Generation of one or more luminosity edges to form three-dimensional models of objects

Abstract

To provide a device, a system and a method that generate one or more luminosity edges to form a three-dimensional model of an object.SOLUTION: A method causes a light beam 711 to intercept a point 764 on an object 770 but not a point 766 on a projection plane 710 in a state where the object is introduced onto the projection plane. The point 764 is represented at an edge distortion part 776 of a luminosity edge 750. Further, a shadow edge 750 is represented so as to be distorted up to a specified Z-depth 777. The luminosity edge 750 intercepts a point 766 on the projection plane 710, and is specified by the intercept of the light beam 711 with the luminosity edge 750. The estimation of a subset of points on a surface of the object 770 is calculated using various lines, line segments, triangles, planes, other geometrical relations and sizes thereof obtained from multiple positions of the luminosity edge 750 measured using multiple images, thereby forming a three-dimensional model or expression of an object surface.SELECTED DRAWING: Figure 7B

Description

[Technical field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims the benefit of U.S. Provisional Patent Application No. 62 / 569,353, filed October 6, 2017, and incorporated herein by reference in its entirety.

[0002] STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT Not applicable

[0003] Reference to a sequence listing, table, or computer program listing in a compact disc appendix Not applicable

[0004] 2. Background of the Invention 1. Field of the invention The present invention is in the technical field of scanning devices. More specifically, preferred embodiments of the present invention generally relate to scanning devices that generate a three-dimensional model of an object being scanned. More specifically, preferred embodiments of the present invention generally relate to an apparatus, system, and method that uses a shadow caster to generate a three-dimensional model of an object or area being scanned. [Background technology]

[0005] 2. Description of Related Technology Advances in computing hardware and software have facilitated the generation of three-dimensional models and digital images that convey the shape of an object in three-dimensional space. Conventional computing techniques and devices are implemented as three-dimensional ("3D") scanners that form a three-dimensional model of the surface of the object being scanned. Of these, structured light scanner systems typically use complex patterns of light and one or more camera systems to capture images that represent the shape of the object in three dimensions. Although conventional structured light scanner systems are functional, these systems are not well suited for widespread application because they typically require materials and resources that make the scanners cost-prohibitive. For example, such scanners utilize lasers and / or liquid crystal display ("LCD") projectors and other computing hardware and algorithms required to process the complex light patterns and imaging techniques associated with such scanners.

[0006] In at least one approach, a scanning technique using "weak-structured" light has been developed to address one of the limitations of structured light scanner systems. Conventional weak-structured light based scanners typically utilize simple incandescent lamps and / or rods (e.g., pencils) to capture images that can derive the surface of an object. An example of such a scanner system is shown in FIG. 1. FIG. 100 shows a simple incandescent light bulb 102 and rod 114 or any other cylindrical object such as a pencil that applies a shadow to a plane 110 to capture the shape of an object 116. The incandescent light bulb 102 includes a filament 104 that extends between supports at a distance ("d") 106 within a glass enclosure, which may be made of clear, non-frosted glass. The filament 104 typically generates light along a relatively wide range of distances relative to the width of the rod 114. In general, the filament 104 may be positioned in a plane that does not transition to the rod 114. A camera 101 may be used to capture images of points that can be used to calculate the surface of 116. To capture an image of a point, a shadow is applied across the object 116 using rods 114 in an attempt to determine the relative depth of a pixel on the surface of the object 116 captured by the camera 101 (e.g., relative to the pixel at a time when the object 116 is not present).

[0007] The scanner of FIG. 1 has some drawbacks. While the scanner of FIG. 1 is functional, the system of FIG. 100 may not be well suited for modeling 3D images of three-dimensional objects. The incandescent light bulb 102 and rod 114 may generate a shadow 120 that includes a zone of minimum illumination 121 from a given incandescent light bulb 102. At a distance 122 further from the rod 114, the boundary between the zone 121 of the plane 110 and the illuminated portion 111 becomes increasingly diffuse. An example of increased illumination diffuseness may be shown as an increase from line 122 along line 114 within distance ("b") 126, which indicates the diffuse boundary between the zone of minimum illumination 121 and the illuminated portion 111. To counteract the detrimental effects of diffuse boundaries, conventional approaches to 3D scanning rely on time or video coordinates and associated algorithms that define boundaries based on sufficient differences between darkness and lightness, in conjunction with illumination thresholds. Diffuse boundaries may reduce the accuracy of the surface calculated from the captured image of the object 116. Also, while the use of illumination thresholding is effective, it may be necessary to ignore luminous effects of different colors, shades, or textures. For example, a "yellow" color may have a relatively high luminosity that may be distinguishable from the effects of diffuse boundaries, while a "blue" color may have a relatively low luminosity that may be detected as part of a diffuse boundary. Thus, blue portions 117 of the object 116 may be ignored due to the implementation of conventional illumination thresholding. Thus, this ignoring of colors and other luminous effects often results in inaccuracies that appear in conventional 3D scanning. Some approaches utilize algorithmic calculations to classify whether a pixel is illuminated or not. However, these known algorithms are typically limited to distinguishing relatively large swings between light and dark intensities. Such thresholding may require resources to customize and adapt the scanner of FIG. 100 to a specific scanning application. Summary of the Invention [Problem to be solved by the invention]

[0008] Therefore, what is needed is a solution that facilitates techniques for generating three-dimensional models or images of objects and environments without the limitations of conventional techniques. [Means for solving the problem]

[0009] Summary of the Invention Various embodiments relate generally 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, that form at least three-dimensional models or images of objects and environments. Broad embodiments of the invention relate generally to apparatus, methods, and systems that generate one or more luminosity edges to form a three-dimensional model of an object or environment. In broad embodiments, the invention includes one or more light sources and one or more shadow casters that generate one or more luminosity edges across an object or area being modeled, one or more means for detecting one or more luminosity edges, means for detecting movement of one or more luminosity 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 one or more shadow casters, some embodiments move one or more light sources, and some embodiments move an object through one or more luminosity edges. Although these embodiments are illustrative of the scope and spirit of the invention, the above-described embodiments and examples should not be construed as limiting the invention, and those skilled in the art will understand and recognize that there are variations, combinations, and equivalents of the specific embodiments, methods, and examples herein.

[0010] In a preferred embodiment, the present invention broadly relates to an apparatus and method for moving one or more shadow casters to move one or more luminous intensity edges relative to an object or area being modeled. This embodiment generally relates to an apparatus for generating one or more luminous intensity edges to form a three-dimensional model of an object, the apparatus including one or more light sources, one or more shadow casters, the one or more shadow casters having a shape with at least one straight edge when projected onto a plane, one or more actuators capable of moving the one or more shadow casters, one or more image capture devices, a memory stored on a non-transitory computer readable medium, a processor having the computer readable medium, and a display, the one or more light sources illuminating the one or more shadow casters to generate a luminous intensity edge relative to an object or area being modeled ... the one or more actuators move the one or more shadow casters to sweep the one or more luminous intensity edges across the object; the one or more image capture devices capture images of the one or more luminous intensity edges on the object and record the images in the memory; the processor forms a three-dimensional data representation from the recorded images; the processor uses the three-dimensional data representation to generate the three-dimensional model of the object; and the three-dimensional model is displayed on the display using the processor.The preferred embodiment also generally relates to a method of generating one or more luminous intensity edges to form a three-dimensional model of an object, the method including providing one or more light sources; providing one or more shadow casting elements, the one or more shadow casting elements having a shape with at least one straight edge when projected onto a plane; projecting a high contrast shadow of known geometry thereby forming the one or more luminous intensity edges on the object using the one or more light sources and the one or more shadow casting elements; moving the one or more shadow casting elements thereby moving the one or more luminous intensity edges across the object; moving the one or more shadow casting elements; capturing images of the one or more luminous intensity edges on the object; forming a three-dimensional data representation from the captured images; generating the three-dimensional model of the object using the three-dimensional data representation; and displaying the three-dimensional model. Other versions of this broad embodiment have one or more light sources that are discrete or continuous, linear, or include one or more light arrays. In other versions of this embodiment, the shape of the shadow caster or casters is based on the object being scanned and modeled, such as through three-dimensional printing techniques. Additionally, some versions of this embodiment use one or more shadow casters that also have configurable shapes, configurable opacity, or color filters. Other versions of this embodiment use one or more actuators to rotate the shadow caster or casters. Additionally, some versions of this embodiment use a display that is an augmented reality headset that can overlay a three-dimensional model onto the view of the headset user.

[0011] In another preferred embodiment, the present invention broadly relates to moving one or more light sources to model and method for moving one or more luminosity edges relative to an object or area being imaged - Patents.com This embodiment generally relates to generating one or more luminosity edges to image an object. An apparatus for forming a three-dimensional model, said apparatus comprising one or more light sources and one or more A shadow caster having at least one straight edge when projected onto a plane. and one or more shadow casters having a shape that moves the one or more light sources. one or more actuators capable of rotating the actuators; and one or more image capture devices. and a memory stored in a non-transitory computer readable medium. and a display, wherein the one or more light sources are Illuminate multiple shadow casters to cast high contrast shadows of known geometry the high contrast shadow forms the one or more luminous intensity edges on the object; The one or more actuators move the one or more light sources to illuminate the object. and sweeping said one or more luminous intensity edges across said one or more image capture devices. captures an image of the one or more luminous intensity edges on the object and stores the image in the memory. and said processor forms a three-dimensional data representation from said recorded images; a processor for generating the three-dimensional model of the object using the three-dimensional data representation; The three-dimensional model is displayed on the display using the processor. Preferred embodiments also generally include generating one or more luminosity edges to provide a three-dimensional representation of the object. The present invention also relates to a method of forming an original model, the method comprising providing one or more light sources; Providing one or more shadow casting elements, A doughcast element is a shape that, when projected onto a plane, has at least one straight edge. and providing one or more shadow casting elements having a known geometry. and projecting a high contrast shadow, whereby said one or more light sources and using said one or more shadow casting elements to cast said one or more luminosity edges. and moving the one or more light sources to form or project the thereby moving the one or more luminous intensity edges across the object. moving the one or more light sources and detecting the one or more luminous edge areas on the object. capturing an image of the object and forming a three-dimensional data representation from the captured image; generating the three-dimensional model of the object using the three-dimensional data representation; and displaying the dimensional model. Other versions of this broad embodiment include It may be continuous, linear, or have one or more light sources including one or more light arrays. In another version of this embodiment, the shape of the one or more shadow casters is: Based on the object being scanned and modeled through 3D printing techniques, etc. Some versions of the embodiment may use configurable shapes, configurable opacity, or color filters. In addition, this embodiment uses one or more shadow casters that further include a filter. Other versions of the Additionally, some versions of this embodiment rotate the display. The display allows the user to overlay a three-dimensional model onto the headset user's view. It is an augmented reality headset.

[0012] In another preferred embodiment, the present invention broadly relates to a method for modeling through one or more luminosity edges. The present invention relates to an apparatus and method for moving an object during scanning. The present invention relates to an apparatus for generating a plurality of luminosity edges to form a three-dimensional model of an object, the apparatus comprising: , one or more light sources and one or more shadow casters, and one or more shadow casts having a shape with at least one straight edge. data, one or more image capture devices, and a non-transitory computer readable medium. A processor having a memory and the computer readable medium, and a display, The one or more light sources illuminate the one or more shadow casters to form a known geometry. a high contrast shadow of the bird, the high contrast shadow being projected by one or more of the birds; forming a number of luminosity edges, the object moving through one or more of the luminosity edges; Sweeping said one or more luminous intensity edges across said object and capturing said one or more images. The device detects the movement of the object moving through the one or more luminous intensity edges. and recording said movement in said memory, said one or more image capture devices or an image of said one or more luminous edges on said object moving through said one or more luminous edges. an image is captured and the image is recorded in the memory; and the processor determines from the recorded movement calculating a velocity of the object moving through the one or more luminosity edges from the A three-dimensional data representation is formed from the recorded images and the calculated velocities. The processor uses the three-dimensional data representation to generate the three-dimensional model of the object. The three-dimensional model is then displayed on the display. Generally, the present invention relates to a method for generating one or more luminous intensity edges to form a three-dimensional model of an object. In a related art, the method includes providing one or more light sources and providing one or more shadow capture devices. providing a shadow casting element, the one or more shadow casting elements being a planar projection When projected, one or more shutters have a shape with at least one straight edge. Providing dowcast elements and casting high contrast shadows of known geometry whereby said one or more light sources and said one or more shadows are forming the one or more luminous intensity edges on the object using a projection element; moving the object through the one or more luminosity edges; Detecting a velocity of the object moving through one or more luminosity edges; or an image of said one or more luminous intensity edges of said object moving through said plurality of luminous intensity edges. and generating a three-dimensional data representation from the detected velocity and the captured image. and using the three-dimensional data representation to generate the three-dimensional model of the object. and displaying said three-dimensional model. The applications may be discrete or continuous, linear, or may be one or more optical arrays. In another version of this embodiment, one or more shadow caps are provided. The shape of the caster is based on the object being scanned and modeled, for example through 3D printing techniques. Additionally, some versions of this embodiment may include configurable shapes, configurable opacity, etc. The present invention uses one or more shadow casters that further include a lens, a lens holder, a lens cover ... Another version of the embodiment uses one or more actuators to control one or more Additionally, some versions of this embodiment rotate the shadow caster. Using Play, the display overlays a three-dimensional model onto the user's view in the headset. Another version of this embodiment is an augmented reality headset that can A similar version with one or more ceiling-mounted light sources is used for indoor installations. It is mounted on the ceiling.

