scans have been collected. If two scans have not been collected, the positioning scanner step 3505 is repeated as described above. If two scans have been collected, a fiducial is identified on the first surface in the identifying first fiducial step 3581. Next, in the identifying second fiducial step 3583, a corresponding fiducial is identified on the second surface. Next, in the calculating step 3585, a rigid transformation is calculated using the processor. Next, when the scanner or the patient is moved, in the mapping step 3587, all surface points are mapped to their new positions using the rigid transformation. Finally, in the continue operation step 3595, the operation continues. In Fig.36In it, the robotic flowchart 3600 describes the operation of the surgical shadow-casting scanner 3100 used during robotic automated brain surgery. The first step in the robotic automated operation of the surgical shadow-casting scanner 3100 includes: in the covering the scanner step 3603, covering the scanner with a customized drape that is well-suited for the surgery, conforms to the exterior of the surgical shadow-casting scanner 3100, and can protect the patient 3170 from contamination during the surgery. Next, in the positioning the scanner step 3605, the robotic-controlled motor is used to position the surgical shadow-casting scanner 3100 above the object. Next, in the alignment determination step 3610, it is determined whether the scanner is aligned with the object. If the scanner is not aligned, then in the aligning the scanner step 3640, the scanner is aligned with the object. Once the scanner is aligned, in the focusing determination step 3615, it is determined whether the camera is focused on the object. If the camera is not focused, then in the focusing the camera step 3620, the camera is focused. Once the camera is focused, in the starting to record step 3625, the camera starts recording a video of the object. Next, in the starting to sweep step 3645, the shadow-caster starts sweeping the brightness edges over the object. Next, in the collecting and analyzing step 3650, the processor collects the frames of the recorded video and analyzes them to form a point cloud. Next, in the filtering new cloud points step 3652, the processor filters the new cloud points. Next, in the updating the filtered cloud points step 3654, the filtered point cloud display is updated. Next, in the entire scan determination step 3667, it is determined whether the entire region of interest has been scanned. If the entire region of interest has not been scanned, then as described above, the collecting and analyzing step 3650 is repeated. If the entire region of interest has been scanned, then in the filtering the entire point cloud step 3670, the processor filters the entire point cloud. Next, in the constructing the surface step 3675, the processor constructs a model of the three-dimensional surface based on the filtered point cloud. Next, in the sending the surface step 3663, the surface is sent to the navigation computer. Next, in the saving the file step 3635, the surface is saved to a file. Next, in the displaying the image step 3655, the processor displays the model on the monitor. In another scan determination step 3630, it is determined whether another scan is needed. If another scan is needed, then as described above, the alignment determination step 3610 is repeated. If another scan is not needed, then in the stopping the sweep step 3660, the shadow-caster stops sweeping the brightness edges over the object. Next, in the stopping the recording step 3665, the camera stops recording the video of the object. Next, in the uncovering the scanner drape step 3677, the scanner drape is uncovered. Finally, in the storing the scanner step 3680, the scanner is stored after the operation.

[0209] As Fig.31 、 Fig.32, Fig.33 , Fig.34 , Fig.35 and Fig.36 The structural details of the present invention shown in Fig.33 , Fig.34 , Fig.35 and Fig.36 are that the surgical shadow projector scanner 3100 includes a 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 shadow projector 3120 includes a 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, and may further include a configurable shape, a three-dimensional printed shape, 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, the right-angle clamp 3161 and the lockable flexible arm 3163 include a 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.

[0210] Now referring to another embodiment of the present invention, in Fig.37 , Fig.38 , Fig.39 , Fig.40 , Fig.41 , Fig.42 , Fig.43 and Fig.44 , an endoscopic version of the shadow projector scanner is shown. Fig.37 , Fig.38 , Fig.39 , Fig.40 , Fig.41 , Fig.42 , Fig.43 and Fig.44 An endoscopic version of the shadow projector scanner is shown. Fig.37 is a front perspective view of the endoscopic shadow projector scanner 3700. Fig.38 is an exploded view of the endoscopic shadow projector scanner 3700. Fig.39 is a front perspective view of the moving slit type endoscopic shadow projector scanner 3900. Fig.40 Front perspective views and exploded views of the endoscopic bodies 4000, 4000a and 4000b of the endoscopic shadow projector scanner 3700 and the moving slit type endoscopic shadow projector scanner 3900 are shown. Fig.41 Depicts an optical path block diagram 4100, which describes the optical paths of the endoscopic shadow projector scanner 3700 and the moving slit type endoscopic shadow projector scanner 3900. Fig.42 Shows an endoscopic operation flow chart 4200 that describes the operations of the endoscopic shadow projector scanner 3700 and the moving slit type endoscopic shadow projector scanner 3900 during surgery. Fig.43Depicts the endoscope algorithm flow chart 4300, which describes the algorithms used by the endoscope shadow projector scanner 3700 and the moving slit type endoscope shadow projector scanner 3900. Fig.44 Shows the endoscope sweep flow chart 4400, which describes the shadow projector sweeps of the endoscope shadow projector scanner 3700 and the moving slit type endoscope shadow projector scanner 3900.