[0013] In another preferred embodiment, the present invention broadly relates to an apparatus and method for modeling the surroundings of an object. This embodiment generally relates to a method for generating and forming one or more luminosity edges. The apparatus includes one or more light sources mounted on the object, and one or more The one or more shadow casters are mounted on the object. A shape that, when projected onto a plane, has at least one straight edge. can move one or more of the shadow casters. Possible one or more actuators and one or more image capture devices mounted on said object. A device, a memory stored in a non-transitory computer readable medium, and and a processor having a readable medium, wherein the one or more light sources are The dow caster is illuminated to cast a high contrast shadow of known geometry, a contrast shadow forms the one or more luminous edges around the periphery of the object; The one or more actuators move the one or more shadow casters. and sweeping said one or more luminous intensity edges around said perimeter of said object, A plurality of image capture devices capture images of the one or more luminous intensity edges of the periphery of the object. and storing the image in the memory, and the processor extracts from the stored image forming a three-dimensional data representation, said processor using said three-dimensional data representation to image said object; generating said three-dimensional model of said surroundings of a body, said three-dimensional model being stored in said memory; The preferred embodiment also generally generates one or more luminosity edges to It also relates to a method for generating a three-dimensional model of the periphery of a body, said method comprising: providing one or more light sources and providing one or more shadow casting elements and wherein the one or more shadow casting elements are mounted on the object and are positioned on a flat surface. One or more shapes that, when projected, have a shape with at least one straight edge. Providing shadow casting elements and casting high contrast shadows of known geometry and shading said one or more light sources and said one or more shutters. forming said one or more luminous intensity edges on said perimeter of said object using a dowcasting element; and moving said one or more shadow-casting elements. thereby moving the one or more luminous intensity edges around the perimeter of the object. moving said one or more shadow casting elements to cause said object to be capturing an image of the one or more luminous intensity edges on the periphery; and forming a three-dimensional data representation from the three-dimensional data representation; and determining a location of the object using the three-dimensional data representation. generating said three-dimensional model of the surroundings; and computing said three-dimensional model in a non-transient manner. Other versions of this broad embodiment include storing the discrete or Has one or more light sources that are continuous, linear, or include one or more light arrays Additionally, some versions of this embodiment may include configurable shapes, configurable opacity, or one or more shadow casters further comprising color filters. Some versions of this embodiment use an augmented reality headset to visualize the surroundings of an object. The new version shows the model overlaid on the screen, while a similar version shows the model in an augmented reality headset. Additionally, this embodiment of the present invention is applicable to autonomous vehicles or submersibles. The device may be used in vehicles, such as for use as artificial vision in submersible vehicles. In the case of submersible vehicles, the device It has water resistant components. Similarly, this embodiment can be used for artificial vision in robots. do.

[0014] In another preferred embodiment, the present invention broadly relates to a method for casting shadows around an object using static shadow casters. The present embodiment relates generally to an apparatus and method for modeling an environment. 1. A device for generating a luminosity edge of an object to form a three-dimensional model of the surroundings of the object, the device comprising: one or more light sources mounted on the object, and one or more shadow casters. The one or more shadow casters are mounted on the object and projected onto a plane. and one or more shadow casts having a shape with at least one straight edge. a computer, one or more image capture devices mounted on the object, and a non-transitory computer A processor having a memory stored in a computer-readable medium and the computer-readable medium. The one or more light sources illuminate the one or more shadow casters to produce a known geographical area. It casts a high contrast shadow of the geometry, and the high contrast shadow is forms a plurality of luminous intensity edges around the perimeter of the object, the object passing through the perimeter of the object. and moving the one or more luminous intensity edges around the perimeter of the object. The one or more image capture devices capture the one or more light intensities on the surroundings of the object. An image of the edge is captured and the image is recorded in the memory, and the processor A three-dimensional data representation is formed from the image, and the processor uses the three-dimensional data representation to generating the three-dimensional model of the surroundings of the object using the three-dimensional model stored in the memory; The preferred embodiment also generally stores one or more luminosity edges in A method for generating a three-dimensional model of the surroundings of an object, the method comprising: providing one or more light sources mounted on the one or more shadow casting elements; wherein the one or more shadow casting elements are mounted on the object. A shape that, when projected onto a plane, has at least one straight edge. provides multiple shadow casting elements and high contrast scenes of known geometry and projecting a shadow, whereby said one or more light sources and said one or more and projecting said one or more luminous intensities onto said periphery of said object using a plurality of shadow casting elements. forming an edge, projecting and moving the object, whereby moving the one or more luminous intensity edges around the perimeter of the object; and capturing an image of the one or more luminous intensity edges on the periphery of the object. forming a three-dimensional data representation from said captured images; and generating the three-dimensional model of the surroundings of the object using the data representation; and and storing the model on a non-transitory computer readable medium. Other versions may be discrete or continuous, linear, or may include one or more optical arrays. Additionally, some versions of this embodiment may include one or more light sources. One or more shutters further having configurable shapes, configurable opacity, or color filters. Additionally, some versions of this embodiment use an augmented reality headset. The 3D model uses a 3D model of the object, which is superimposed around the object, while a similar version uses The model is then displayed overlaid on the surroundings of the augmented reality headset. Embodiments may be used in vehicles, such as for use as artificial vision in autonomous automobiles or submersible vehicles; In the case of a submersible vehicle, the device has water-resistant components. It can also be used for artificial vision.

[0015] In a most preferred embodiment, the present invention generally generates one or more luminosity edges. The present invention relates to an apparatus for forming a three-dimensional model of an object, the apparatus comprising an external housing having a camera and It has a back panel with a laser opening, a top panel, and two side panels with pivot points. A shadow caster having a rectangular front segment, two sized each of the side segments is a front segment; Depending perpendicularly from the end, the side segments each have a triangular and shoulder screw hole and A shoulder mount having a shoulder screw, said shoulder screw being secured by means of a nut. a shoulder mount rotatably attached to the side panel; and a shadow caster having a tab depending from the member; and an actuator assembly, An actuator arm dependent on the external housing, an actuator dependent on the actuator arm a actuator motor, and a shadow caster motor, which is dependent on the actuator motor; an actuator assembly having an actuator connector that connects to the tab; The light source is discrete, continuous, linear, and the side segment of the shadow caster is a light source and a video camera assembly extending between the shoulder screw of the shoulder mount of the light source and the video camera assembly; a video camera assembly including a camera body and a rear panel of the external housing; A video camera support platform extends through the opening, and the video camera support platform A video camera mounted on a platform, comprising a camera lens, a camera synchronization port, and a video Video camera assembly having a video camera with a video output port and a control port - Patents.com and a memory stored in a non-transitory computer readable medium; and a processor having a display, the light source illuminating the shadow caster; By casting a high-contrast shadow of known geometry, forms the one or more luminous edges on the object, and the actuator motor Moving the shadow caster to cast the one or more luminosity edges across the object. and the video camera captures an image of the one or more luminous edges on the object. The image is recorded in the memory, and the processor generates a three-dimensional image from the recorded image. and forming a three-dimensional data representation of the object using the three-dimensional data representation, the processor generating said three-dimensional model, said three-dimensional model being displayed on said display using said processor; In other versions of this embodiment, one or more shadow casters are The shape of the data is based on the object being scanned and modeled, such as through 3D printing techniques. Additionally, some versions of this embodiment may include configurable shapes, configurable opacity, Alternatively, one or more shadow casters may be used that further include a color filter. Some versions of this embodiment use a display, which is connected to a headset. It is an augmented reality headset that can overlay three-dimensional models onto the user's view of the Another version of this embodiment is a shadow caster with multiple front sections. The present invention uses a front segment and a side segment having multiple side sections. Additional versions are available for use in rooms where the device is ceiling mounted. One version of this embodiment is for mapping lentigines or skin lesions or for Used in dermatology to test patients for skin cancer or similar diseases, etc. The present invention may be used to scan a person and generate a three-dimensional model of that person's skin. As another specific application of the most preferred embodiment, the device may be used during brain surgery on a patient, In that case, the device includes a drape that fits over the outer housing of the device and protects the patient from contamination. The device is fitted with a drape that can protect the device from the trauma and a drape that can fix the device's position relative to the patient. The preferred embodiment also generally includes a clamp assembly. The present invention also relates to a method of using the device in a surgical procedure, the method comprising draping the device. Thus, the drape fits over the outer housing of the device and protects the patient from contamination. draping and aligning the device with the patient; focusing the video camera of the device on the patient; and and to start recording the patient using the actuator motor. sweeping said one or more luminosity edges across a subject; and using said video camera to capturing an image of the one or more luminous intensity edges on the patient using a collecting and analyzing said images using said processor; forming a three-dimensional data representation from said image using a processor; generating said three-dimensional model of said patient using said three-dimensional data representation using said three-dimensional data representation; and displaying the three-dimensional model on the display using the processor. This preferred embodiment also generally includes the use of the device in robotic brain surgery of a patient. A method for controlling the device is also provided, the method comprising the steps of: The robot is capable of controlling the video camera and the actuator motor. and capable of interacting with the processor, the robot A navigation computer capable of navigating, comprising the memory and A navigation computer having a computer readable medium, one or more positioning sensors, a robot motor, one or more alignment robot motors, and one or more focus providing a robot having a robot motor; and draping the device. and wherein the drape fits over the outer housing of the device and protects the patient from contamination. and the one or more positioning robots. positioning the device on the patient using a motor; and positioning the one or more positions. aligning the device with the patient using an alignment robot motor; Or using a plurality of focus robot motors, the video camera of the device is moved to the subject. and using the robotically controlled video camera to capture the patient. and recording the patient using the actuator motor controlled by the robot. sweeping said one or more luminosity edges across said robotically controlled video camera; capturing an image of the one or more luminous intensity edges on the patient using a digital camera; using said processor to collect and analyze said image; and using said processor to forming a three-dimensional data representation from said image using said processor; generating said three-dimensional model of said patient using said three-dimensional data representation; and The three-dimensional model is connected to the navigation computer of the robot used during brain surgery. Furthermore, this preferred embodiment also generally includes storing the patient's A method of using the device in brain surgery is also disclosed, said method comprising the steps of: scanning the patient's brain prior to brain surgery, thereby obtaining a preliminary model of the brain; Other scanning techniques that generate the above are MRI scan, CT scan, PET scan or an ultrasound scan; and storing a model in said memory; and draping said device, said A drape can fit over the outer housing of the device to protect the patient from contamination. draping; aligning the device with the patient; and focusing said video camera on said patient; and starting recording of the patient; and moving the actuator motor over the patient. sweeping said one or more luminosity edges; and imaging said patient using said video camera. capturing an image of the one or more luminous intensity edges on the patient; and stopping recording of the patient. using said processor to collect and analyze said images; forming a three dimensional data representation from said image using said processor; generating said three-dimensional model of said patient using said three-dimensional data representation; comparing said three-dimensional model with said prior model using a processor; and displaying the three-dimensional model on the display using the image processing device. This preferred embodiment also generally involves administering a pulse to a subject in a state where the brain is rhythmically pulsating. The present invention also relates to a method of using the device in brain surgery on a patient, the method comprising: and draping the patient over the drape so that the drape fits over the exterior housing of the device and prevents contamination of the patient. and aligning the device with the patient. and aligning said video camera of said device with said rhythmically pulsating brain of said patient. and using the video camera to capture the rhythmically pulsating pulse of the patient. and measuring a blood pressure waveform of the patient, The waveform includes a rhythmic pulsation of the patient's blood pressure. and transmitting said one or more luminous intensity elements across said rhythmically pulsating brain of said patient using said one or more luminous intensity elements. and scanning the video camera to capture the rhythmically pulsating pulse of the patient. capturing an image of the one or more luminous intensity edges on the brain; and Stop recording the pulsating brain and use the processor to collect and analyze the images. and calculating said rhythmically pulsating blood pressure of said patient using said blood pressure waveform and said processor. and eliminating said rhythmic brain movements and using said processor to detect said shadow caster. and using said processor to calculate said image and said eliminated forming a three-dimensional data representation from said rhythmic motion of said rhythmically pulsating brain of said patient; and using said processor to compute said three-dimensional image of said patient using said three-dimensional data representation. generating a three-dimensional model of the image; and displaying the three-dimensional model on the display using the processor. and displaying the same in play.

[0016] In another preferred embodiment, the present invention generally relates to an endoscopic device. The embodiment generally involves generating one or more luminous edges to form a three-dimensional model of an object. The device includes an endoscope body having a proximal end, a distal end, and a distal end portion, the proximal end and the distal end portion being connected to each other. an endoscope sleeve extending between the end and the distal end; a device disposed within the endoscope sleeve and directed toward the distal end; a tapered optical fiber bundle, the distal end of which is disposed within the endoscope sleeve; an endoscope body having an endoscope camera facing the tapered optical fiber bundle; A shadow caster mounted on the tip of the mirror body, the shadow caster having a semicircular piece. A dow caster; a light output unit including a horizontal platform; A vertical stand inflated from the horizontal platform, and a stepper motor linear inflated from the horizontal platform. a stepper motor linear actuator; a translation platform connected to the stepper motor linear actuator; a light source slaved to said translation platform; and a fiber optic bundle slaved to said light source. a rounded taper depending from the optical fiber bundle, and a slit mounted on the rounded taper; a light output unit having a light output section; a memory stored in a non-transitory computer readable medium; a processor having a computer-readable medium; and a display, the light output unit being configured to The light source is connected to the base end of the endoscope body, and the optical fiber bundle, the rounded taper, and the The slit, the tapered optical fiber bundle, and the shadow caster are illuminated to obtain a known geometries. a high-contrast shadow of the metric, the high-contrast shadow being one of the forming a plurality of luminous intensity edges on the object, the stepper motor linear actuator Moving the translation platform along with the light source across the object to image the one or A plurality of intensity edges are swept, and the endoscopic camera captures the one or more intensity edges on the object. An image of the edge is captured and the image is recorded in the memory, and the processor A three-dimensional data representation is formed from the image, and the processor uses the three-dimensional data representation to generating the three-dimensional model of the object using the processor; The preferred embodiment also generally comprises: The present invention also relates to an apparatus for generating a plurality of luminous intensity edges to form a three-dimensional model of an object, The device is an endoscope body having a base end, a tip end, and an internal structure extending between the base end and the tip end. an endoscope sleeve, a tapered optical element disposed within the endoscope sleeve and tapering toward the tip; a fiber bundle, and an endoscope camera disposed within the endoscope sleeve and facing the tip portion; an endoscope body having an optical fiber bundle; and a tapered optical fiber bundle disposed at the tip of the endoscope body above the tapered optical fiber bundle. A shadow caster having a semicircular piece; and a light output A launching section, comprising a horizontal platform, a vertical launching star extending from the horizontal platform, a stepper motor linear actuator extending from the horizontal platform; a support platform depending from the vertical stand; a light source, a fiber optic bundle depending from said light source, a rounded taper depending from said fiber optic bundle, and a light output portion having a slit mounted on the stepper motor linear actuator; A memory stored in a temporary computer readable medium; and a processor; and a display, and the light output unit is disposed at the base end of the endoscope body. The light source is connected to the optical fiber bundle, the rounded corner taper, the slit, and the taper light. Illuminating the fiber bundle and the shadow caster to provide high contrast of known geometry a high contrast shadow that projects a high contrast shadow over the one or more luminous edges; A stepper motor linear actuator is used to move the slit on the object. and sweeping the one or more luminous intensity edges across the object, the endoscopic camera capturing an image of the one or more luminous edges on the object and storing the image in the memory; The processor forms a three-dimensional data representation from the recorded images, a three-dimensional modeler for generating the three-dimensional model of the object using the three-dimensional data representation; The dimensional model is displayed on the display using the processor. Other versions of the present invention use tapered fiber optic bundles that are rectangular or rectangular with rounded corners. Additionally, some versions of this embodiment may include configurable shapes, configurable opacity, , or use one or more shadow casters further comprising color filters.

[0017] In another preferred embodiment, the present invention generally relates to a method for modeling an area using a drone. This embodiment generally relates to a system for ringing one or more luminosity edges. to generate a three-dimensional model of an area, the system comprising: A shadow drone, each of which is a remotely controlled flying vehicle. and a shadow caster having a panel subordinate to the drone. a plurality of shadow drones; and a plurality of camera drones, the camera drones being a plurality of cameras, each having the drone and an image capture device slaved to the drone; A mela drone; a memory stored in a non-transitory computer readable medium; a processor capable of controlling the drone and the camera drone, a processor having a computer-readable medium; and a display, The loan is a group of shadow casters that are substantially continuous. In this way, the collective shadow casters are aligned in a flight formation. The shadow casters are arranged in a group, and the sun shines on the collective shadow casters. , cast a high-contrast shadow of known geometry, and the high-contrast shadow above is forming said one or more luminosity edges on said area and positioning said flight formation; The aligned shadow drones will fly in formation across the area. and moving the one or more luminosity edges across the area to move the camera drop. The image capture device of the line captures an image of the one or more luminous intensity edges on the area. and storing said image in said memory, said processor using said three-dimensional data representation. generating said three-dimensional model of said area using said processor; The preferred embodiment also generally comprises: The present invention also relates to a system for generating one or more luminosity edges to form a three-dimensional model of an area. The system includes a plurality of shadow drones, each of which is A drone having a remotely controlled flying vehicle and a panel slaved to the drone. A plurality of shadow drones having a shadow caster; and a plurality of light drones. , each of the light drones has a drone and a light source subordinate to the drone. a plurality of light drones; and a plurality of camera drones, the camera drones being a plurality of cameras, each having the drone and an image capture device slaved to the drone; A mela drone; a memory stored in a non-transitory computer readable medium; A processor capable of controlling the drone, the light drone, and the camera drone. a processor having the computer-readable medium; and a display. The plurality of shadow drones are arranged so that the shadow caster has a substantially continuous collective shadow. The collective system is aligned in a flight formation to form a dowcaster. The shadow caster includes the aligned shadow caster, and the light drone Illuminate the collective shadow casters to cast high contrast shadows of known geometry. and said high contrast shadow projects said one or more luminous edges onto said area. The plurality of shadow drones aligned in the flight formation are formed, Move in formation across said area and and the image capture device of the camera drone sweeps the luminosity edge of the area. capturing an image of said one or more luminous intensity edges, storing said image in said memory, and a processor for generating a three-dimensional data representation from the recorded images, the processor generating said three-dimensional model of said area using said three-dimensional data representation; The image is displayed on the display using the processor. The embodiment may further include configurable shape, configurable opacity, or color filters. In addition, some versions of this embodiment use one or more shadow casters. The system uses a display that projects a three-dimensional model onto the user's view in the headset. It is an augmented reality headset that can overlay images onto the screen.

[0018] In another preferred embodiment, the present invention generally models an area such as a large stadium. This embodiment generally relates to a system for ringing one or more luminosity edges. to generate a three-dimensional model of an area, the system comprising: and a rotatable shadow caster platform; A light source dependent on the center of the form; each of the shadow casters around the light source. At least one shadow caster dependent on the platform, the shadow caster being connected to the vertical panel and At least one shadow caster having an inclined panel inclined toward the light source; a plurality of image capture devices, each mounted on a tripod; and a non-transitory computer readable medium. a processor having the computer readable medium; and a display. and a plurality of image capture devices are provided on the shadow caster platform. The light sources are arranged around the periphery and illuminate the shadow casters to produce a high-contrast image of known geometry. a high contrast shadow projected by said one or more luminous intensities; A shadow caster platform is rotated to form a ridge over the area. Rotating the shadow caster around the light source to cast the 1 and sweeping one or more luminosity edges over the area, the plurality of image capture devices capturing the luminosity edges over the area. capturing an image of one or more luminous intensity edges, storing said image in said memory, and executing said process. The sensor forms a three-dimensional data representation from the recorded images, and the processor generating said three-dimensional model of said area using said three-dimensional data representation, said three-dimensional model comprising: The display is displayed using the processor. Also, typically, one or more luminosity edges are generated to form a three-dimensional model of the area. The present invention also relates to a system for carrying out the above-mentioned method, the system comprising a horizontal shadow caster platform and ; directional, rotatable and slaved to the center of said shadow caster platform; a light source that is attached to the shadow caster platform around the light source; At least one shadow caster tilted toward the vertical panel and the light source. At least one shadow caster having an inclined tilt panel; each mounted on a tripod; an image capture device mounted on the non-transitory computer readable medium; and a memory stored on the non-transitory computer readable medium. a processor having the computer readable medium; and a display, The capture device is disposed around the shadow caster platform, and the light source is Illuminate the shadow caster to cast a high contrast shadow of known geometry. the high contrast shadow forms the one or more luminous edges on the area; The light source is moved to sweep the one or more luminous intensity edges across the area, The plurality of image capture devices capture images of the one or more luminous intensity edges on the area. and storing the image in the memory, and the processor extracts a three-dimensional image from the stored image. forming an original data representation, said processor using said three-dimensional data representation to compute said area; and generating said three-dimensional model by using said processor. Other versions of this embodiment include configurable shapes, configurable Use one or more shadow casters that also have opacity or color filters Additionally, some versions of this embodiment use a display, which The new augmented reality headset allows users to overlay a three-dimensional model onto their view of the headset. It is.

[0019] In another preferred embodiment, the present invention broadly relates to a method for producing a shaped shadow caster. and is used in many of the preferred embodiments above. This embodiment generally comprises: Custom shadowing creates one or more luminosity edges to form a three-dimensional model of an object. The present invention relates to a method for making a three-dimensional image, the method including providing a three-dimensional printer and printing a photograph, a binoculars, a determining the outline of the object using a 3D printer; 3D printing the custom shadow caster in the shape of the outer shape using a When generating the one or more luminous edges, the custom shutter is positioned substantially near the object. and positioning the dough caster.

[0020] In another preferred embodiment, the present invention relates to an apparatus which is a linear light source with a slit, This embodiment can be used in many of the above preferred embodiments. The device for generating light for a star is a slit tube painted white. an interior, an exterior which is opaque, and a slit which runs the length of the slit tube and has a width; A slit tube, two light sources subordinate to both ends of the slit tube, and a light source subordinate to the light source Two heat sinks are attached to the slit tube, and two clamps are wrapped around the slit tube. and two clamps having a same width as the clamp, the clamps adjusting the width of the slit. Other versions of this embodiment are assemblies of multiple LEDs or Alternatively, a light source provided by a fiber optic bundle may be used. John further includes one or more lenses across the slit that have a negative focal length. .

[0021] In another preferred embodiment, the present invention relates to an apparatus for generating sharp shadows, said apparatus comprising: Two side shadow casters, each of which is triangular A base, two sides extending from the base and intersecting at one point, and a top surface where the two sides intersect Two side shadow casters with a vertex having a marking point and a pivot point, and a main shadow caster The main shadow caster is a caster in which the side shadow caster is above the main shadow caster. Between the bases of the side shadow casters in a state dependent on the main shadow casters The main shadow caster is disposed at the intersection with the pivot point of the side shadow caster. a rotation axis extending between the apexes of the side shadow caster and a rotation axis extending between the apexes of the side shadow caster; and a light source disposed along the rotation axis. The dow caster can rotate about the rotation axis, and the light source can be aligned along the side shadow. Projecting light across the W caster and the main shadow caster to create the sharp shadow Another version of this embodiment is the side shadow further having a configurable shape. The above-mentioned main shadow caster and the above-mentioned main shadow caster are used. The side shadow caster and the main shadow caster further have configurable opacity. An additional version of this embodiment further uses a color filter. The side shadow caster and the main shadow caster are used. Another version of this embodiment is the side shadow further having multiple sections. Use casters and the main shadow caster above. Use in conjunction with the shadow caster scanner. If this is the case, the camera must be separated from the light source.

[0022] Although the above examples have been described in some detail for clarity of understanding, the techniques of the present invention as described above are The method is not limited to the details provided. There are many alternative ways to implement the techniques of the present invention described above. The disclosed examples are illustrative and not limiting. These embodiments are not intended to be limiting. No limitation to the scope of the invention is intended.