[0211] More specifically, still referring to the present invention's Fig.37 、 Fig.38 、 Fig.39 、 Fig.40 、 Fig.41 、 Fig.42 、 Fig.43 and Fig.44 , in Fig.37 、 Fig.38 and Fig.40Shown therein are an endoscopic shadow thrower scanner 3700 and optional distal ends 4001, 4001a, or 4001b. The endoscopic shadow thrower scanner 3700 includes endoscopic bodies 4000, 4000a, and 4000b, where the endoscopic bodies 4000, 4000a, or 4000b include: a proximal end 3701; a distal end 4001, 4001a, or 4001b; an endoscopic sleeve 4010, 4010a, or 4010b that spans between the proximal end 3701 and the distal end 4001, 4001a, or 4001b; tapered fiber optic bundles 4060a and 4060b that are disposed within the endoscopic sleeve 4010, 4010a, or 4010b and taper towards the distal end 4001, 4001a, or 4001b; and an endoscopic camera 4030, 4030a, or 4030b that is disposed within the endoscopic sleeve 4010, 4010a, or 4010b and faces outside the distal end 4001, 4001a, or 4001b; a shadow thrower 4020, 4020a, or 4020b that is mounted on the distal end 4001, 4001a, or 4001b of the endoscopic body 4000, 4000a, or 4000b above the tapered fiber optic bundles 4060a and 4060b, where the shadow thrower 4020, 4020a, or 4020b includes: a semi-circular sheet; the endoscopic shadow thrower scanner 3700 includes: a horizontal platform 3730; a vertical seat 3705 that extends from the horizontal platform 3730; a stepper motor linear actuator 3740 that extends from the horizontal platform 3730; a translation platform 3715 that is connected to the stepper motor linear actuator 3740; a light source that is suspended from the translation platform 3715; a cylindrical lens 3760; a fiber optic bundle 3710, which may be an image-maintaining fiber optic bundle, that is suspended from the light source; a square-to-round cone 3720 that is suspended from the fiber optic bundle 3710; and a slit 3725 that is mounted on the square-to-round cone 3720; a memory stored in a non-transitory computer-readable medium; a processor (not shown) that includes: the computer-readable medium; and a display (not shown); wherein the endoscopic shadow thrower scanner 3700 is connected to the proximal end 3701 of the endoscopic bodies 4000, 4000a, and 4000b;Wherein, the light source illuminates the fiber optic bundle 3710, the square-to-round taper 3720, the slit 3725, the tapered fiber optic bundle 4060a, and the shadow projector 4020 or 4020a to project high-contrast shadows of known geometry, which form the one or more luminance edges on the object; wherein, the stepper motor linear actuator 3740 moves the translation stage 3715 together with the light source to sweep the one or more luminance edges across the object; wherein, the endoscopic camera 4030, 4030a, or 4030b detects the one or more luminance 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 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 FIG. shows a moving slit type endoscopic shadow projector scanner 3900 and optional distal ends 4001, 4001a, or 4001b. The moving slit type endoscopic shadow projector scanner 3900 includes an endoscopic body 4000, 4000a, and 4000b, and the endoscopic body 4000, 4000a, or 4000b includes: a proximal end 3701 (at Fig.37 and Fig.38as shown); distal ends 4001, 4001a or 4001b; endoscope sleeves 4010, 4010a or 4010b that span between the proximal end 3701 and the distal ends 4001, 4001a or 4001b; a tapered fiber optic bundle 4060a that is disposed within the endoscope sleeve 4010 or 4010a and tapers towards the distal ends 4001, 4001a or 4001b; and endoscope cameras 4030, 4030a or 4030b that are disposed within the endoscope sleeve 4010, 4010a or 4010b and face outside the distal ends 4001, 4001a or 4001b; shadow throwers 4020, 4020a or 4020b that are mounted on the distal ends 4001, 4001a or 4001b of the endoscope bodies 4000, 4000a or 4000b above the tapered fiber optic bundle 4060a, the shadow throwers 4020 or 4020a including: a semi-circular sheet; a moving slit type endoscope shadow thrower scanner 3900 that includes: a horizontal platform 3930; a vertical base 3905 that extends from the horizontal platform 3930; a stepper motor linear actuator 3940 that extends from the horizontal platform 3930; a support platform 3915 that is suspended from the vertical base 3905; a light source (not shown); a fiber optic bundle 3910 that is suspended from the light source; a square-to-round taper 3920 that is suspended from the fiber optic bundle 3910; and a slit 3925 that is mounted to the stepper motor linear actuator 3940; a memory stored in a non-transitory computer-readable medium; a processor (not shown) that includes: 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 optic bundle 3910, the square-to-round taper 3920, the slit 3925, the tapered fiber optic bundle 4060a and the shadow thrower 4020 or 4020a to project high-contrast shadows of known geometries that form the one or more luminance edges on the object; wherein the stepper motor linear actuator 3940 moves the slit 3925 to sweep the one or more luminance edges across the object;Among them, the endoscopic cameras 4030, 4030a or 4030b detect the one or more luminance edges on the object to obtain three-dimensional points, and record the three-dimensional points in the memory; among them, the processor forms a three-dimensional data representation based on the recorded three-dimensional points; among them, the processor uses the three-dimensional data representation to generate the three-dimensional model of the object; and among them, the three-dimensional model is displayed on the display using the processor. In; Fig.41 In it, the optical path block diagram 4100 describes the optical paths of the endoscopic shadow projector scanner 3700 and the moving slit type endoscopic shadow projector 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 lamp is lit by the endoscopic shadow projector scanner 3700 and the moving slit type endoscopic shadow projector scanner 3900, in which step, the light source or the moving slit 3925 is moved. Next, in the optical fiber step 4130, the light from the endoscopic shadow projector scanner 3700 and the moving slit type endoscopic shadow projector scanner 3900 travels along the conical optical fiber bundle 4060a. Next, in the distal end step 4140, the light is projected from the distal ends 4001, 4001a or 4001b of the endoscopic bodies 4000, 4000a or 4000b and passes through the shadow projectors 4020, 4020a or 4020b. Next, in the camera step 4150, the light and the luminance edges are detected by the endoscopic cameras 4030, 4030a or 4030b. Finally, in the computer step 4160, the images from the endoscopic cameras 4030, 4030a or 4030b are sent to the processor to be processed into a three-dimensional model. In Fig.42In [the figure], the endoscopic operation flowchart 4200 describes the operations of the endoscopic shadow projector scanner 3700 and the moving slit type endoscopic shadow projector scanner 3900 used during a surgical operation. The first steps in the operations of the endoscopic shadow projector scanner 3700 and the moving slit type endoscopic shadow projector scanner 3900 include: In the covering the scanner step 4203, cover the scanner with a customized drape which is well-suited for the surgical operation, conforms to the exteriors of the endoscopic shadow projector scanner 3700 and the moving slit type endoscopic shadow projector scanner 3900, and can protect the patient from contamination during the surgical operation. Next, in the inserting the scanner step 4205, insert the distal ends 4001, 4001a, or 4001b of the endoscopic shadow projector scanner 3700 or the moving slit type endoscopic shadow projector scanner 3900 into a natural or artificial orifice. Next, in the enabling step 4210, enable the light source and the endoscopic cameras 4030, 4030a, or 4030b. Next, in the navigating step 4240, navigate the distal ends 4001, 4001a, or 4001b of the endoscopic shadow projector scanner 3700 or the moving slit type endoscopic shadow projector scanner 3900 to the target. Next, in the focusing determination step 4215, determine whether the endoscopic cameras 4030, 4030a, or 4030b are focused on the target. If the endoscopic cameras 4030, 4030a, or 4030b are not focused, then in the focusing the camera step 4220, focus the endoscopic cameras 4030, 4030a, or 4030b. Once the endoscopic cameras 4030, 4030a, or 4030b are focused, then in the starting to record step 4225, the endoscopic cameras 4030, 4030a, or 4030b start recording a video of the target. Next, in the starting to sweep step 4245, by moving the light source of the endoscopic shadow projector scanner 3700 or the slit 3925 of the moving slit type endoscopic shadow projector scanner 3900, the brightness edge starts to sweep across the object. Next, in the collecting and analyzing step 4250, the processor collects the frames of the recorded video and analyzes them to form a point cloud. Next, in the filtering new cloud points step 4252, the processor filters the new cloud points. Next, in the updating the filtered cloud points step 4254, update the display of the filtered point cloud. Next, in the entire scan determination step 4267, determine whether the entire region of interest has been scanned. If the entire region of interest has not been scanned, then as described above, repeat the collecting and analyzing step 4250. If the entire region of interest has been scanned, then in the filtering the entire point cloud step 4270, the processor filters the entire point cloud. Next, in the constructing the surface step 3275, the processor constructs a model of the three-dimensional surface based on the filtered point cloud. Next, in the sending the surface step 4263, send the surface to the navigation computer.Next, in the save file step 4235, the surface is saved to a file. Next, in the display image step 4255, the processor displays the model on a display. In another scan determination step 4230, it is determined whether another scan is required. If another scan is required, then as described above, the start sweep step 4245 is repeated. If another scan is not required, then in the stop sweep step 4260, the luminance edge stops sweeping over the object. Next, in the stop recording step 4265, the camera stops recording video of the object. Next, in the uncover scanner drape step 4277, the scanner drape is uncovered. Finally, in the store scanner step 4280, the scanner is stored after operation. In. Fig.43Among them, the endoscopic algorithm flowchart 4300 describes the algorithms used by the endoscopic shadow projector scanner 3700 and the moving slit type endoscopic shadow projector scanner 3900. The first step in the algorithm for the endoscopic shadow projector scanner 3700 or the moving slit type endoscopic shadow projector scanner 3900 includes starting the program in the start program step 4304. Next, in the collect parameters step 4308, scan and analysis parameters provided by the user or specified by the program are collected. Next, in the start recording step 4325, the endoscopic cameras 4030, 4030a or 4030b start recording video. Next, in the start sweep step 4345, the stepper motor linear actuator 3740 or 3940 is started to move the light source of the endoscopic shadow projector scanner 3700 or the slit 3925 of the moving slit type endoscopic shadow projector scanner 3900 to sweep the brightness edge across the target. Next, in the collect video step 4350, the frames of the recorded video are collected. Next, in the buffer determination step 4324, it is determined whether the video buffer is filled enough for analysis. If the buffer is not filled enough, as described above, the collect video step 4350 is repeated. If the buffer is filled enough for analysis, the video frames are analyzed in the analyze frames step 4344 to build a point cloud. Next, in the still buffered determination step 4358, it is determined whether there are still enough frames in the buffer. If there are not enough frames in the buffer, as described above, the buffer determination step 4324 is repeated. If there are still enough frames in the buffer, it is determined in the finish sweep determination step 4378 whether the sweep is completed. If the sweep is not completed, as described above, the analyze frames step 4344 is repeated. If the sweep is completed, the stepper motor linear actuator 3740 or 3940 is stopped in the stop motor step 4368. Next, in the stop recording step 4365, the endoscopic cameras 4030, 4030a or 4030b stop recording the video of the object. Next, in the finish analyzing frames step 4364, the analysis of the frames is completed. Next, in the filter point cloud step 4370, the processor filters the point cloud. Next, in the construct surface step 4375, the processor constructs a model of the three-dimensional surface based on the filtered point cloud. Next, in the save file step 4335, the surface is saved to a file. Next, in the display image step 4355, the processor displays the model on the monitor. In another scan determination step 4330, it is determined whether another scan is required. If another scan is required, as described above, the start recording step 4325 is repeated. Finally, if another scan is not required, the user exits the algorithm in the exit algorithm step 4390. In Fig.44In this, the endoscope sweep flowchart 4400 describes the shadow projector sweeps of the endoscope shadow projector scanner 3700 and the moving slit type endoscope shadow projector 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 starts to sweep by moving the light source of the endoscope shadow projector scanner 3700 or the slit 3925 of the moving slit type endoscope shadow projector scanner 3900. Next, in the obtain 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, then as described above, the obtain current motor position step 4447 is repeated. If the light source has indeed reached the end of the sweep and another scan is required, then in the repeat algorithm step 4494, the set motor parameters step 4407 is repeated in the direction opposite to the first scan. In order to use the tapered fiber optic bundle 4060b, the proximal tapered fiber optic bundle must gradually narrow to the same shape as the distal tapered fiber optic bundle 4060b, such as from a semi-circle to a full circle.

[0212] As Fig.37 , Fig.38 , Fig.39 , Fig.40 , Fig.41 , Fig.42 , Fig.43 and Fig.44The structural details of the present invention shown are that the endoscope sleeves 4010, 4010a or 4010b include flexible materials such as plastics, silicone, metals, etc. The tapered fiber optic bundles 4060a and 4060b include optical fibers, glass, plastics, composite materials, etc. The endoscope cameras 4030, 4030a or 4030b include standard endoscope cameras, etc. The shadow projectors 4020, 4020a or 4020b include rigid materials such as steel, copper-clad, plastics, high-density plastics, silicone, PVC, fiberglass, carbon fiber, composite materials, metals, 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. The horizontal platforms 3730 and 3930 include rigid materials such as steel, copper-clad, plastics, high-density plastics, silicone, PVC, fiberglass, carbon fiber, composite materials, metals, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials. The vertical seats 3705 and 3905 include rigid materials such as steel, copper-clad, plastics, high-density plastics, silicone, PVC, fiberglass, carbon fiber, composite materials, metals, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials. The stepper motor linear actuators 3740 and 3940 include linear stepper motors, electric motors, hydraulic systems, etc. The translation platform 3715 includes rigid materials such as steel, copper-clad, plastics, high-density plastics, silicone, PVC, fiberglass, carbon fiber, composite materials, metals, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials. The light source includes incandescent lamps, halogen lamps, fluorescent lamps, linear lamps, slit tube lamps, LEDs, LED arrays, LED linear arrays, light sources of different colors, color LEDs, lasers, X-ray sources, UV sources, infrared sources, etc. The cylindrical lens 3760 includes optical materials such as glass, acrylic, ceramics, etc. The fiber optic bundles 3710 and 3910 include optical materials such as glass, acrylic, ceramics, etc. The square-to-round cones 3720 and 3920 include glass, plastics, etc. The slit 3725 includes opaque materials such as steel, copper-clad, plastics, high-density plastics, opaque coatings, silicone, PVC, fiberglass, carbon fiber, composite materials, metals, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials. The memory stored in the non-transitory computer-readable medium includes software, instructions, data, algorithms, etc. The processor includes computers, mobile phones, PCs, CPUs, etc. The display includes monitors, screens, TVs, augmented reality headsets, microscopes, etc. The support platform 3915 includes rigid materials such as steel, copper-clad, plastics, high-density plastics, silicone, PVC, fiberglass, carbon fiber, composite materials, metals, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials.The slit 3925 includes an opaque material such as steel, copper-clad, plastic, high-density plastic, opaque paint, silicone, PVC, fiberglass, carbon fiber, composite material, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials.

[0213] Now referring to another embodiment of the present invention, in Fig.45 and Fig.46 a full-body shadow scanner 4500 is shown. Fig.45 is a front perspective view of the full-body shadow scanner 4500 that scans the entire body 4570. Fig.46 A full-body operation flowchart 4600 describing the operation of the full-body shadow scanner 4500 is shown.

[0214] More specifically, still referring to the Fig.45 and Fig.46 of the present invention, the structure of the full-body shadow scanner 4500 is similar to that of the shadow projector scanner 2400; however, the full-body shadow scanner is scaled and adapted to be able to scan the surface of the entire body 4570 and can be mounted above the entire body 4570, such as on the ceiling of a room. The full-body shadow scanner 4500 uses a full-body shadow projector 4520 to project a luminance edge onto the entire body 4570 and uses a full-body camera 4530 to record the luminance edge. The full-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 entire 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 full-body shadow scanner 4500 and / or a smaller embodiment of a similar scanner to perform a high-resolution scan on a smaller region of interest in order to focus on, for example, the three-dimensional shape of a single mole. Scans performed at different times can also provide a record of skin changes on the entire body 4570. For example, a record of new moles or different features can be established. In addition, using a color filter together can identify different tissues during the scan, such as identifying tumors or cancerous regions. In Fig.46In [the figure], the overall operation flowchart 4600 describes the operation of the full-body shadow scanner 4500 being used. The first step in the operation of the full-body shadow scanner 4500 includes: In the positioning scanner step 4605, positioning the full-body shadow scanner 4500 above the full body 4570, or positioning the full body 4570 below the full-body shadow scanner 4500. Next, in the alignment determination step 4610, it is determined whether the full-body shadow scanner 4500 is aligned with the object, in this case, the object being the full body 4570. If the scanner is not aligned, then in the aligning scanner step 4640, the scanner is aligned with the object. Once the scanner is aligned, in the focusing determination step 4615, it is determined whether the camera is focused on the object. If the camera is not focused, then in the focusing camera step 4620, the camera is focused. Once the camera is focused, in the start recording step 4625, the camera starts recording a video of the object. Next, in the start sweeping step 4645, the shadow projector starts sweeping the brightness edge across the object. Next, in the collection and analysis step 4650, the processor collects the frames of the recorded video and analyzes them to form a point cloud. Next, in the stop sweeping step 4660, the shadow projector 4520 stops sweeping the brightness edge across the object. Next, in the stop recording step 4665, the camera stops recording the video of the object. Next, in the filtering point cloud step 4670, the processor filters the point cloud. Next, in the constructing surface step 4675, the processor constructs a model of the three-dimensional surface based on the filtered point cloud. Next, in the 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 needed. If another scan is needed, then as described above, the start sweeping step 4645 is repeated. If another scan is not needed, then in the save file step 4635, the surface is combined and saved to a file. Finally, in the storing scanner step 4680, the full-body shadow scanner 4500 is stored after the operation.

[0215] As Fig.45 and Fig.46 shown, the structural details of the present invention are substantially the same as those shown in Fig.37 , Fig.38 , Fig.39 , Fig.40 , Fig.41 , Fig.42 , Fig.43 and Fig.44 shown.

[0216] Now referring to another embodiment of the present invention, in Fig.47 and Fig.48 is shown a security shadow scanner 4700. Fig.47is a front perspective view of a safety shadow scanner 4700 that scans a walking person 4770. Fig.46 Depicts a safety scanner operation flow chart 4800 that describes the operation of the safety shadow scanner 4700.

[0217] More specifically, still referring to the present invention's Fig.47 and Fig.48 , the structure of the safety shadow scanner 4700 is similar to that of the shadow projector scanner 2400; however, the safety shadow scanner can use the movement of the walking person 4770 to sweep a 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 safety 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 install the light source in the ceiling of the room. The safety shadow scanner 4700 uses a fixed shadow projector 4720 to project a brightness edge onto the walking person 4770, and uses the safety camera 4730 and an optional additional camera 4737 to record the brightness edge. The additional camera 4737 (and in fact, both the safety camera 4730 and the additional camera 4737) can not only detect the brightness edge, but also detect the object itself to help determine the speed of the object. The safety shadow scanner 4700 is used to scan whether a person poses a safety risk, and can be placed at the entrance of a building or at the entrance port of a security area. In addition, using it together with a color filter can identify different features during scanning, such as identifying weapons or contraband. In Fig.48In it, the operation flowchart 4800 of the security scanner describes the operation of the security shadow scanner 4700 being used. The first step in the operation of the security shadow scanner 4700 includes activating the security shadow scanner 4700 in the activate scanner step 4801. Next, in the 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 in the focus camera step 4820, the security camera 4730 and the optional additional camera 4737 are focused. Once the security camera 4730 and the optional additional camera 4737 are focused, then in the start recording step 4825, when the walking person 4770 walks within the field of view of the security camera 4730 and the optional additional camera 4737, the security camera 4730 and the optional additional camera 4737 start recording a video of the object. Next, in the collect frames step 4850, the processor collects the frames of the recorded video. Next, in the calculate speed step 4851, the processor calculates the speed of the object, in this case, the object is the walking person 4770. Next, in the analyze frames step 4844, the processor is used to analyze the frames from the security camera 4730 to form a point cloud. Next, in the 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, then as described above, the collect frames step 4850 is repeated. If the entire region of interest has been scanned, then in the filter point cloud step 4870, the processor filters the point cloud. Next, in the construct surface step 4875, the processor constructs a model of the three-dimensional surface based on the filtered point cloud. Next, in the save file step 4835, the surface is saved to a file. Next, in the 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, then as described above, the collect frames step 4850 is repeated. Finally, if another scan is not required, then in the deactivate scanner step 4881, the scanner is deactivated.

[0218] As Fig.47 and Fig.48 shown, the structural details of the present invention are substantially the same as those as Fig.37 , Fig.38 , Fig.39 , Fig.40 , Fig.41 , Fig.42 , Fig.43 and Fig.44 shown.

[0219] Now referring to another embodiment of the present invention, in Fig.49 , Fig.50 , Fig.51, Fig.52 and Fig.53 shows a visual shadow scanner 4900. Fig.49 Shows a front perspective view of the visual shadow scanner 4900 incorporated into a vehicle, which is an automobile 4901. Fig.50 is Fig.49 a close-up view of the indicated area 4911 of Fig.51 Displays the visual scanner operation flow chart 5100, which describes the operation of the visual shadow scanner 4900 incorporated into a vehicle. Fig.52 Shows the robot vision scanner operation flow chart 5200, which describes the operation of the visual shadow scanner 4900 incorporated into a robot. Fig.53 Is the submersible vision scanner operation flow chart 5300, which describes the operation of the visual shadow scanner 4900 incorporated into a submersible.