[0023] BRIEF DESCRIPTION OF THE DRAWINGS Exemplary and preferred embodiments of the present invention are illustrated in the accompanying drawings. [Brief description of the drawings]

[0024] [Figure 1] The scanner system is known. [Diagram 2] FIG. 1 illustrates an example of a shadow caster according to some embodiments. [Diagram 3] FIG. 1 illustrates a scanning system according to some examples. [Figure 4] FIG. 13 illustrates another example of a shadow caster according to some embodiments. [Diagram 5] FIG. 13 illustrates another example of a shadow caster according to some embodiments. [Figure 6] FIG. 1 illustrates an example of a shadow caster generating luminosity edges and scanning multiple objects, in accordance with some examples. [Figure 7A] 1A-1D illustrate side views of an object being scanned, according to some examples. [Figure 7B] 1A-1C illustrate perspective views of an object being scanned, according to some examples. [Figure 7C] 1 is an example flowchart for determining spatial locations of points on an object surface according to some examples. [Figure 8] FIG. 1 illustrates an example of a shadow caster in accordance with various embodiments. [Figure 9] FIG. 1 illustrates an example of a shadow caster in accordance with various embodiments. [Figure 10] FIG. 1 illustrates an example of a shadow caster in accordance with various embodiments. [Figure 10A] FIG. 1 illustrates an example of a shadow caster in accordance with various embodiments. [Figure 11A] 1A-1C are diagrams illustrating examples of adaptive structural characteristics of a shadow caster for scanning a three-dimensional object, according to some examples. [Figure 11B] 1A-1C are diagrams illustrating examples of adaptive structural characteristics of a shadow caster for scanning a three-dimensional object, according to some examples. [Figure 11C] 1A-1C are diagrams illustrating examples of adaptive structural characteristics of a shadow caster for scanning a three-dimensional object, according to some examples. [Figure 12] FIG. 1 illustrates an example of a configurable shadow caster, according to some examples. [Figure 13] FIG. 1 illustrates an example of a scanning system, according to some examples. [Figure 14] FIG. 13 is a diagram illustrating yet another example of a scanning system according to some examples. [Figure 15] 1 illustrates an example of a scanning system configured to perform medical applications, according to some examples. [Figure 16A] 1A-1D illustrate a dedicated surgical microscope including a system of shadow casters, according to some examples. [Figure 16B] FIG. 13 illustrates yet another dedicated surgical microscope including at least one shadow caster, according to some examples. [Figure 17] 1A-1C show enlarged images based on 3D scanned features according to some examples. [Figure 18] FIG. 1 is a functional block diagram illustrating in vivo 3D scanning and image integration according to some examples. [Figure 19] FIG. 13 illustrates yet another example of one or more shadow casters configured to generate one or more luminosity edges in accordance with some examples. [Figure 20] 1A-1C illustrate example light projection patterns from a wearable shadow caster, according to some examples. [Figure 21]FIG. 1 illustrates an image capture device implemented with a wearable shadow caster, according to some examples. [Figure 22] 1A-1C illustrate multiple wearable shadow casters working together in a common environment, according to some examples. [Figure 23] 1 illustrates examples of various computing platforms configured to provide various functions to components performing three-dimensional scanning, according to various embodiments. [Figure 24] 1 is a front perspective view of an apparatus of the present invention, according to some examples. [Diagram 25] 25 is a rear perspective view of the device of FIG. 24 according to some examples. [Figure 26] FIG. 25 is an exploded view of the device of FIG. 24 according to some examples. [Figure 27] FIG. 1 is a front perspective view of a shadow caster of the present invention according to various embodiments. [Figure 28] FIG. 13 is a front perspective view of another shadow caster of the present invention in accordance with various embodiments. [Figure 29] FIG. 13 is a front perspective view of another shadow caster of the present invention in accordance with various embodiments. [Diagram 30] 25 shows a flow chart illustrating the operation of the apparatus of FIG. 24 according to some examples. [Diagram 31] 1 is a front perspective view of a device of the present invention being used during brain surgery, according to various embodiments. [Diagram 32] 4 shows a flow chart illustrating the operation of the device of the present invention in use during brain surgery, according to some examples. [Diagram 33] 4 shows a flow chart illustrating the operation of the device of the present invention in use during brain surgery, according to some examples. [Diagram 34] 5 shows a flow chart illustrating the algorithm used by the present invention according to some examples. [Diagram 35] 1 displays a flow chart illustrating the device of the present invention being used for patient registration, according to various embodiments. [Diagram 36]1 shows a flow chart illustrating the operation of the device of the present invention used during robotic brain surgery, according to some examples. [Figure 37] 1 is a front perspective view of an apparatus of the present invention according to various embodiments. FIG. [Figure 38] FIG. 38 is an exploded view of the device of FIG. 37 according to some examples. [Figure 39] 1 is a front perspective view of an apparatus of the present invention according to various embodiments. FIG. [Diagram 40] 1 shows a front perspective view and an exploded view of a device of the present invention mounted on the tip of an endoscope, according to various embodiments. [Diagram 41] 41 shows a block diagram illustrating the apparatus of FIG. 40 according to some examples. [Diagram 42] 1 shows a flow chart illustrating the operation of an endoscopic version of the device of the present invention, according to various embodiments. [Diagram 43] 1 shows a flowchart illustrating an algorithm used by an endoscopic version of the present invention, according to some examples. [Diagram 44] 1 shows a flow chart illustrating shadow caster sweeping of an endoscopic version of the device of the present invention, according to some examples. [Diagram 45] FIG. 1 is a front perspective view of an apparatus of the present invention for scanning a person, according to various embodiments. [Figure 46] 46 shows a flowchart illustrating the operation of the apparatus of FIG. 45 according to some examples. [Figure 47] FIG. 2 is a front perspective view of another apparatus of the present invention for scanning a person while walking, in accordance with various embodiments. [Figure 48] 48 is a flow chart illustrating the operation of the apparatus of FIG. 47 according to some examples. [Figure 49] 1 illustrates a front perspective view of another apparatus of the present invention incorporated into an automobile, according to various embodiments. [Figure 50] 50 is an expanded view of the device of FIG. 49 according to some examples. [Figure 51] 5 shows a flow chart illustrating the operation of the apparatus of FIG. 49 according to some examples. [Figure 52]1 shows a flow chart illustrating the operation of the device of the present invention integrated into a robot, according to various embodiments. [Diagram 53] 1 shows a flow chart illustrating the operation of the apparatus of the present invention integrated into a submersible vehicle, according to various embodiments. [Figure 54] FIG. 1 illustrates a front perspective view of a system of the present invention using a drone, according to various embodiments. [Figure 55] 55 is a flow chart illustrating the operation of the system of FIG. 54 according to some examples. [Figure 56] FIG. 1 is a front perspective view of another system of the present invention using a drone, according to various embodiments. [Figure 57] 57 shows a flowchart illustrating the operation of the system of FIG. 56 according to some examples. [Figure 58] 1 shows a flowchart illustrating an algorithm used by the system of the present invention using a drone, according to various embodiments. [Figure 59] 1 is a flow chart illustrating a shadow caster sweep of the system of the present invention using a drone, according to various embodiments. [Figure 60] FIG. 2 is a perspective view of another system of the present invention used to scan a stadium, according to various embodiments. [Figure 61] 61 is a perspective view of the system of FIG. 60 in the process of scanning a stadium, according to some examples. [Figure 62] 1 shows a flowchart illustrating an algorithm used by an embodiment of the invention using one shadow caster, according to some examples. [Figure 63] 1 is a flow chart illustrating shadow caster sweeping used by embodiments of the present invention using one shadow caster, according to some examples. [Figure 64] 2 shows a flow chart illustrating the operation of the device or system of the present invention used for desktop scanning, according to various embodiments. [Figure 65]1 shows a flowchart illustrating the operation of a device or system of the present invention, which may be used with a tripod, for scanning a room, according to various embodiments. [Figure 66] 1 shows a flowchart illustrating the operation of a device or system of the present invention that may be used in conjunction with overhead lighting for scanning a room, according to various embodiments. [Figure 67] 4 shows a flow chart illustrating an algorithm used by embodiments of the invention using multiple cameras, according to some examples. [Figure 68] 1 is a flowchart illustrating an algorithm used by an embodiment of the invention using multiple cameras and one static shadow caster, according to some examples. [Figure 69] 1 shows a flowchart illustrating a method for creating a custom shadow caster according to some examples. [Figure 70] 1A-1C are perspective views of an apparatus of the present invention that is a slit light source, according to some examples. [Figure 71] 71 shows an exploded view of the device of FIG. 70 according to some examples. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0025] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS By way of example, the present invention may be adapted to generate one or more luminosity edges to provide a three-dimensional representation of an object or environment. In the preferred embodiment, an apparatus, method and system for forming a master model are shown. In a preferred embodiment, the present invention provides one or more light beams across an object or area being modeled. One or more light sources and one or more shadow casters that generate a degree edge, One or more means for detecting multiple luminosity edges, relative to the object or area being modeled means for detecting the movement of one or more luminous intensity edges of the object or edge being modeled; The present invention includes a means for generating a three-dimensional model of a piece of software, as well as related methods and systems. Embodiments move one or more shadow casters, and some embodiments move one or more and in some embodiments, moving the object through one or more luminosity edges. Various embodiments or examples may include systems, processes, methods, apparatus, user interfaces, and the like. or a computer readable medium such as a computer readable storage medium or program instructions A computer to which the order is transmitted via an optical, electronic, or wireless communication link. This may be implemented in many ways, including as a series of program instructions in a network. The process operations shown are as follows, unless otherwise provided in the claims. , may be performed in any order. These embodiments are not intended to limit the scope of the invention.

[0026] A detailed description of one or more examples is provided below along with the accompanying figures. The present invention is provided in conjunction with such examples, but is not limited to any particular example. Many alternatives, modifications, and equivalents are included, but are limited only by the scope of the present disclosure. Many specific details are described below. These details are provided for purposes of example and are not intended to be limiting. The described techniques may be practiced according to the claims without some or all of these specific details. For clarity, the examples are provided with reference to known technical materials in the art. has not been detailed to avoid unnecessarily obscuring the explanation.

[0027] Referring now to preferred embodiments of the present invention, FIG. FIG. 200 is a diagram showing an example of a shadow caster. At or upon a boundary (not shown) of the luminosity edges 250a and 250b

[0023] One example of a method for forming a three-dimensional image of an object or environment, comprising: In some examples, the shadow caster 215 is a shadow At least the edge portions 211a and 211b of the edge 213a of the caster 215 may collide with each other. The edge portion 211a may be configured to receive photon radiation (e.g., as light) upon impact. The projections 204a and 204b of the light from the projection surfaces 210 and 211b are provided with a luminosity edge 250a. Similarly, the light may also be formed at edge portions 211aa and 211bb of edge 213b. The collision may also result in projections of light 204a from the edge portions 211aa and 211bb. a and 204bb may form another luminous intensity edge 250b. Either edge 250a or luminosity edge 250b or both are three-dimensionally scanned and digitally processed. In the example shown, the shadow caster 215 may be opaque, This allows the formation of a shadow area 220 based on the luminosity edges 250a and 250b. The shadow area 220 includes an illuminated portion 299 of the plane 210 that includes an illuminated plane portion 228. A high degree of darkness (eg, low or negligible lighting levels) may be relevant.

[0028] In view of the above, the shadow caster 215 may be configured to perform various functions and / or functions as described herein. The method is carried out according to the structure to form luminosity edges and spatial characteristics related to the surface of the object and the environment. This may facilitate 3D scanning and digital replication of features. The star 215 includes a triangular cross-sectional area that, when projected, provides a triangular outline in the plane YZ. The triangular cross-sectional area is sharp with each edge remaining parallel to the line 212 throughout the scan. The sharp shadow is cast on any plane parallel to the line 212. That is, the parallelism of one or both edges to the line 212 may be reduced during scanning (e.g., one or Both luminosity edges 250a and 250b span the object, environment, and / or projection surface 210. When projected onto the plane 210, the shadow caster 215 can maintain its original shape even when the light moves. The geometry and dimensions of the source 203 and the luminous intensity edge 250a (or luminous intensity edge 250b) maintain parallelism as one or more of the luminous edges move, for example, during the scanning process. The angle of the shadow caster 215 can be known in advance, facilitating the scanning. The luminosity edge or edges used are maintained parallel to facilitate accurate identification of the shadow plane. In at least one example, the accuracy of the coordinates of the 3D object may be improved. The shadow caster 215 is located at point L on either edge 213a or 213b or both. A shadow caster 215 is a shadow caster that is parallel to a line 212 passing through the light source 203 and the vertex 262 of the shadow caster 215. An example of a shadow plane is formed by points L, A, and B. An example of the second shadow plane is formed by points L, C, and D. That is, in some examples Thus, the luminosity edge 250a between points A and B is smaller than the luminosity edge 250a between points C and D. According to at least one example, the light source 2 may be kept parallel (or approximately parallel) to the light source 2b. The line 212 passing through 03 does not have to pass through the shadow plane. , and the shadow plane is extendable to line 212. However, However, the shadow does not necessarily have to be cast along this line by the shadow caster.

[0029] For example, luminosity edge 250a includes a shadow area 220 (e.g., a relatively large area) within distance units 226. Illumination from the absence (or relatively low amounts) of reflected light or photon radiation at low levels of brightness or luminosity A relatively steep rate of change to a relatively high level of reflected light or photon emission at the bright flat portion 228. According to some examples, the luminosity edge 250a may be associated with a slope that indicates the unit distance 226. The pixel characteristics may be described as, but are not limited to, gray pixel intensity. In one example, the gradient may include pixel intensities such as brightness values, luminosity values, etc. One or more pixel characteristics of 0 result in a pixel value of 000 (e.g., no illumination or "black") to a pixel value of 255 (eg, full illumination or "white"). In at least some cases, according to at least some examples, the shadow caster 215 The cross-sectional area of ​​the shadow-casting edge is, for example, a single plane that contains the light source. Sharper luminosity edges and higher contrast than a cylindrical rod or pencil placed on a non-planar surface In other words, globally, any edge that lies in a plane that also contains the light source It casts sharp, high contrast shadows, which is a particular advantage of embodiments of the present invention.

[0030] In some instances, the luminosity edges are sufficient to provide relatively sharp edges to illuminated surfaces and cast shadows. Thus, the example of a luminosity edge can provide a significant contrast for capturing spatial characteristics of a 3D surface. This facilitates the capture of shadow edges and is related to surfaces that may acquire color from the illuminated surface closest to the shadow edge. Therefore, in order to accurately represent colors during scanning, the present invention It may be possible to obtain color identification relatively closer to the luminosity edge during scanning than if it were not used. For example, color identification must rely on coregistration of 3D data with separate color information. This is not achieved using a separate camera or when data representing the 3D information is scanned or It may be acquired at a different time than it would otherwise be captured.