[0220] More specifically, still referring to Fig.49 , Fig.50 , Fig.51 , Fig.52 and Fig.53 , in Fig.49 and Fig.50 , the visual shadow scanner 4900 uses the movement of a moving vehicle to sweep luminance edges in the vehicle's surrounding environment to generate a three-dimensional model of the surrounding environment, and the visual shadow scanner includes: a shadow projector 4920 mounted above a light source 4950, the shadow projector including a vertex 4999, the light source being suspended from the vertex 4999, above the headlight 4998 of the automobile 4901 or placed inside the automobile 4901, wherein the light source 4950 is consistent with the light source described in Fig.14 ; a camera 4930 mounted on the roof 4903 of the automobile 4901; and a processor (not shown). In Fig.51In it, the operation flow chart 5100 of the vision scanner describes the operation of the vision shadow scanner 4900 incorporated into a vehicle. The first step in the operation of the vision shadow scanner 4900 includes activating the vision shadow scanner 4900 in the activate scanner step 5101. Next, in the alignment determination step 5110, it is determined whether the vision shadow scanner 4900 is aligned. If the vision shadow scanner 4900 is not aligned, then in the align scanner step 5140, a motor is used to align the vision shadow scanner 4900. Once the vision 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, then in the focus camera step 5120, a motor is used to focus the camera 4930. Once the camera 4930 is focused, the camera 4930 starts recording a video of the environment around the vehicle in the start recording step 5125. Next, in the collect frames step 5150, the processor collects the 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 frames step 5144, the processor is used to analyze the frames from the camera 4930 to form a point cloud. Next, in the entire scan determination step 5167, it is determined whether the entire region of interest has been scanned. If the entire region of interest has not been scanned, then as described above, the collect frames step 5150 is repeated. If the entire region of interest has been scanned, then in the filter point cloud step 5170, the processor filters the entire point cloud. Next, in the construct surface step 5175, the processor constructs a three-dimensional model of the environment around the vehicle based on the filtered point cloud. Next, in the send surface step 5171, the surface is sent to the processor. Next, in another scan determination step 5130, it is determined whether another scan is needed. If another scan is needed, then as described above, the alignment determination step 5110 is repeated. Next, if another scan is not needed, then the camera 4930 stops recording the video of the environment around the vehicle in the stop recording step 5165. Finally, in the deactivate scanner step 5181, the scanner is deactivated. In Figure 52In [description], the operation flow chart 5200 of the robotic vision scanner describes the operation of the shadow projector scanner incorporated into the robot, which differs from the vision shadow scanner 4900 in that it actively scans the surrounding environment of the robot without relying on the speed of the vehicle to sweep the brightness edges in the surrounding environment. The first step in the operation of the scanner incorporated into the robot includes activating the scanner in the activate scanner step 5201. Next, in the alignment determination step 5210, it is determined whether the scanner is aligned. If the scanner is not aligned, the scanner is aligned using the robot-controlled motor in the align scanner step 5240. Once the scanner is aligned, it is determined in the focus determination step 5215 whether the camera is focused. If the camera is not focused, the camera is focused using the robot-controlled motor in the focus camera step 5220. Once the camera is focused, the camera starts recording the video of the surrounding environment of the robot in the start recording step 5225. Next, in the start sweep step 5245, the shadow projector starts sweeping the brightness edges in the surrounding environment of the robot. Next, in the collect and analyze frames step 5250, the processor collects and analyzes the frames of the recorded video to form a point cloud. Next, in the entire scan determination step 5267, it is determined whether the entire region of interest has been scanned. If the entire region of interest has not been scanned, the collect and analyze frames step 5250 is repeated as described above. If the entire region 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 surrounding environment of the robot based on the filtered point cloud. Next, in the send surface step 5271, the surface is sent to the processor of the robot. Next, in 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 projector stops sweeping the brightness edges in the surrounding environment of the robot. Next, in the stop recording step 5265, the camera stops recording the video of the surrounding environment of the robot. Finally, in the deactivate scanner step 5281, the scanner is deactivated. In Figure 53In it, the operation flowchart 5300 of the submersible vision scanner describes the operation of the shadow-casting scanner incorporated into the underwater submersible. The first step in the operation of the scanner incorporated into the submersible includes activating the scanner in the activate scanner step 5301. Next, in the focus determination step 5315, it is determined whether the camera is in focus. If the camera is not in focus, the camera is focused in the focus camera step 5320. Once the camera is in focus, the camera starts recording a video of the environment around the submersible in the start recording step 5325. Next, in the start sweep step 5345, the light or the moving submersible starts sweeping the brightness edge in the environment around the submersible. Next, in the collect and analyze frames step 5350, the processor collects the frames of the recorded video and analyzes them to form a point cloud. Next, in the stop sweep step 5360, the light stops sweeping, or the submersible stops moving, so that the brightness edge stops sweeping in the environment around the submersible. Next, in the filter point cloud step 5370, the processor filters the point cloud. Next, in the construct surface step 5375, the processor constructs a three-dimensional model of the environment around the submersible based on the filtered point cloud. Next, in the save surface step 5335, the surface is saved to a file. Next, in the display image step 5355, the processor displays the surface on the monitor. Next, in another scan determination step 5330, it is determined whether another scan is required. If another scan is required, the start recording step 5325 is repeated as described above. Finally, if another scan is not required, the scanner is deactivated in the deactivate scanner step 5381.

[0221] As Figure 49 , Figure 50 , Figure 51 , Figure 52 and Figure 53 The structural details of the present invention shown include that the shadow-casting device 4920 includes a 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, and may further include a configurable shape, a three-dimensional printed shape, configurable opacity (such as liquid crystal, etc.) or various color filters, etc. The headlight 4998 includes a standard headlight or a customized headlight, etc. The light source 4950 includes a linear light source or a point light source, etc. The vehicle 4901 includes a standard vehicle, an autonomous vehicle, a remote-controlled vehicle, 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, in Figure 54 , Figure 55 , Figure 56 , Figure 57 , Figure 58 andFigure 59 In this, a system of the present invention is shown, which uses a drone with a shadow projector to scan a large area. Figure 54 A front perspective view of a solar drone shadow projector scanner system 5400 is demonstrated, which uses a drone and sunlight to scan a house 5470. Figure 55 It is a flowchart 5500 of solar drone operation, which describes the operation of the solar drone shadow projector scanner system 5400. Figure 56 It is a front perspective view of a drone shadow projector scanner system 5600, which uses a drone with a light source to scan an area. Figure 57 A flowchart 5700 of drone operation is shown, which describes the operation of the drone shadow projector scanner system 5600. Figure 58 It depicts an algorithm flowchart 5800 of the drone, which describes the algorithms used by the solar drone shadow projector scanner system 5400 and the drone shadow projector scanner system 5600. Figure 59 It is a flowchart 5900 of drone sweeping, which describes the shadow projector sweeping used by the solar drone shadow projector scanner system 5400 and the drone shadow projector scanner system 5600.

[0223] More specifically, still referring to the Figure 54 and Figure 55 and Figure 56 and Figure 57 and Figure 58 and Figure 59 of the present invention, in Figure 54 and Figure 55In [text], the solar drone shadow projector scanner system 5400 includes a plurality of shadow drones 5420, each of the shadow drones 5420 including: a drone, the drone including: a remotely piloted aircraft and a shadow projector 5424, the shadow projector 5424 including: a panel suspended from the drone; a plurality of camera drones 5430, each of the camera drones including: the drone and a video camera suspended from the drone; a memory stored in a non-transitory computer-readable medium; a processor (not shown) capable of controlling the shadow drone 5420 and the camera drone 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 such that the shadow projectors 5424 form a generally continuous unified shadow projector, the unified shadow projector including the aligned shadow projectors 5424; wherein the sun illuminates the unified shadow projector to project a high-contrast shadow 5467 of a known geometry, the shadow forming one or more luminance edges on the house 5470 and its surrounding environment; wherein the aligned plurality of shadow drones 5420 in the flight formation sweep the one or more luminance edges over the area in formation over the house 5470 and its surrounding environment; wherein the video camera of the camera drone 5430 detects the one or more luminance edges on the house 5470 and its surrounding environment 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 a three-dimensional model of the house 5470 and its surrounding environment; and wherein the three-dimensional model is displayed on the display using the processor. In Figure 55In it, the operation flowchart 5500 of the solar drone describes the operation of the solar drone shadow projector scanner system 5400. The first step in the operation of the solar drone shadow projector scanner system 5400 includes attaching the shadow projector 5424 to the shadow drone 5420 in the attaching shadow projector step 5502. Next, in the arranging shadow projector step 5511, the shadow drone 5420 is arranged to form an almost continuous shadow projector in mid-air. Next, in the positioning camera drone step 5505, the camera drone 5430 is positioned in mid-air above the shadow drone 5420. Next, in the 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 the aligning drones step 5540. Once the shadow drone 5420 is aligned with the camera drone 5430, it is determined in the focusing 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 the focusing camera step 5520. Once the camera drone 5430 is focused, the camera drone 5430 starts recording a video of the object in the starting recording step 5525. Next, in the starting sweeping step 5545, the shadow drone 5420 starts sweeping across the object and above the object to form a brightness edge by using the sun as a light source. Next, in the collecting and analyzing step 5550, the processor collects and analyzes the frames of the recorded video to form a point cloud. Next, in the filtering new cloud points step 5574, the processor filters the new cloud points. Next, in the updating filtered cloud points step 5554, the filtered point cloud display is updated. Next, in the entire scanning determination step 5567, it is determined whether the entire object has been scanned. If the entire object has not been scanned, the collecting and analyzing step 5550 is repeated as described above. If the entire object has been scanned, the processor filters the entire point cloud in the filtering entire point cloud step 5570. Next, in the constructing surface step 5575, the processor constructs a model of the three-dimensional surface based on the filtered point cloud. Next, in the saving file step 5535, the surface is saved to a file. Next, in the displaying image step 5555, the processor displays the model on a monitor. In another scanning determination step 5530, it is determined whether another scan is required. If another scan is required, the arranging shadow projector step 5511 is repeated as described above. If another scan is not required, the shadow drone 5420 stops sweeping across the object to form a brightness edge in the stopping sweeping step 5560. Finally, in the storing scanner step 5580, the drone is stored after the operation. In Figure 56 and Figure 57In [the context], the UAV shadow projector scanner system 5600 includes a plurality of shadow UAVs 5620, each of the shadow UAVs 5620 including: a UAV, the UAV including: a remotely piloted aircraft and a shadow projector 5624, the shadow projector 5624 including: a panel suspended from the UAV; a plurality of light UAVs 5650, each of the light UAVs 5650 including: the UAV and a light source suspended from the UAV; a plurality of camera UAVs 5630, each of the camera UAVs 5630 including: the UAV and a video camera suspended from the UAV; a memory stored in a non-transitory computer-readable medium; a processor (not shown) capable of controlling the shadow UAVs 5620, the light UAVs 5650, and the camera UAVs 5630, the processor including: the computer-readable medium; and a display (not shown); wherein, the plurality of shadow UAVs 5640 are aligned in a flight formation such that the shadow projectors 5624 form a generally continuous unified shadow projector, the unified shadow projector including the aligned shadow projectors 5624; wherein, the light UAVs 5650 illuminate the unified shadow projector to project a high-contrast shadow 5667 of a known geometry, the shadow forming one or more luminance edges on the house 5670 and its surrounding environment; wherein, the aligned plurality of shadow UAVs 5620 in the flight formation sweep over the house 5670 and its surrounding environment in formation to sweep the one or more luminance edges over the house 5670 and its surrounding environment; wherein, the video camera of the camera UAVs 5630 detects the one or more luminance edges on the house 5670 and its surrounding environment 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 a three-dimensional model of the house 5670 and its surrounding environment; and wherein, the three-dimensional model is displayed on the display using the processor. In Figure 57Among them, the UAV operation flowchart 5700 describes the operation of the UAV shadow projector scanner system 5600. The first step in the operation of the UAV shadow projector scanner system 5600 includes attaching the shadow projector 5624 to the shadow UAV 5620 in the attaching shadow projector step 5702. Next, attach the light to the light UAV 5650 in the attaching light step 5708. Next, in the positioning light UAV step 5718, position the light UAV 5650 in mid-air. Next, in the arranging shadow projector step 5711, arrange the shadow UAV 5620 to form an almost continuous shadow projector in mid-air. Next, in the positioning camera UAV step 5705, position the camera UAV 5630 in mid-air above the shadow UAV 5620. Next, in the alignment determination step 5710, determine whether the shadow UAV 5620 and the light UAV 5650 are aligned with the camera UAV 5630. If the shadow UAV 5620 and the light UAV 5650 are not aligned with the camera UAV 5630, align the UAVs in the aligning UAVs step 5740. Once the shadow UAV 5620 and the light UAV 5650 are aligned with the camera UAV 5630, determine in the focusing determination step 5715 whether the camera UAV 5630 is focused on the object. If the camera UAV 5630 is not focused, focus the camera UAV 5630 in the focusing camera step 5720. Once the camera UAV 5630 is focused, the camera UAV 5630 starts recording a video of the object in the start recording step 5725. Next, in the start sweeping step 5745, the shadow UAV 5620 starts sweeping across the object and above the object to form a brightness edge by using the light UAV 5650 as a light source. Next, in the collecting and analyzing step 5750, the processor collects and analyzes the frames of the recorded video to form a point cloud. Next, in the filtering new cloud points step 5774, the processor filters the new cloud points. Next, in the updating filtered cloud points step 5754, update the display of the filtered point cloud. Next, in the entire scan determination step 5767, determine whether the entire object has been scanned. If the entire object has not been scanned, repeat the collecting and analyzing step 5750 as described above. If the entire object has been scanned, the processor filters the entire point cloud in the filtering entire point cloud step 5770. Next, in the constructing surface step 5775, the processor constructs a model of the three-dimensional surface based on the filtered point cloud. Next, in the saving file step 5735, save the surface to a file. Next, in the displaying image step 5755, the processor displays the model on the monitor. In another scan determination step 5730, determine whether another scan is required. If another scan is required, repeat the positioning light UAV step 5718 as described above.If another scan is not required, in the stop sweep step 5760, the shadow drone 5620 stops sweeping the luminance edge across the object. Finally, in the store scanner step 5780, the drone is stored after the operation. In. Figure 58Among them, the UAV algorithm flowchart 5800 describes the algorithms used by the solar UAV shadow thrower scanner system 5400 and the UAV shadow thrower scanner system 5600. The first step in the algorithms for the solar UAV shadow thrower scanner system 5400 and the UAV shadow thrower scanner system 5600 includes starting the program in the start program step 5804. Next, in the collect parameters step 5808, scan and analysis parameters provided by the user or specified by the program are collected. Next, in the ensure coordination step 5811, coordination of the UAV is ensured. Next, in the start recording step 5825, the camera UAVs 5430 or 5630 start recording videos. Next, in the start sweep step 5845, the shadow UAVs 5420 or 5620 start sweeping the brightness edges across and above the object by flying uniformly across the object. Next, in the collect video step 5850, the frames of the recorded video are collected. Next, in the buffer determination step 5824, it is determined whether the video buffer is filled enough for analysis. If the buffer is not filled enough, then as described above, the collect video step 5850 is repeated. If the buffer is filled enough for analysis, then in the analyze frame step 5844, the video frames are analyzed to build a point cloud. Next, in the 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 as described above, the buffer determination step 5824 is repeated. If there are still enough frames in the buffer, then in the UAV alignment determination step 5810, it is determined whether the UAV is still aligned. If the UAV is not aligned, then in the align UAV step 5840, the UAV is aligned. Once the UAV is aligned, in the complete sweep determination step 5878, it is determined whether the sweep is completed. If the sweep is not completed, then as described above, the analyze frame step 5844 is repeated. If the sweep is completed, then in the stop sweep step 5860, the shadow UAVs 5420 or 5620 stop sweeping. Next, in the recording stop step 5865, the camera UAVs 5430 or 5630 stop recording the video of the object. Next, in the complete analyze frame step 5864, the analysis of the frames is completed. Next, in the filter point cloud step 5870, the processor filters the point cloud. Next, in the construct surface step 5875, the processor constructs a model of the three-dimensional surface based on the filtered point cloud. Next, in the save file step 5835, the surface is saved to a file. Next, in the display image step 5855, the processor displays the model on the monitor. In another scan determination step 5830, it is determined 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 in the exit algorithm step 5890, the user exits the algorithm. In Figure 59In it, the UAV sweeping flowchart 5900 describes the shadow projector sweep used by the solar UAV shadow projector scanner system 5400 and the UAV shadow projector scanner system 5600. First, in the set parameter step 5908, the movement parameters of the UAV are set. Next, in the align UAV step 5911, the UAV is aligned in mid-air. Next, in the start sweep step 5945, the shadow UAVs 5420 or 5620 start the sweep by flying uniformly over the target area at a constant speed. Next, in the obtain current UAV position step 5927, the UAV position is determined. Next, in the UAV misalignment determination step 5910, it is determined whether the UAV is misaligned. If the UAV is misaligned, the UAV is aligned in the align UAV step 5940. Once the UAV is not misaligned, in the end sweep determination step 5978, it is determined whether the shadow UAVs 5420 or 5620 have reached the end of the sweep. If the shadow UAVs 5420 or 5620 have not reached the end of the sweep, as described above, the obtain current UAV position step 5927 is repeated. If the shadow UAVs 5420 or 5620 do reach the end of the scan and another scan is required, in the repeat algorithm step 5997, the set parameter step 5908 is repeated by having the UAV travel in the opposite direction to the first scan.