[0031] Still referring to FIG. 2, diagram 200 shows a negative X plane (e.g., “−X”) portion of projection plane 210. A light source 203 is shown positioned in a region relevant to the component, and a shadow caster 215 (or its projection) is shown. The shadow caster 215 is disposed in a plane (e.g., the YZ plane). may be located on or adjacent to the line 212. The line 212 may also include a light In at least one example, portion 260 is as wide as line 212. In one example, the line 212 may have one or more portions of a shadow caster 215. These parts may coincide with the apex of the triangular shadow caster 215 shown in FIG. In at least some cases, the line 212 is parallel to the XY plane, Another portion of the shadow caster 215 may be spaced apart, such as at the end portion 230. For example, the end portion 230 may be disposed at or adjacent to the projection surface 210. It can be placed.

[0032] In some examples, the illustration of the shadow caster 215 includes luminosity edges 250a and 250b. The cross-sectional area or its projection may be expressed relative to a formable plane (eg, the YZ plane). Alternatively, the shadow caster 215 (or its cross-sectional area) may be inclined relative to the plane. Can be positioned or oriented (e.g., at an angle 280 with respect to a plane coextensive with the XY plane) Therefore, the structure and function of the shadow caster 215 is shown and described in connection with FIG. For example, one or more light sources 203 (e.g., light points) A rectangular shaped shutter having one or more of the features, functions, and / or structures described herein, such as A doe caster can be implemented, whereby a rectangular shadow caster casts around a point on the edge ( (e.g., about an axis of rotation parallel to line 212) to produce at least one relatively sharp According to some examples, the shadow caster 21 may form a shadow edge (or a luminosity edge). 5 may be opaque, with the opacity being configurable or programmable. In this case, the penumbra may be implemented as a shadow area 220, whereby the light source 203 (or any other A fractional amount of illumination from a light source) can represent a maximum darkness (e.g., a fractional amount of illumination can represent complete darkness). The arithmetic unit may modify or limit the pixel intensity value (which may increase the pixel intensity value beyond 000). Instead, luminosity edges 250a and 250b may be associated with penumbra 220, according to some examples. 2. A first range of one or more pixel values ​​associated with the illuminated portion 228 of the projection plane 210. In some examples, the transition of one or more pixel values ​​from the first range to the second range may be detected. For example, a transition may be detected or identified in one frame where adjacent pixels may be compared. A transition is a change in pixel brightness over time (e.g., across multiple frames). In at least one case, the luminosity (or shadow) edge is thinner than a pixel. (e.g., as a shadow edge moves across pixels during scanning) , during one or more frames where pixel values ​​may change relatively slowly). Luminous intensity edges can be identified with sub-pixel accuracy.

[0033] FIG. 3 is a diagram illustrating a scanning system according to some examples. 301 and one light source 303 or multiple light sources 303 (not shown) arranged in a line 312. Another example of a shadow caster 315 as a component of a scanning system including The line 312 passes through the vertex 362 of the shadow caster 315 and one or more light sources 303. In some examples, the shadow caster 315 may extend Photon radiation (e.g., , as light) from edge portions 311a and 311b upon impact. Each of the light projections 304a and 304b forms a luminous edge 350a on the projection surface 310. Similarly, light also strikes edge portions 311aa and 311bb of edge 313b. The collision may result in projections of light 304aa and 304b from edge portions 311aa and 311bb. 304bb may form another luminosity edge 350b. a and 350b are formed at or upon the projection surface 310 to form the shape of the object 370 This can facilitate the generation of three-dimensional representations of the shape.

[0034] According to various functions and structures, the luminosity edges 350a and 350b are aligned with the surface of the object 370. The device may transition or move over a range of distances to identify three-dimensional spatial features of the surface. Any number or type of motive force (not shown) may be generated by a force of gravity or by a force of a vice (not shown). This causes one of the shadow caster 315 and the object 370 to move relative to the other, and the object 3 70. For example, the motive force may be a plane (e.g., 3B, the angular displacement of the shadow caster 315 in the YZ plane (e.g., the line 31 Rotation having at least some rotational components about an axis parallel to 2 384). Some examples Now, while maintaining the parallelism described above, rotate the shadow caster 315 around the vertex 362 in FIG. By having the parallel light edge move (e.g., synchronously) throughout the scan, Similarly, the shadow caster 215 of FIG. 2 may rotate about a vertex 262 to provide The width of the lower portion 331 (for example, in the Y-axis direction) can be maintained as shown in FIG. The width of one or more squares in the checkerboard pattern shown in FIG. However, here or in any other example described herein, the width of the lower portion 331 may be any number The width of the grid may be smaller or larger than that of the grid of FIG. The dimensions of the shadow caster 315 shown are exemplary. Any number of configurations and arrangements may be used to form any distance 333 between edges 350a and 350b. A width may be used.

[0035] To perform a scan, the angular displacement of the shadow caster 315 in the YZ plane is For example, luminous intensity edges 350 and 360 are aligned across projection surface 310 in a direction 380 parallel to the Y axis. As another example, the motive force may move the shadow caster 315 in the Y-axis. luminosity edges 350a and 350b are translated (e.g., rotated) in the direction shown along the line b as well as shadow portion 320 in direction 380. In yet another example, the motive force may be object 37 0 relative to the shadow caster 315 by rotating 382 or translating 383 (e.g., parallel to the Y axis) The object 370 is then moved to the luminous edge 350a and the object 370 is moved to the luminous edge 350b at different times. In another example, the motive force may cause the object 370 to contact the shadow caster 315. , to move the luminosity edge.

[0036] In some examples, the motive force is the light source 303, the shadow caster 315, and the object 370. Moving one relative to the other two causes movement of the luminosity edges 350a and 350b. Note that the driving force for the light source 303 or the shadow caster 315 may be any type of driving force. Examples include, but are not limited to, mechanical, electromechanical, electrical, magnetic, electromagnetic. physically, electronically (e.g. activating an LCD element to create a simulated shadow cast) The actuator 315 may be driven by a current or voltage, or any other motive force, which may cause the actuator 315 to move. The device generating the force need not be limited to an electromechanical motor, but may be gravity or the force of an object 370 The luminous intensity edge 350 may be any known device for moving the luminous intensity edge 350 relative to the surface of the light source.

[0037] The image capture device 301 is configured to project luminous intensity edges 350a and 350b onto the projection surface 310. Or it may be configured to capture images of a scene or environment containing object 370 as it moves. Examples of image capture device 301 include digital video cameras, charge-coupled devices ("CCDs"), The camera may be of any type, such as a digital camera, a 3D ... In the illustrated example, the image capture device 301 detects a shadow 320 (e.g., a shadow area) passing through an object 370. As the pixel count increases, one or more pixels 373 may be associated with the luminosity edges 350a and 350b. One or more image frames (e.g., video at a particular frame rate) may be captured. The one or more pixels 373 may be a pixel or pixels of an object, which may be represented as one or more pixels 373. 370. In this example, the image capture device 301 is a graph showing the change in reflected luminosity for a given luminosity edge, either from dark to light or from light to dark. The surface of the object 370 is one of the luminosity edges 350a and 350b. A part (e.g., a part cast on object 370) is detected from the viewpoint of camera 301. The luminosity edges 350a and 350b may deviate from other straight line portions (e.g., in the XY plane). The deviation or deformation of the luminosity edges 350a and 350b is a function of the surface dimension extending in the positive direction of the Z axis. (of object 370). In at least one embodiment, one image capture device A single lens 301 (e.g., having one lens) may be used for at least some of the scanning functions described herein. At least this may be sufficient for some implementations.

[0038] FIG. 4 is a diagram illustrating another example of a shadow caster according to some embodiments. may have one or more luminous intensity edges 450 at or upon the projection surface 410. to facilitate three-dimensional object scanning. FIG. 400 also shows a system of luminosity edges 45 and 415b aligned to each other. 1 and 453 to form a common edge 450. Diagram 400 also shows a possible configuration for image capture device 401, A subset of one or more light sources 403a and a subset of one or more light sources 403 A subset 403a of one or more light sources is located in a region 430 (e.g., a shadow 415a) (on one side of the cluster 415a), and a subset of one or more light sources 403b may be arranged in region 434. Regions 430, 432, and 434 may be arranged in a two-dimensional space or in a three-dimensional space. The light sources of subsets 403a and 403b may be arranged axially on a line 412. Any amount of lumens (e.g., from 200 lumens or less to 1300 lumens or more) may be used. The light generating source may be any type of light generating source capable of emitting light. Examples of light generating sources include, but are not limited to, LE D, incandescent, halogen, laser, etc. and any type of light pipe, lens (e.g., Lens) or illumination optical fiber (e.g., optical fiber such as optical fiber cable) Each of the light sources in the subsets 403a and 403b may be a light guide. For example, the subsets 403a and 403b may emit photon radiation (e.g., light). Each light source or sources may emit light in the visible light spectrum and any other range of the spectrum. It can generate light (e.g., ultraviolet spectrum, infrared spectrum, etc.) in a relatively narrow spectrum. The one or more wavelength ranges may be radiated by the shadow casters 415a and 415b. In some cases, the subsets 403a and 403b may be selectively implemented depending on the application of the subsets 403a and 403b. The light source in b is a “white light” light source that can reduce or eliminate the effects of diffraction at the edges of the shadow caster. or "broadband light" (e.g., In combination, one or more wavelength ranges may be used to reduce the archiferous portion associated with light diffraction due to edges. The light sources of the subsets 403a and 403b may also be Any number of ranges of wavelengths may be implemented, whether or not these ranges are within the visible spectrum. The light sources in subsets 403a and 403b can emit light omnidirectionally, unidirectionally, or in any direction. The light source may be configured to emit any other light pattern.

[0039] In some cases, the light sources in subsets 403a and 403b may be relatively narrow or have close light spots. and / or a reduced (or relatively short) radial dimension ("r") 4 around the line 412. 99 to provide a relatively sharp transition from “light” to “dark” along edge 450, for example. A light source (e.g., a relatively narrow As the number of light sources increases, the luminosity edge 4 generated by the shadow caster 415b 53 may be sharp (e.g., a shadow or projection from the shadow area 420 in the region 432 (This may increase the rate of transition to illuminated portions of surface 410.) In some examples, subset 403b The light sources, such as the one shown in FIG. 1, are positioned at a greater distance 490 from the shadow caster 415b to provide a luminous intensity Similarly, any number of light sources may be aligned along corresponding portions of line 412. 403a and associated with shadow caster 415a to provide enhanced luminosity. In at least one example, a filament (e.g., a halogen The light points in the light bulb are arranged in a subset 403a so as to form a continuous set. The halogen bulb or filament or the light source described herein may be used to function as a The radius of any other light source that is to be used may, in at least some embodiments, be the "radius" of the radius "r". It may refer to a subset of light sources that describes a “narrow light source” 499.

[0040] In some examples, the shadow caster 415a receives photon radiation at its edge portion. luminosity edge 451 (e.g., from one or more subsets of light sources 403a). At least two portions of the luminosity edge 451 may be formed. The components are parallel or approximately parallel to each other when projected onto the projection surface 410 (e.g., The shadow caster 415b may be a photon emitter at the edge. 4. The luminosity edge 45 receives illumination (e.g., from one or more subsets of light sources 403b). At least two portions of the luminosity edge 453 may be formed. The two portions may be parallel or nearly parallel to each other when projected onto the projection surface 410 .

[0041] The luminosity edge 453 coincides with the luminosity edge 451 and is coextensive (or approximately coextensive). Based on the shadow casters 415a and 415b, a luminosity edge 450 may be formed. Therefore, the shadow caster 415b forms a luminosity edge 453 and the luminosity edge 451 ( For example, the adjacent shadow caster 415b) may be strengthened, and similarly, the shadow caster 4 15a forms a luminosity edge 451 and a luminosity edge 453 (e.g., adjacent shadow The enhanced luminosity edge 453 may, in at least one example, This can provide a relatively sharp shadow to the parallel shadows.

[0042] The luminosity edge 450 rotates around the line 412 with the shadow casters 415a and 415b as its axis. Since the two have a common rotational component, they can be translated synchronously on the projection plane 410, where the line 412 The shadow casters 415a and 415b are aligned along the subset of light sources 403a and 403b. 5b to apexes 462a and 462b, respectively. The dough casters 415a and 415b and the subset of light sources 403a and 403b are Translated along an axis, for example along lines 431 and 433, with some components, In another example, the shadow casters 415a and 415b and the subset of light sources 4 403a and 403b may rotate together while maintaining a common line 412. In this case, the illumination edge 450 does not have to be along one axis (e.g., the X-axis shown in FIG. 4). In this example, shadow casters 415a and 415b and 403a and 403b are both may also translate and / or rotate in unison while maintaining a common line 412.

[0043] FIG. 5 is a diagram illustrating another example of a shadow caster according to some embodiments. 5, one or more luminous intensity edges 550 at or upon the projection surface 510. to facilitate three-dimensional object scanning. As shown, the shadow casters 515a and 515b are b are the different times when the shadow casters 515a and 515b rotate around the axis 512. The points are shown in different positions and / or orientations (e.g., dashed lines represent previous positions or orientations). Correspondingly, the shadow casters 515a and 515b are at a second time point, it moves from position 520a to 520 at a second time point, At time 3, it moves from position 520 to position 520b, and at other times it moves to other positions. A luminosity edge 550 may be formed that moves as the light passes through the luminosity edge 550 .