[0224] As Figure 54 , Figure 55 , Figure 56 , Figure 57 , Figure 58 and Figure 59 shown, the structural details of the present invention for the UAV include a standard remotely piloted aircraft, etc. The shadow projectors 5424 and 5624 include lightweight and strong rigid materials such as steel, copper-clad, 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 crystals, etc.), or various color filters, etc. The video cameras of the camera UAVs 5430 or 5630 include digital or analog video cameras, etc. The light sources of the light UAV 5650 include incandescent lamps, halogen lamps, fluorescent lamps, linear lamps, slit tube lamps, LEDs, LED arrays, LED linear arrays, light sources of different colors, color LEDs, lasers, X-ray sources, UV sources, infrared sources, etc. The memories stored in the non-transitory computer-readable medium include software, instructions, data, algorithms, etc. The processors include computers, mobile phones, PCs, CPUs, etc. The displays include monitors, screens, TVs, augmented reality headsets, microscopes, etc.

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

[0226] More specifically, still referring to Figure 60 and Figure 61 of the present invention, the tripod shadow scanner system 6000 includes: a shadow projector platform 6037, the shadow projector platform 6037 being horizontal and rotatable; a light source 6050, the light source 6050 being suspended from the center of the shadow projector platform 6037; at least one shadow projector 6020, each shadow projector 6020 being suspended from the shadow projector platform 6037 around the light source 6050 and including: a vertical panel 6024 and an angled panel 6022, the angled panel 6022 being angled towards the light source 6050; a plurality of video cameras 6030, each video camera 6030 being mounted on a tripod 6033; 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 plurality of video cameras 6030 are arranged around the shadow projector platform 6037; wherein, the light source 6050 illuminates the at least one shadow projector 6020 to project a high-contrast shadow 6067 of a known geometry, the shadow forming one or more luminance edges on the stadium 6070; wherein, the shadow projector platform 6037 is rotated so that the shadow projector 6020 rotates around the light source 6050 to sweep the one or more luminance edges across the stadium 6070; wherein, the plurality of video cameras 6030 detect the one or more luminance 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 a 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 projector platform 6037 remains stationary when the directional light source 6050 rotates.

[0227] As Figure 60 and Figure 61The structural details of the present invention shown are that the shadow projector platform 6037 comprises a 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 light source 6050 comprises an incandescent lamp, halogen lamp, fluorescent lamp, linear lamp, slotted tube lamp, LED, LED array, LED linear array, light sources of different colors, color LED, laser, X-ray source, UV source, infrared source, etc. The shadow projector 6020 comprises a 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, and may further comprise a configurable shape, three-dimensional printed shape, configurable opacity (such as liquid crystal, etc.) or various color filters, etc. The vertical panel 6024 comprises a 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, and may further comprise a configurable shape, three-dimensional printed shape, configurable opacity (such as liquid crystal, etc.) or various color filters, etc. The angled panel 6022 comprises a 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, and may further comprise a configurable shape, three-dimensional printed shape, 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 the non-transitory computer-readable medium comprises software, instructions, data, algorithms, etc. The processor comprises a computer, mobile phone, PC, CPU, etc. The display comprises a monitor, screen, TV, augmented reality headset, microscope, etc.

[0228] Now referring to another embodiment of the present invention, in Figure 62 , Figure 63 and Figure 64 there are shown the algorithms, sweeps and operation flowcharts of a single mobile shadow projector scanner or a desktop shadow scanner. Figure 62 An algorithm flowchart 6200 is shown which describes the algorithm used by a single mobile shadow projector scanner or a desktop shadow scanner using a single shadow projector. Figure 63 Is a sweep flowchart 6300 which describes the shadow projector sweep used by a single mobile shadow projector scanner or a desktop shadow scanner. Figure 64 Demonstrates an operation flowchart 6400 which describes the operation of a single mobile shadow projector scanner or a desktop shadow scanner.

[0229] More specifically, still referring to the Figure 62 , Figure 63 , and Figure 64 , in Figure 62 , the algorithm flowchart 6200 describes the algorithm used by a single moving shadow projector scanner or a desktop shadow scanner. The first step in the algorithm for a single moving shadow projector scanner or a desktop shadow scanner includes starting the program in the start program step 6204. Next, in the collect parameters step 6208, scan and analysis parameters provided by the user or specified by the program are collected. Next, in the start recording step 6225, the camera starts recording a video. Next, in the start sweep step 6245, the motor is started so as to move the shadow projector and sweep the brightness edge over the object. Next, in the collect video step 6250, the frames of the recorded video are collected. Next, in the buffer determination step 6224, it is determined whether the video buffer is filled sufficiently for analysis. If the buffer is not filled sufficiently, then as described above, the collect video step 6250 is repeated. If the buffer is filled sufficiently for analysis, then in the analyze frames step 6244, the video frames are analyzed to build a point cloud. Next, in the filter new cloud points step 6252, the processor filters the new cloud points. Next, in the update filtered cloud points step 6254, the display of the filtered point cloud is updated. Next, in the still buffered determination step 6258, it is determined whether there are still sufficient frames in the buffer. If there are not sufficient frames in the buffer, then as described above, the buffer determination step 6224 is repeated. If there are still sufficient frames in the buffer, then in the finish sweep determination step 6278, it is determined whether the sweep is complete. If the sweep is not complete, then as described above, the analyze frames step 6244 is repeated. If the sweep is complete, then in the stop motor step 6268, the motor is stopped. Next, in the stop recording step 6265, the camera stops recording the video of the object. Next, in the finish analyzing frames step 6264, the analysis of the frames is completed. Next, in the filter point cloud step 6270, the processor filters the point cloud. Next, in the construct surface step 6275, the processor constructs a model of a three-dimensional surface based on the filtered point cloud. Next, in the save file step 6235, the surface is saved to a file. Next, in the display image step 6255, the processor displays the model on the monitor. In another scan determination step 6230, it is determined whether another scan is requested. If another scan is requested, then as described above, the start recording step 6225 is repeated. Finally, if another scan is not requested, then in the exit algorithm step 6290, the user exits the algorithm. In Figure 63In it, the sweep flow chart 6300 depicts the shadow caster sweep used by a single moving shadow caster scanner or a tabletop shadow scanner. First, in the set motor parameters step 6308, the motor parameters are set. Next, in the start sweep step 6345, the shadow caster begins to sweep the brightness edge across the object. Next, in the obtain current motor position step 6327, the motor position is determined. Next, in the end sweep determination step 6378, it is determined whether the shadow caster has reached the end of the sweep. If the shadow caster has not reached the end of the sweep, then as described above, the obtain current motor position step 6327 is repeated. If the shadow caster has indeed reached the end of the sweep and another scan is required, then in the repeat algorithm step 6397, the set motor parameters step 6308 is repeated in the direction opposite to the first scan. In Figure 64In this, the operation flow chart 6400 describes the operation of a single moving shadow caster scanner or a desktop shadow scanner. The first step in the operation of a single moving shadow caster scanner or a desktop shadow scanner includes positioning the scanner above the object in the position scanner step 6405. Next, in the alignment determination step 6410, 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 the align scanner step 6440. Once the scanner is aligned, it is determined in the focus determination step 6415 whether the camera is focused on the object. If the camera is not focused, the camera is focused in the focus camera step 6420. Once the camera is focused, the camera starts recording a video of the object in the start recording step 6425. Next, in the start sweep step 6445, the shadow caster starts sweeping a brightness edge across the object. Next, in the collect and analyze step 6450, the processor collects the frames of the recorded video and analyzes them to form a point cloud. Next, in the filter new cloud points step 6452, the processor filters the new cloud points. Next, in the update filtered cloud points step 6454, the filtered point cloud display is updated. Next, in the entire scan determination step 6467, it is determined whether the entire region of interest has been scanned. If the entire region of interest has not been scanned, the collect and analyze step 6450 is repeated as described above. If the entire region of interest has been scanned, the processor filters the entire point cloud in the filter entire point cloud step 6470. Next, in the construct surface step 6475, the processor constructs a model of a three-dimensional surface based on the filtered point cloud. Next, in the save file step 6435, the surface is saved to a file. Next, in the display image step 6455, the processor displays the model on a display. In another scan determination step 6430, it is determined 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 the stop sweep step 6460. Next, in the stop recording step 6465, the camera stops recording the video of the object. Finally, in the store scanner step 6480, the scanner is stored after the operation.