[0044] In some examples, the light source 503 may be an extended light source (e.g., an elongated light strip) along the axis 512. In some embodiments, the ?lter may be implemented as a ?lter extending longitudinally along axis 512. As a halogen lamp, the light source 503 is shown in end view in FIG. 56, may have a diameter ("d") 566, which may be twice the "r" 499 of FIG. For example, 2 * In certain embodiments, the diameter of the light source 503 may be 566 may be 2 mm or less. In some cases, the diameter 566 may vary depending on the type of light source implemented. In addition, the light source 503 may be a reflector. In addition to being projected, the image of the light source may be a magnified or reduced image of the light source, It may be a real or virtual image of the light source affected by a negative lens or lens system (not shown). By extension, such an image can be considered a light source 503 .

[0045] In at least one embodiment, the shadow casters 515a and 515b are Splay ("LCD") 570a and 570b or other switchable opaque glass, film For example, the LCDs 570a and 570b may be transparent ( For example, it may be normally transparent and be activated to form an opaque cross-sectional shape, The LCD 570a may simulate the movement of the LCD 515a and 515b. and 570b are selectively activated at different times to affect the light emitted from light source 503. It may have a portion that creates a luminous intensity edge 550 that moves across the surface of the projection plane 510 .

[0046] In various examples, one or both of the shadow casters 515a or 515b may be configured as multiple shadow casters. For example, each triangle in the diagram 500 can be synchronously moved (e.g. , may represent different physical shadow casters that may rotate synchronously relative to the axis 512. Thus, shadow casters 515a (e.g., in the plane of location) and 515b (e.g., For example, each subset of the luminosity edges in the second plane is According to various other examples, any number of shadows may be generated. A caster may be used.

[0047] FIG. 6 illustrates a shadow filter that generates luminosity edges and scans multiple objects, according to some examples. FIG. 600 is a diagram showing an example of a shadow caster for the lighting arrangement shown in FIG. The luminous edges 650a and 650b are cast by the luminous elements 615a and 615b. As shown, luminosity edges 650a and 650b are aligned along cone 630, Common edges and brightness (e.g., maintain a relatively sharp transition from dark (e.g., low or no illumination) to light (e.g., lighted areas) In addition, the illumination area of ​​the object is illuminated from multiple directions during 3D scanning to enhance 615a and 615b so that the system can provide coordinated information (e.g., based on multiple directions). b. Shadow caster 615a is illuminated from the light corresponding to the shadow cast from both and 615b are as described with respect to the shadow casters 415a and 415b in FIG. , rotate or move to cast shadows over the cone 630, the hemisphere 632, and the rectangular block 634. The cameras (Figure 1) can be translated or rotated to form a three-dimensional data representation or model of each. (not shown) at the time when the luminous intensity edge 650a coincides with point 664. 6 to capture a pixelated image associated with a point ("P1") 664 on the hemisphere 632. Similarly, the image capture device may be configured to capture the light intensity edge 650b at point 665. , an image of a point ("P2") 665 on the surface of block 634 may be captured.

[0048] FIG. 7A illustrates a side view of an object being scanned, according to some examples. configured to capture images of the luminous edge as it moves across the surface of the object 770. The image capture device 701 is a camera. , light, and flat luminous edge to correlate the angular coordinates of the ray with respect to a coordinate system common to the The image capture device 701 also includes a camera, a light, and a pane luminosity edge. For example, object 770 may have a known position relative to a coordinate system common to all of the objects. A point ("P1") 766 on the surface of the projection plane 710 that is not in the center of the luminous intensity edge containing the illumination ray 751a. As the image moves over point 766, it may be captured by one or more of the pins of the image capture device 701. A pixel (and corresponding pixel data) may be detected, for example, along ray 711, at point 7 The angular coordinates of point 766 can represent the image data of 66 in image capture device 701. In the example shown, the position of the image capture device 701 can be more precisely determined by the ray 7 11 to point 766. In order to identify the planar luminous intensity edge, the spatial coordinates of the location of point ("P1") 766 are 1 and the luminous intensity edge that contains the illumination ray 751a. 0 includes a projection plane 710 in the example of a 3D scanning process, but the projection plane 710 is optional. This is only necessary for 3D scanning.

[0049] During a scan of an object 770 placed on the projection plane 710, a point ("P1x") 764 is Identify the luminous intensity edge that contains the ray 751b as it passes over the object 770 at a first time. At a subsequent time, the image capture device 701 captures a luminous intensity edge that includes the illumination ray 751c. As the image passes over the object 770, it may capture another point ("Py") 765. (not shown) intercepts different points on the surface of the object 770, so that the surface of the object 770 The portion of the luminosity edge applied to the surface portion is determined based on the shape on the projection plane 710 (if the object 770 is present). The 3D surface calculator 702 may be implemented as a hardware or software program. The X and Y positions of points 764 and 765, respectively ( 777 and 778.

[0050] FIG. 7B illustrates a perspective view of an object being scanned, according to some examples. As the luminous edge moves in a direction 709 over the surface of the object 770, an image of the luminous edge is captured. 7B shows an image capture device 701 and a light source 703 configured to capture a shadow 720 and The corresponding luminous intensity edge 750, including the illumination ray 751c marked 750, is located on the projection surface 71. 0 and projected onto the surface of object 770. 3 and 775 are shown projected onto the surface of plane 710. 773 includes a reference point ("reference point A") 772, and a portion 775 of the luminosity edge 750 is reference point ("reference point B") 774. Portions 773 and 775 are shown coextensive with the line, , at least in this example, the edge distortion portion 776 of the luminosity edge that includes the illumination ray 751c is , the edge distortion portion 776 between point "m" and point "n", thereby does not intercept the projection plane 710 at point 766, but instead intercepts the surface of the object 770. at point 764. Reference points 772 and 774 and line 512 in FIG. or based on the location of a line (not shown), which may be equivalent to the location of the light source 703. In some examples, instead of the reference points 772 and 774, The location of one or more shadow casters may be identified. For example, the location of the shadow caster and the angle may be measured using a linear or angular encoder or any other detection or monitoring device. The intersections of multiple rays (not shown) with the shadow plane 775 can be used to measure the three The spatial features of the two-dimensional surface may be identified.

[0051] With an object 770 introduced into the projection plane 710, a light ray 711 passes through a point 76 on the projection plane 710. 6. Point 764 is located on the luminosity edge 7 50. Additionally, the shadow edge 750 is shown in the edge distortion portion 776 of the identified Z 777, the luminosity edge 750 is shown distorted to a point 766 on the projection plane 710. The correspondence of point 764 measured from the line that intercepts (when object 770 is not present) Similarly, the X and Y locations (not shown) of point 764 also indicate the Z coordinates of the luminosity edge 7 The interception of ray 711 with 50 can be determined by using multiple images. Various lines, line segments, triangles, planes obtained from multiple positions of the luminous intensity edge 750 being measured and other geometric relationships, as well as their dimensions, to sub-divide points on the surface of the object 770. A set of estimates may be computed to form a three-dimensional model or representation of the object surface.

[0052] FIG. 7C is an example flow diagram for determining the spatial location of a point on an object surface according to some examples. The row 790 may calculate the three-dimensional spatial location of a point having X, Y, and Z coordinates, the point being an object. Coextensive with the surface of the body. 792 uses one or more shadow casters. At 794, the luminosity edge may be projected as it moves across the scene. can be detected for points on the object sampled in each image. The device captures a set of luminous intensity edges for an object placed on the projection surface in each image and then performs multiple image reconstructions. The images can be used to sample multiple portions of an object. Each luminous edge in each image is The data representation is stored or processed in real time (near real time) to find the edges along the Identify data that represents a 3D point that has been detected and aggregate it with other 3D points to describe the three-dimensional portion of the surface At 796, a plane associated with the position of each shadow caster in each image may be identified. At each point on the surface at the luminosity edge, the shadow plane is aligned with the light source, which may be a given This can be measured from mechanical or optical measurements of the position of the shadow caster along with the location of the The shadow plane is calculated relative to a reference point and the location of the light, or the equivalent of line 512 in FIG. In 798, points along a particular luminosity edge are compared in each image with respect to other luminosity edges. In some examples, each point may be identified as distinct from all corresponding points in the image. One or more pixels in the frame may be involved. Furthermore, the shadow associated with a particular point may be During the scanning process, the specific luminosity edges and The corresponding shadow plane can be captured. In 799, a ray to any particular point can be derived based on the sequence number of the system. and estimate the point based on the light point and the shadow surface of the particular luminous intensity edge of that point. The fixed coordinates X, Y, and Z can be calculated. The ray can be calculated using one or more coordinates and a calibrated It can be further determined based on the estimated coordinates of points coextensive with the surface. Based on the images, a three-dimensional model of the surface may be formed. The color of each point on the three-dimensional model of the surface may be described by the following: However, in some instances, the three-dimensional coordinates may be derived from the images used to derive them. Note also that in some examples, the sequence numbers of the frames used to derive the three-dimensional coordinates Image taken nearby.

[0053] 8, 9, 10, and 10A show various configurations of a shadow caster according to various embodiments. A diagram 800 in FIG. 8 shows an example of a shadow 820 and a luminosity edge 85 on a projection surface 810. The shadow caster 815 and the light source 803 ( For example, one or more point or relatively narrow light sources. 8. The projected cross-sectional area 895 of the shadow caster 815 is also shown, thereby 5 along the direction 804 to obtain a projected cross-sectional area 895. For example, the edge of the shadow caster 815 may be formed on a plane 8 parallel to the YZ plane. 11 to form projected edges 893a and 893b.

[0054] The diagram 900 of FIG. 9 shows a projection surface 910 with a shadow 920 and luminosity edges 950a and 950b. A shadow caster 915 and a light source 903 (e.g., one or more As shown, the shadow caster 915 includes, for example, a plane 911 Relative to a cross-sectional area 996 (e.g., of the shadow caster 815 in FIG. 8) that may be parallel to According to this example, a cross-section of the physical form of the shadow caster 915 may be oriented at an angle 920. The area may be reduced in relation to the reduction in dimensions (e.g., the apex of the shadow caster 915 FIG. 9 shows a projection having projected edges 993a and 993b. The cross-sectional area 996 projected onto the plane 911 is shown as a shaded cross-sectional area 995. Surface 911 may be parallel to the YZ plane. As shown, the size of the shadow caster 915 The smaller the size, the smaller the form factor of the 3D scanner, making it possible to implement a cross-sectional area 996. The luminosity edges 950a and 950b may be simulated to form a projection onto the plane 911. The contour boundaries shown overlap over a sufficient area of ​​the contour 995. The can rotates around the line containing the light 903 while keeping the vertex (not shown) on this line. This can be accomplished by rotating the shadow caster 915 using a component that rotates the shadow caster 915.

[0055] The diagram 1000 of FIG. 10 and FIG. 10A shows a shadow 1020 and luminosity edges 1050a and 10 50b on the projection surface 1010. 1003 (e.g., one or more point light sources). Note that the shadow caster 1015 The cross-sectional area of ​​the physical form is projected onto the plane 1011 to form a projected cross-sectional area 1095. For example, the edge of the shadow caster 1015 is aligned with a plane 1011 parallel to the YZ plane. to form projected edges 1093a and 1093b. The projected cross section 1095 is the same as the projected cross section area 895 of the shadow caster 815 in FIG. As shown, the shadow caster 1015 may be, for example, However, if the light is along a direction 1004 parallel to the line along the light, it may be non-flat. In various embodiments, the shadow casters 815 (FIG. 8) and 1015 (FIGS. 10 and 10A) According to the method, it is possible to form similar or equivalent luminosity edges.

[0056] The shadow caster 1015 may be flexibly deformable or may be rigidly formed. The shadow caster 1015 may be made of any material, such as plastic, metal, wood, etc. The shadow caster 1015 may be formed of a material other than the light source 1010 (e.g., opaque material). The shadow may be formed of a colored transparent material such that it is of one or more wavelengths. In the case of colored transparent materials used in casters, the luminosity edge may be, in some examples, one or a color filter is used that allows the detection of transitions of light of a particular color. An image detection device (not shown) may be used to identify the repetition of the shadow caster 1015. To improve this, a rough shadow caster is used to create a rough cubic shadow. You can do a raw scan, then use a coarse 3D scan to find other nearby shadows. A caster may be created.

[0057] In one example, the shadow caster 1015 is used in three-dimensional ("3D") printing techniques. The shadow caster 1015 may be made of a material that can be used to create a series of photographs (or of the object's surface, which has been subjected to an initial contour measurement, e.g. using a previous 3D scan The dimensions and contours of the shadow may be matched, imitated, or replicated. The caster 1015 conforms to the surface features and contours of the vase 1080 (FIG. 10), including the surface contour 1082. For comparison, a vase 1080b (FIG. 10A) was shaped to replicate the surface features of a differently shaped vase 1080b. The shadow caster 1015 is formed by applying heat to the surface of the shadow caster 1015 and the vase 108. 10 or a differently shaped vase 1080b is relatively reduced (or kept constant). The gap distance may be formed to establish a gap of approximately constant distance. It can be expressed in relative terms.