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

[0231] More specifically, still referring to the Figure 65 and Figure 66 of the present invention, in Figure 65 , the operation flowchart 6500 of a single tripod room scanner describes the operation of a shadow-casting scanner that can be used with a tripod to scan a room. The first step in the operation of a shadow-casting scanner that can be used with a tripod to scan a room includes setting the tripod in the room in the position scanner step 6505. Next, in the light-on step 6509, the light is turned on. Next, in the 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 the align scanner step 6540. Once the scanner is aligned, it is determined in the focus determination step 6515 whether the camera is focused on the room. If the camera is not focused, the camera is focused in the focus camera step 6520. Once the camera is focused, the camera starts recording a video of the room in the start recording step 6525. Next, in the start sweep step 6545, the light source starts sweeping a brightness edge throughout the room. Next, in the collect and analyze step 6550, the processor collects and analyzes the frames of the recorded video to form a point cloud. Next, in the filter new cloud points step 6552, the processor filters the new cloud points. Next, in the update filtered cloud points step 6554, the display of the filtered point cloud is updated. Next, in the entire scan determination step 6567, it is determined whether the entire region of interest has been scanned. If the entire region of interest has not been scanned, the collect and analyze step 6550 is repeated as described above. If the entire region of interest has been scanned, the processor filters the entire point cloud in the filter entire point cloud step 6570. Next, in the 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 the save file step 6535, the surface is saved to a file. Next, in the display image step 6555, the processor displays the model on a 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-casting scanner stops sweeping the brightness edge in the room in the stop sweep step 6560. Next, in the stop recording step 6565, the camera stops recording the video of the room. Finally, in the store scanner step 6580, the scanner is stored after the operation. In Figure 66In FIG. 6600, the operational flowchart of the overhead light room scanner describes the operation of the shadow caster scanner that can be used with the overhead light to scan the room. The first step in the operation of the shadow caster that can be used with the overhead light to scan the room includes setting the scanner unit in the room in the setup step 6605. Next, in the lighting step 6616, the overhead light is turned on. Next, in the lighting determination step 6617, it is determined whether the area of the room is illuminated. If the area of the room is not illuminated, the light is reoriented in the reorient light step 6618. Once the area of the room is illuminated, it is determined in the alignment determination step 6610 whether the shadow caster is aligned with the camera. If the shadow caster is not aligned with the camera, the shadow caster is aligned with the camera in the align scanner step 6640. Once the shadow caster is aligned with the camera, it is determined in the focus determination step 6615 whether the camera is focused on the room. If the camera is not focused, the camera is focused in the focus camera step 6620. Once the camera is focused, the camera starts recording a video of the room in the start recording step 6625. Next, in the start sweep step 6645, the shadow caster starts sweeping the brightness edges throughout the room. Next, in the collect and analyze step 6650, the processor collects the frames of the recorded video and analyzes them to form a point cloud. Next, in the filter new cloud points step 6652, the processor filters the new cloud points. Next, in the update filtered cloud points step 6654, the filtered point cloud display is updated. Next, in the entire scan determination step 6667, it is determined 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 the filter entire point cloud step 6670. Next, in the construct surface step 6675, the processor constructs a model of the three-dimensional surface of the room based on the filtered point cloud. Next, in the save file step 6635, the surface is saved to a file. Next, in the display image step 6655, the processor displays the model on the monitor. Next, in the another scan determination step 6630, it is determined whether another scan is required. If another scan is required, the start sweep step 6645 is repeated as described above. If another scan is not required, the shadow caster stops sweeping the brightness edges in the room in the stop sweep step 6660. Next, in the stop recording step 6665, the camera stops recording the video of the room. Finally, in the store scanner step 6680, the scanner is stored after the operation.

[0232] Now referring to another embodiment of the present invention, in Figure 67 and Figure 68 an algorithm flowchart of the multi-camera shadow caster scanner is shown. Figure 67Displays the multi-camera algorithm flowchart 6700 that describes the algorithm used by the multi-camera shadow caster scanner. Figure 68 Displays the flowchart 6800 of the multi-camera static shadow caster, which describes the algorithm of the multi-camera shadow caster scanner using a single static shadow caster.

[0233] More specifically, still referring to the Figure 67 and Figure 68 of the present invention, in Figure 67 , the multi-camera algorithm flowchart 6700 describes the algorithm used by the shadow caster scanner using multiple cameras. The first step in the algorithm for the multi-camera shadow caster scanner includes starting the program in the start program step 6704. Next, in the collect parameters step 6708, scan and analysis parameters provided by the user or specified by the program are collected. Next, in the start recording step 6725, multiple cameras start recording video. Next, in the start sweep step 6745, the motor is started to move the shadow caster and sweep the brightness edge across the object. Next, in the collect video step 6750, frames of the recorded video are collected from the multiple cameras. Next, in the buffer determination step 6724, it is determined whether the video buffer is filled enough for analysis. If the buffer is not filled enough, then as described above, the collect video step 6750 is repeated. If the buffer is filled enough for analysis, then in the analyze frames step 6744, the video frames collected from the multiple cameras are analyzed to build a point cloud. Next, in the still buffer determination step 6758, it is determined whether there are still enough frames in the buffer. If there are not enough frames in the buffer, then as described above, the buffer determination step 6724 is repeated. If there are still enough frames in the buffer, then in the complete sweep determination step 6778, it is determined whether the sweep is complete. If the sweep is not complete, then as described above, the analyze frames step 6744 is repeated. If the sweep is complete, then 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 analyze frames step 6764, the analysis of the frames 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 monitor. In another scan determination step 6730, it is determined whether another scan is required. If another scan is required, then as described above, the start recording step 6725 is repeated. Finally, if another scan is not required, then the user exits the algorithm in the exit algorithm step 6790. InFigure 68 In [description], the flowchart 6800 of the multi-camera static shadow projector describes the algorithm of the multi-camera shadow projector scanner, which uses multiple cameras (including the main camera) and a single static shadow projector. The first step in the algorithm of the multi-camera shadow projector scanner using a single static shadow projector includes starting the program in the start program step 6804. Next, in the collect parameters step 6808, scan and analysis parameters provided by the user or specified by the program are collected. Next, in the start recording step 6825, the multiple cameras start recording video. Next, in the collect one frame step 6850, a video frame is collected from all cameras. Next, in the buffer determination step 6824, it is determined whether the video buffer is filled enough for analysis. If the buffer is not filled enough, then as described above, the collect one frame step 6850 is repeated. If the buffer is filled enough for analysis, then in the calculate speed step 6851, the frames from at least two cameras are used to calculate the speed of the target. Next, in the analyze frame step 6844, the main camera video frame is analyzed to establish a point cloud. Next, in the still buffer 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 as described above, the buffer determination step 6824 is repeated. If there are still enough frames in the buffer, then in the view 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 as described above, the analyze frame step 6844 is repeated. If the target is out of the line of sight of the main camera, then in the stop recording step 6865, the multiple cameras stop recording the video of the object. Next, in the filter point cloud step 6870, the processor filters the point cloud. Next, in the construct surface step 6875, the processor constructs a model of the three-dimensional surface based on the filtered point cloud. Next, in the save file step 6835, the surface is saved to a file. Next, in the 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 as described above, the start recording step 6825 is repeated. Finally, if another scan is not required, then in the exit algorithm step 6890, the user exits the algorithm.

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

[0235] More specifically, still referring to the Figure 69, the flowchart 6900 of the customized shadow projector describes a method for creating a shadow projector with a customized shape. First, in the contour determination step 6910, photography, video, or shadow projection is used to determine the overall object contour. Next, in the shape generation step 6920, 3D printing, configurable shadow projectors, other manufacturing methods, etc. are used to generate a shadow projector with a customized shape in the shape of the overall object contour. Next, in the shadow projector placement step 6930, the shadow projector with the customized shape is placed as close as possible to the surface of the object. Finally, in the object sweeping step 6940, any object of the shadow projector sweeps the brightness edge across the object to affect the scan.

[0236] As Figure 69 shown, the structural details of the present invention for the customized shape shadow projector include a 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, and may further include a configurable shape, 3D printed shape, configurable opacity (such as liquid crystal, etc.), or various color filters, etc. (which have been manipulated into the desired form).

[0237] Now referring to another embodiment of the present invention, in Figure 70 and Figure 71 , a slotted linear light source 7000 that uses a shadow projector scanner to provide improved scan results is shown. Figure 70 A perspective view of the slotted linear light source 7000 is shown. Figure 71 An exploded view of the slotted linear light source 7000 is shown.