[0058] Also, the implementation of a gap having a relatively small distance is illustrated in FIGS. 11A to 11C. As described above, the present invention provides improved accuracy and resolution of a 3D scan of the object 1080 or 1080a. According to some examples, the shadow caster 1015 may be a luminosity edge on the surface of an object. and millimeter and sub-millimeter ranges when identifying points (including, for example, pixels) In some embodiments, the resolution may be in the sub-micron range. According to an embodiment, the surface of the vase 1080 or alternatively shaped vase 1080b is adapted to receive a motive force (not shown). Apply this to a vase 1080 or other shaped flower around a line in the Z direction (and perpendicular to the XY plane). The bottle 1080b may be scanned in a rotated state (1092).

[0059] 11A-11C are diagrams illustrating a shadow caster for scanning a three-dimensional object according to some examples. FIG. 11A shows an example of the adaptive structural characteristics of a light source 1103, a shadow caster, and a FIG. 1100 shows a diagram 1115 and a three-dimensional object 1170. In the example shown, The light source 1115 is shown disposed in a plane (e.g., the YZ plane). 03 is shown having a width W1, such as a diameter or distance parallel to the Y axis. 03 is at a distance D1a from point 1111a on the edge of the shadow caster 1115 And at a distance D1b from point 1111b on the edge of the shadow caster 1115 The object 1170 can be placed in the shadow area 1111a and the shadow area 1111b. 117 is a pyramid having surface portion 1172 and surface portion 1174 which are the areas of the cast. Surface portions 1172 and 1174 correspond to points 1111a and 1111b and the shadow caster. 1115 at distances (eg, average distances) D2a and D2b, respectively. Pyramid surface portions 1172 and 1174 have widths W2a and W2b, respectively. 11A may be partially obscured by pyramid 1170, so 1172 and 117 Although the entire area of ​​the four electrodes is not shown, their widths along the Y axis are W2a and W2b, respectively. For example, W2a is shown in the Y-axis direction of the penumbra according to some embodiments. The width measured along the edge of the shadow caster 1115 and the luminous intensity formed in the shadow of the light source The height of the pyramid 1170 may represent the width of the projection plane 1110 (e.g., XY As the surface extends in the Z direction from the plane (coextensive with the surface) to vertex 1171, the surface becomes shadowed. The distance D2a is therefore greater than the distance D2b. may be greater than

[0060] In various examples, the structures described herein may include, for example, functional groups that enhance one or more of their functions. The shadow caster 1115 and / or the light source 1116 may be configured to The one or more structural features of 103 may, for example, enhance luminosity edges (e.g., sharpness The structural characteristic may be modified to enhance the product of width W2a and distance D1a. The width W2b and the distance D1b may be proportional to each other. The product of W2a and D1a can also be proportional to the product of the widths W1 and D2b. As an example, the relationship is W2a·D1a=W In some cases, the accuracy of the 3D scan can be expressed as 1·D2a. Reducing the distance between the dough caster 1115 and the surface of the object 1170 (e.g., D1a and (reducing one or both of D2a and D2b while keeping D1b and D1b constant) By reducing the values ​​of W2a and W2b, which are more sensitive to the According to some embodiments, the width W2 may be the width of the penumbra or, for example, It may represent or otherwise affect the width of the luminosity edge.

[0061] In various examples, for example, the following relationship: W2a=(D2a / D1a)·W1(W2a In accordance with the above, the width W1 of the light source 1103 may be reduced to reduce W2a and W2b. In this case, for example, the width W2a has a diameter (i.e., width W1) of, for example, 2 mm or less. By implementing a light source that achieves this and setting the D2 / D1 ratio to 1 / 4 or less, The light source 1103 may be, for example, a halogen bulb or the like. It is possible that the linear extent (not shown) of the light source 1103 may cause the light source 1103 to be shadowed. Along line 1199 connecting to the apex of Ucasta 1115.

[0062] 11B and 11C show the location of a surface portion such as surface portion 1172 (e.g., surface portion 1 174))) According to some examples, the shadow caster 1115 includes the distance D1a of FIG. While increasing the subset of distances D1 that includes distance D2a, the subset of distances D2 that includes distance D2a is decreased. to obtain a higher resolution scan as described in the equation above in connection with FIG. 11A. The diagram 1130 in FIG. 11B may be configured, adapted, or formed to , perpendicular to the XY plane) At angle 1131, distances D2a and D2b are shown in FIG. between the surface of the shadow caster 1135 and one or more surface portions of the object 1170. The gaps may be approximately equal to provide a consistent gap. The caster 1165 rotates around the axis 1167 at an angle 1181 relative to the portion 1165b. The light source (not shown) and the apex 1171b are connected to each other so as to have a portion 1165a directed toward the rear. The shadow portion 1165a includes a portion 1165b that is configured to change in the X direction, which is the distance between the This modification shows the light 1103 and shadow caster 1165 of FIG. 65 along the direction of the line between the vertices 1171b of the first and second vertices 1171a and 1171b of the second and second vertices 1171b, for example, on the YZ plane (not shown). The shadow caster maintains its shape when projected onto the target surface. This change is shown in Figure 11. It is maintained that there is one plane that includes the light 1103 of A and both portions 1165a and 1165b. At angle 1181, distance D2a approaches distance D2b, or The distance D2b may be reduced to approximate the distance D2b. (not shown) may be implemented to approximate the curvature of the object being scanned, or a shadow capture may be implemented. The stars can be distorted similarly continuously along the Y direction to produce a smooth profile.

[0063] FIG. 12 illustrates an example of a configurable shadow caster, according to some examples. 200 is a shadow caster 1215a and 1215b that respectively approximates the shape of the object surface. 5b and the example scanned object 1270. Shadow caster 1215 having portions 1265a and 1265b adapted to The object 1270 is a hemisphere placed on the projection plane 1210. The adaptive portions 1265a and 1265b are, in this example, axes 1267a and 1267b. In some examples, the shadow caster is shown as a sloped section around the 1215a and 1215b are optionally shadow casters 1215a and 1215b 12, a shadow 1220 (or shaded area) and one or more luminosity edges 1250 A system of shadow casters that may include an adaptable opaque upper portion 1211 that contributes to the generation of The lines 312, 412, or 512 in FIG. 3, FIG. 4, or FIG. 5 may be implemented to form a A light source (not shown) collinear with the lines respectively defined by The upper and lower portions 1211 (or portions 1265 a and 1265b) may be used between them. 1, 1265a, and 1265b may be subdivided into any number of flat sections to approximate the curvature. Alternatively, the adaptive portions 1265a and 1265b may be formed with one or more curved portions. The groove may be formed with a curved portion or may be configured to include one or more curved portions.

[0064] According to some embodiments, the shadow caster portions 1215a and 1215b are A capture device (not shown) detects, for example, the planar geometry of the illumination edge. Then, this identified plane of the illumination edge can be combined with the illumination edge identification to can be used to determine the shape of the object 1270. 215b defines a triangular outline to define one planar edge of illumination at each edge. Alternatively, the same may be used as 815, 915, and 1015 in that they have Dough caster parts 1215a and 1215b are parts 1211, 1265a, and 126 5b, which itself casts a shadow edge onto the object 1270. Note that while object 1270 is shown as a smooth-surfaced hemisphere, it may be any shape. In some cases, the object 1270 may include, but is not limited to, a protrusion or ridge-like feature. Surface topology and texture including convex and concave portions including features, depressions, fissures, or grooves, etc. In some examples, the object 1270 may include the surface of a brain or any other organic structure. can be represented as follows.

[0065] In at least one example, the shadow caster is parallel to a line containing a light source (not shown). A section 1211 that may have one or more straight edges and a longitudinal (e.g., peripheral) edge 12 99) to cast a shadow on each dimension of the object 1210. 1. Thus, portions 1265a and 1265b may be omitted. In some cases, there may be multiple light sources (not shown) that are parallel to each other and to 1211 . Multiple directional light sources may be illuminated sequentially (and / or spatially) to generate a series of linear shadows. The line light source, the shadow caster, or both may be moved to perform scanning across the surface of the object 1210. Such a configuration may be capable of rotating the light source and may have multiple rows of lights that do not need to be arranged on an axis of rotation. The composition includes one or more shadows having a geometric shape that can be used in conjunction with the transformation of the luminosity edge. The directional light source may generate a 3D surface and define the three-dimensional shape of the object 1270. 1 to generate an illumination edge of the object 1270. According to the present invention, one or more light sources generate contrast-enhanced luminosity edges while In the illumination portion, the object 1270 can be sufficiently illuminated (e.g., the object 1270 can be evenly illuminated). without longitudinal expansion on both sides along the X-direction (or with minimal or negligible longitudinal expansion) In the hand extension, the extension may be limited to a degree such that it extends above section 1211.

[0066] According to various examples, the selectively opaque shadow caster may be configured to selectively opaque the shadow caster to white light. One or more portions may be opaque or selectively transmit certain wavelengths of light. Colored portions that can be configured to be reduced or eliminated (e.g., implementing color filters) The luminosity edge can then be formed to include the waves that have been transmitted through the shadow caster in various ways. The image is created by a lighting area that transitions to a relatively dark lighting area (e.g., a less illuminated area) at a longer distance. Alternatively, the luminosity edge may be determined by the area illuminated by one or more other wavelength regions. A shadow caster may be defined by an area illuminated with a range of wavelengths that transitions into a range of wavelengths that are not illuminated. These also include multiple wavelength transmitting regions arranged in a pattern that may also have opaque regions. It may include.

[0067] A selectively opaque shadow caster is opaque to one or more ranges or bands of light. Thus, a selectively opaque shadow caster may be configured to have one or more It can selectively filter out ranges of wavelengths of light and transmit selected wavelengths. The selectively opaque shadow caster is a light-casting device that casts light that transitions from blue light to red light. It may be implemented as a colored transparent shadow caster, thereby forming a set of colored transparent shadow casters. One example may include at least two flat color filters abutting each other. The light shadow caster may be red and the other may be blue. When scanning, the blue A scene transition from blue to red may constitute an illumination edge, and may be filtered to simulate a blue to red transition. This color change tracking is useful when other things in the scene change. Therefore, it is possible to detect a specific color change (color-related According to various examples, the selective opacity described above may be processed to identify illumination edges. A bright shadow caster is a shadow caster that is used to illuminate the image captured by an image capture device by detecting the shadow of the object 1210 (or any other object). If the camera can be moved (e.g., controllably) around the object, this can be useful for 3D scanning. A mobile computing device, such as a mobile phone or any other mobile device, having several According to an embodiment, the selectively opaque shadow caster described above may be implemented.

[0068] FIG. 13 is a diagram illustrating an example of a scanning system according to some examples. The image capture device 1301, one or more light sources 1303, and a reflective surface 1320 (e.g. , reflective planes or mirrors) as components of a scanning system Another example of the shadow caster 1315 is shown. The reflective surface 1320 reflects the light from the other side of the shadow caster 1315. The implementation of the set of shadow casters and light sources may be eliminated. and its reflection 1370r is shown on the reflective surface 1320. A point on the surface of the reflecting surface 1320 ("P2") 136 8. As shown, the shadow 1398 cast on the object 1370 is reflected by the reflection 1398 of the object. The light-containing photon radiation can be reflected as a shadow 1398r to point 1366. 1368 (through reflected light) to a greater distance than the Thus, the reflecting surface 1320 reflects the image from the surface portion including the point 1368 to the image capture device. The light reflected by point 1301 is brighter and more uniform than the light reflected from another surface portion, including point 1366. However, the distance D1 in the relationship W2 = (D2 / D1) W1 is relative. Among other things, the luminosity edge at point 1368 is changed (e.g., increased) to In particular, contrast may be enhanced.

[0069] The image capture device 1301 may observe a reflective object 1370 as 1370r, , the portion of 1370 that is not visible through non-reflected or direct observation of the object 1370. In this manner, other reflective surfaces (not shown) may be observed by the image capture device 1301. 137 in reflections that cannot be seen through unreflected or direct observation of the object 1370 13. The image capture device 1301 is positioned within the field of view of the image capture device 1301 so as to be able to observe one or more portions of the For example, the projection surface 1310 may be imaged by capturing an image of the bottom surface of an object placed on the projection surface 1310. The shadow caster may then be moved to reflect the light back to the device 1301. For example, luminosity edges also occur through the unreflected or direct projection of shadow edges from reflective surfaces onto the object 1370. The reflective surface can be used to reflect light into areas that are not accessible due to shadows. It may be a flat geometric shape, but may also be curved, or may be a curved surface, a segment of a plane, or It may also include a combination of both.

[0070] FIG. 14 illustrates yet another example of a scanning system, according to some examples. 14 includes an image capture device 1401, a shadow caster 1415, and one or more light sources. 1403 and a stand or structure 1404 configured to implement or integrate the above components. 14 shows a scanning system 1490 including a scanning device 1490A and a scanning device 1490B. The scanning system described herein includes: Scaled to scan small and relatively large objects such as objects in any environment. Examples of environments include rooms (e.g., people, appliances, furniture, etc.) and outdoor buildings ( For example, scanning buildings, vehicles, trees, etc. In the example shown, the scanning system 1 490 is a projection surface 1410a (e.g., a floor), 1410b (e.g., a back wall), and 141 0c (e.g., side walls) and a wall such as a sofa 1470 and a mirror or a painting The ornament 1472 may be configured to be scanned.