[0238] More specifically, still referring to the Figure 70 and Figure 71, the linear light source 7000 with a slit includes a tube 7010 with a slit. The tube 7010 with a slit includes: an interior 7011 that is painted white (with a paint including TiO2); an exterior 7012 that is opaque; and a slit 7020 that extends along the length of the tube 7010 with a slit and includes: a width; two light sources 7060 that are suspended at opposite ends of the tube 7010 with a slit; two heat sinks 7050 that are suspended from the light sources 7060; two clamps 7030, each of which winds around the tube 7010 with a slit and includes: a screw 7040; wherein, the clamp 7030 can adjust the width 7020 of the slit. The tube 7010 with a slit allows light to escape in a very fine form, which improves the accuracy of the shadow projector scanner. Alternatively, the tube can have any cross-sectional shape as long as light escapes through the slit. The light source 7060 is a group of LEDs. The light source can also have a refractive element in front of it, but they can also be bare, as depicted. Alternatively, the LEDs can be placed in the tube 7010 with a slit in the form of a linear array (such as in a strip) so that they do not emit light directly from the slit 7020 (which may produce non-uniform illumination). Alternatively, optical fibers can be used to guide light into the tube 7010 with a slit. This alternative eliminates local heating at the cost of needing to attach a bundle of optical fibers to the lamp. The LEDs need to have heat sinks. However, in the case of LEDs in the form of a linear array, the tube 7010 with a slit 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 clamp 7030 is used to adjust the width of the slit 7020 by squeezing or releasing the tube 7010 with a slit, thereby allowing the size of the slit 7020 to be increased or decreased, which increases or decreases the light output respectively. In a variant of this embodiment and in variants 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 tube 7010 with a slit. Depending on the focal length of the lens or combination of lenses, 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 shift the effective light source closer to the object by a certain amount.

[0239] Such as Figure 70 And Figure 71The structural details of the present invention shown are that the slotted tube 7010 includes flexible materials such as plastics, metals, composite materials, etc. The light source 7060 includes incandescent lamps, fiber optic bundles, halogen lamps, fluorescent lamps, linear lamps, slotted tube lamps, LEDs, LED arrays, LED linear arrays, light sources of different colors, color LEDs, lasers, X-ray sources, UV sources, infrared sources, etc. The heat sink 7050 includes heat conductive materials such as metals, etc. The clamp 7030 includes rigid flexible materials such as steel, plastics, high-density plastics, silicone resins, PVCs, fiberglass, carbon fiber, composite materials, metals, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials. The screw 7040 includes rigid rigid materials such as steel, copper-clad, plastics, high-density plastics, silicone resins, PVCs, fiberglass, carbon fiber, composite materials, metals, 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 a minimum number of optical devices (optical devices bring weight and cost), and includes the possibility of having no lenses in order to project a sharply contrasted pattern onto the object to be scanned; it does not require optical devices to optimize the light beam at 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 very suitable for large depth of field; if the light source of the present invention is far enough 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 the pulse technology or phase detection technology used in the scheme for evaluating distance through time delay measurement, and the pulse technology or phase detection technology may limit the number of points that can be measured simultaneously and the absolute resolution, and the absolute resolution is limited to the rise time (100 ps) of typical electronic devices, which means a depth resolution of 0.6 inches (which means a change of 0.6 inches results in a delay of approximately 100 ps), and the pulse technology or phase detection technology is sensitive to noise; the light source of the present invention optimally can be an "extended" light source along one dimension (in other words, a line), and this light source illuminates the object from more angles compared to competing technologies, and since the surface to be three-dimensionally scanned must be illuminated and observed simultaneously, this larger illumination angle is advantageous because more objects can be scanned compared to typical projection-based scanners; the hardware of the present invention can be separated among all three of the following elements: the light source, the shadow caster, and the light receiver, and thus, 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, by replicating the light source along a line, this extension of the light source increases the light while simultaneously increasing the scene contrast, 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 wh...

Claims

1. An apparatus for scanning an object, the apparatus comprising: a rotation axis; one or more light sources arranged along the rotation axis; one or more shadow projectors, the one or more shadow projectors including a shape having at least one edge, the edge being contained within a plane that contains the one or more light sources; an image capture device; wherein the one or more light sources project light over the one or more shadow projectors so as to generate one or more sharpened shadows on the object; wherein the one or more shadow projectors rotate about the rotation axis, thereby moving the one or more sharpened shadows over the object; and wherein the image capture device captures an image of the one or more sharpened shadows moving over the object.

2. The apparatus according to claim 1, wherein the one or more light sources are discrete or continuous.

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

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

5. The apparatus according to claim 1, wherein the one or more shadow projectors further include a configurable shape.

6. The apparatus according to claim 1, wherein the one or more shadow projectors further include a configurable opacity.

7. The apparatus according to claim 1, wherein the one or more shadow projectors further include color filters.

8. The apparatus according to claim 1, wherein the one or more light sources are point sources.

9. The apparatus according to claim 1, wherein the one or more shadow projectors further include a transparent liquid crystal matrix capable of generating opaque regions.

10. The apparatus according to claim 1, wherein the one or more shadow projectors further include a periodic opacity variation.

11. The apparatus according to claim 1, wherein the one or more light sources are linear, and wherein the edge is parallel to the one or more light sources.

12. The apparatus according to claim 1, wherein the one or more shadow projectors further include a pattern.

13. A method for scanning an object, the method comprising: providing a rotation axis; providing one or more light sources arranged along the rotation axis; providing one or more shadow projecting elements, the one or more shadow projecting elements including a shape having at least one edge, the edge being contained within a plane that contains the one or more light sources; providing an image capture device; projecting light from the one or more light sources over the one or more shadow projecting elements, thereby generating one or more sharpened shadows on the object; rotating the one or more shadow projecting elements about the rotation axis; and capturing, using the image capture device, an image of the one or more sharpened shadows moving over the object.

14. The method according to claim 13, wherein The one or more light sources are discrete or continuous.

15. The method according to claim 13, wherein, the one or more light sources are linear.

16. The method according to claim 13, wherein, the one or more light sources comprise one or more light arrays.

17. The method according to claim 13, wherein, the one or more shadow casting elements further comprise a configurable shape.

18. The method according to claim 13, wherein, the one or more shadow casting elements further comprise a configurable opacity.

19. The method according to claim 13, wherein, the one or more shadow casting elements further comprise color filters.

20. The method according to claim 13, wherein, the one or more light sources are point sources.

21. The method according to claim 13, wherein, the one or more shadow casting elements further comprise a transparent liquid crystal matrix capable of generating opaque regions.

22. The method according to claim 13, wherein, the one or more shadow casting elements further comprise a periodic opacity variation.

23. The method according to claim 13, wherein, the one or more light sources are linear and wherein the edges are parallel to the one or more light sources.

24. The method according to claim 13, wherein, the one or more shadow casting elements further comprise a pattern.

25. A device for scanning an object, the device comprising: one or more light sources; one or more shadow casters, the one or more shadow casters comprising a shape having at least one edge, the edge being contained in a plane that contains the one or more light sources; an image capture device; wherein the one or more light sources project light over the one or more shadow casters to generate one or more sharp shadows on the object; wherein the one or more sharp shadows are moved over the object; and wherein the image capture device captures an image of the one or more sharp shadows moving over the object.

26. The device according to claim 25, wherein, the one or more light sources are discrete or continuous.

27. The device according to claim 25, wherein, the one or more light sources are linear.

28. The device according to claim 25, wherein, the one or more light sources comprise one or more light arrays.

29. The device according to claim 25, wherein, the one or more shadow casters further comprise a configurable shape.

30. The device according to claim 25, wherein, the one or more shadow casters further comprise a configurable opacity.

31. The device according to claim 25, wherein, the one or more shadow casters further comprise color filters.

32. The device according to claim 25, wherein, the one or more light sources are point sources.

33. The device according to claim 25, wherein, The one or more shadow projectors further include a transparent liquid crystal matrix that is capable of generating opaque regions.

34. The apparatus according to claim 25, wherein, the one or more shadow projectors further include a periodic opacity variation.

35. The apparatus according to claim 25, wherein, the one or more light sources are linear, and wherein the edges are parallel to the one or more light sources.

36. The apparatus according to claim 25, wherein, the one or more shadow projectors further include a pattern.

37. A method for scanning 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 including a shape having at least one edge that is contained within a plane that contains the one or more light sources; providing an image capture device; projecting light from the one or more light sources across the one or more shadow casting elements to generate one or more sharpened shadows; moving the one or more sharpened shadows across the object; and capturing, using the image capture device, an image of the one or more sharpened shadows moving across the object.

38. The method according to claim 37, wherein, the one or more light sources are discrete or continuous.

39. The method according to claim 37, wherein, the one or more light sources are linear.

40. The method according to claim 37, wherein, the one or more light sources include one or more light arrays.

41. The method according to claim 37, wherein, the one or more shadow casting elements further include a configurable shape.

42. The method according to claim 37, wherein, the one or more shadow casting elements further include a configurable opacity.

43. The method according to claim 37, wherein, the one or more shadow casting elements further include color filters.

44. The method according to claim 37, wherein, the one or more light sources are point sources.

45. The method according to claim 37, wherein, the one or more shadow casting elements further include a transparent liquid crystal matrix that is capable of generating opaque regions.

46. The method according to claim 37, wherein, the one or more shadow casting elements further include a periodic opacity variation.

47. The method according to claim 37, wherein, the one or more light sources are linear, and wherein the edges are parallel to the one or more light sources.

48. The method according to claim 37, wherein, the one or more shadow casting elements further include a pattern.

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