[0071] In the example shown, the shadow casters 1415 are arranged as diamond shaped structures or as shown in, for example, FIG. and a similar or equivalent edge or edges as described by the shadow caster in FIG. Any uniform shadow with a cross-sectional area that can produce a sharp shadow or two luminosity edges. The shadow caster 1415a may be implemented as a caster. 14. The triangular structures 1466 and 1468 are shown formed as two triangular structures 1466 and 1468 joined or bonded together. The apex 1431a and the apex 1433a may be located on the axis of rotation 1412, thereby Rotation of shadow caster 1415a around axis 1412 produces luminosity edge 1450 Further, the light source 1403 may be implemented as a light source 1403a, the light source 1403a being 1 of one or more light sources along an axis extending from point 1431b to point 1433b. An example of the light source 1403a may be an elongated halogen bulb. Another example of the light source 1403a may be a linear array of light emitting diodes. and 1433b are collinear with points 1431a and 1433a on axis 1412, respectively. According to various examples, the shadow caster 1415 and the light source 1403 may be configured in any number of configurations. The present invention may be implemented in a variety of configurations and variations, and those shown in FIG. 1400 are not intended to be limiting. The scanning system 1490 and other scanning systems described herein are particularly useful in medical and The present invention may be modified and adapted for any number of applications, including digital and augmented reality applications.

[0072] FIG. 15 illustrates a scanning system configured to perform medical applications, according to some examples. An example is shown in FIG. 1500, which includes a medical instrument or tool, such as a surgical microscope 1530. The microscope may be used to study in vivo tissue, such as brain tissue in a medical application (i.e., object 1570 and a scanning system configured to perform a three-dimensional scan of the Additionally, the scanning system of FIG. 1500 may be configured to perform intraoperative , which may facilitate in situ three-dimensional scanning of brain tissue.

[0073] The surgical microscope 1530 is configured to magnify relatively small features of interest, including tissue. The image can be digitally generated or superimposed on a magnified view of the brain 1570. The optical components 1538 may be further configured to integrate an eyepiece. In accordance with the illustrated embodiment, the surgical microscope 1530 electronically or optically transmits the augmented image to the augmented image generator 1590. The augmented image generator 1590 may be electronically or optically coupled to the image capture device 1501. In some examples, the surgical microscope 1530 may be electronically coupled to the image capture device 1501. The image capture device 1501 may be electronically or optically coupled to the augmented image generator 1590. In some examples, the augmented image generator 1590 may be optically coupled to a 3D scan base. The magnified brain tissue view is optically generated by applying (e.g., overlaying) the image of the brain tissue to the brain tissue view. For example, cross-hatching may be used to represent the target brain portion (e.g., to be repaired or removed). The imaging graphics provide magnified brain tissue views or The surgical microscope 1530 may be housed in a housing 1532 that displays instructions (e.g., For example, software, firmware, etc.) to generate an image by the augmented image generator 1590. The image data may include a processor and electronic components configured to combine the generated image data. .

[0074] The scanning system of FIG. 1500 may be configured to detect any type or number of shadows in a wide variety of examples. The one or more scanning systems may be configured to detect one of the one or more light sources. or multiple subsets 1503, a shadow 1520, and one or more luminosity edges 1550. and a subset of shadow casters configured to form a shadow caster. The subset of data is the shadow caster 1515a and 1515b in the first exemplary embodiment. Another subset of shadow casters may include one or more of the second exemplary In an exemplary embodiment, the shadow casters 1515c and 1515d may be included. Other shadow caster and light source structures may be used as well.

[0075] In various applications, including medical applications, the scanning system of FIG. In some cases, the resolution may be less than 1 mm (e.g., less than 25 μm) to capture at least a portion of the brain 1570. In some cases, the scanning system of FIG. 1500 may also form a 3D representation of the portion. Magnetic resonance imaging ("MRI") scan data or computed tomography ("CT") scan data It can provide higher resolution 3D surface information than other techniques such as 3D surface mapping.

[0076] Organic matter made of soft tissue, such as the brain 1570, can change or transform due to changes in condition. For example, the soft tissue may have a three-dimensional surface shape that is consistent with the first (e.g., pre-operative surgical procedure) In an undisturbed state, the surface has a first three-dimensional surface shape, whereby A state may transition from a first state to a second state (e.g., after a medical or surgical procedure). In one example, the surface shape may change rhythmically (e.g., due to heartbeats). In at least one condition, the shadow caster 5a, 1515b, 1515c, and 1515d are used to identify a brain 1570 or The camera 15 may scan a portion of the surface of the brain 1570 to form a three-dimensional model of the brain 1570. 01 may capture an image of the brain 1570, and the augmented image generator 1590 may capture an image of the brain 1570 on the surface of the brain 1570. The X, Y, and Z coordinates of the pixels representing the points may be identified. If the surface is rhythmically changing in response to the pulsatile blood flow, the scan will The surface 1570 is measured at multiple stages in the rhythmic response so that the surface 1570 can be identified. This can be done for a period of time that allows for measurements to be taken when the scan is being performed. This can be accomplished by correlating steps in the rhythmic response to steps in the measured surface 1570. .

[0077] In particular, the scanning system of FIG. 1500 delineates the contours and other anatomical features of the brain 1570. For example, the surface curvature and The contours represent the ridges (i.e., gyri) and grooves (i.e., sulci) of the cerebral cortex in three-dimensional space. In addition, the scanning system of FIG. 1500 may include a vascular system that supplies the brain (e.g., The system may be configured to capture three-dimensional surface features of blood vessels (veins, arteries, capillaries, etc.), thereby The study provides a vascular "roadmap" to help surgeons navigate blood vessels to parts of the brain. The vascular tissue can be used as a monument (or guide post) for providing these Some of the blood vessels may be finer than the resolution of the associated MRI or CT scan.

[0078] Before surgery, patients undergo diagnostic procedures such as magnetic resonance imaging to obtain 2D images of the brain, including its internal structures. An MRI scan may be obtained, which may show images and 3D images. Following removal, the brain 1570 may be exposed. Optionally, the scanning system of FIG. 1500 may be used to may be used to generate a 3D scan of an exposed portion of the brain 1570 (e.g., the structure of the brain 1570). The augmented image generator 1590 generates a first augmented image of data representing an MRI scan of the brain. A subset of the 3D scan data of the brain 1570 from the scanning system in Figure 1500. and a second subset of data representing the first and second subsets of the data. 1590 executes instructions (e.g., software, firmware, etc.) to convert data into The MRI generated surface of the first subset of data may be associated with the 3D surface of the second subset. The second data may include a processor and electronic components configured to: Generate MRI brain images from the first subset of data, then 3D scan data from the second subset Data representing the internal structure of the scan data may be associated.

[0079] With part of the skull removed, an incision is made into the membrane (e.g., pia mater or other fluid barrier tissue). The brain tissue that forms part of the cerebral cortex can be accessed through the incision in the membrane surrounding the brain tissue. This can result in loss of fluid (e.g., cerebrospinal fluid or CSF), which can affect the structural integrity of the brain. In conditions of fluid loss, brain tissue structures may shrink due to changes in mechanical properties. The brain tissue may become distorted or otherwise deformed, thereby shifting the brain tissue structure. Therefore, the shifted brain tissue can be used to identify the surface and internal structure of the brain tissue using MRI data. Error is introduced in localizing and identifying target locations in brain tissue.

[0080] After incision, the scanner system of FIG. 1500 is used to determine whether the brain tissue shape is consistent with the reduction in internal fluid pressure. The curvature and contour of the brain 1570 after shifting due to the augmented image generation can be identified. The instrument 1590 may include the misregistration of brain tissue and vasculature relative to the MRI scan data. The imaging device may include logic configured to form a second three-dimensional model of the surface of the brain 1570. Additionally, the augmented image generator 1590 generates a 3D brain model in both pre- and post-incision states. Identify the vasculature and other landmarks such as specific gyri and sulci in the brain and reconstruct the digital images. may include logic configured to identify distortion and alignment misalignment. Vascular tissue (e.g., blood vessels) may be elastically fixed adjacent to brain tissue, allowing the tissue to be aligned to specific gyri. and vasculature deviation as an alternative or addition to sulcal deviation to allow for the sectioning of internal brain tissue portions. Additionally, previously acquired MRI scan data can be used to predict the location of internal brain tissue. The position of the brain tissue associated with the affected area may be adjusted to reflect the observed post-incision position. The movement of blood vessels and gyri and sulci can help predict the location of target brain tissue. The scanning system of FIG. 1500 is used to identify affected areas of the brain (e.g., where brain tissue has been cut). It is also possible to identify the lesion (after it has been removed or otherwise altered) from MRI scans taken before The data was prepared to reflect the post-dissection area of ​​brain tissue predicted to be affected by the medical procedure. It can be adjusted.

[0081] Logic in the enhanced image generator 1590 may map the changes in location of the vasculature to the initial MRI scan. The apparatus may be configured to correlate the predicted displacement of the internal brain tissue from the internal brain tissue data. The predicted displacement of the brain tissue was predicted based on models and calculations of brain deformation data. The changes may be identified by calculating a brain deformation that approximates the brain deformation. The data model was adjusted for various factors (e.g., fluid loss, incision size, gender, age, ethnicity, etc.). Using such models, it is possible to represent expected changes in the brain as a function of the brain's function (e.g., gender, frailty, etc.). This allows us to predict how brain structures may deform due to loss of cerebrospinal fluid. is formed empirically and / or probabilistically (e.g., mathematically) via computational algorithms. obtain.

[0082] In view of the above, the target portion of the brain tissue is pre-operatively located within the three-dimensional space of the brain 1570. An example of a target portion of brain tissue may be a portion that produces childhood epilepsy seizures. Removal of the target portion may alleviate symptoms, including seizures. In accordance with the illustrated embodiment, the enhanced image generator 1590 captures brain tissue on and within the brain 1570. The augmented image generator 159 may be configured to identify or predict the misalignment of the fabric. 0 identifies or identifies misalignment of target portions of brain tissue additionally identified in the initial MRI. may be configured to predict.

[0083] According to various examples, the above-described techniques for implementing the scanner system of FIG. 1500 may be used in other brain imaging applications. It may be applicable to related diagnostics, testing, surgery, and treatment. This may be applicable to any medical application involving tissue (e.g., bone, etc.). Another example is shown in FIG. 0 scanner system for wound healing. Canna Systems (except Surgical Microscope 1530) can be placed in the homes of diabetic patients to prevent infection. It is believed that wounds (e.g., ulcers) can be monitored to prevent ulcers. Patients can have their wounds scanned in three dimensions. The wound shape data may be generated by performing the above steps (e.g., with or without color) and transmitted over the network. The wound shape data may be transmitted to a healthcare provider to monitor the healing rate of the wound. It is not restrictive and may be applicable to any medical or non-medical application.

[0084] FIG. 16A illustrates a dedicated surgical microscope including a system of shadow casters, according to some examples. FIG. 1600 illustrates a 3D scanning system for facilitating in situ 3D scanning of a brain 1670. The surgical microscope 1630, the enhanced image generator 1650, and the image capture device are configured as follows: According to some examples, the elements shown in diagram 1600 of FIG. 16A may be included in other diagrams. It may include structure and / or functionality as similarly named or similarly numbered elements shown on the surface. In this example, shadow casters 1615c and 1615d and light source 1603 are 1680 to form a shadow 1620 and one or more luminosity edges 1650. In some embodiments, the shadow casters 1615c and 1615d and the light The source 1603 or its equivalent is disposed within the housing 1632 and is configured to receive the power of the source 1603 as described herein. For example, an integrated three-dimensional scanning surgical microscope configured to perform 3D scanning It can be achieved.

[0085] FIG. 16B illustrates yet another specialized embodiment including at least one shadow caster, according to some examples. FIG. 1650 shows a surgical microscope 1630 and a view of a brain 1670. Other devices described herein that are configured to facilitate in situ three-dimensional scanning. According to some examples, the elements shown in diagram 1650 of FIG. 16B may be included in other drawings. may include structure and / or function as similarly named or similarly numbered elements shown in In this example, a shadow caster 1680 and a subset of light sources 1691a, 1691b, and 1691c and 1692c interact as system 1690 to provide a system of light sources that are verified at different times. The shadow 1620 and one or A plurality of luminosity edges 1650 may be formed. An example of a shadow caster 1680 is shown in FIG. 2, light sources 1691a, 1691b, and 1691c are shadow casters 1691a, 1691b, and 1691c. According to some examples, a subset of light sources 1691a, 1691b, 1691b and 1691c are sequentially and / or spatially illuminated to produce a series of shadows (e.g., a straight line In some embodiments, the light source may be implemented as a plurality of directional light sources that may generate shadows or luminosity edges. The shadow caster 1680 and the light sources 1691a, 1691b, and 1691c, or their equivalents are disposed within the housing 1632 and are displayed in 3D in accordance with the examples described herein. An integrated 3D scanning surgical microscope configured to perform the scan may be formed.

[0086] FIG. 17 illustrates a magnified image based on three-dimensional scan features according to some examples. 1700 includes an optical component 1738 configured to magnify a portion of the brain 1770 Not shown is the surgical microscope to which the optical component 1738 is coupled. An optical image of the brain 1770 (based on light reflected from the surface of the brain) and, for example, optical component 1 738. A digitally generated image depicting a surface location of target brain tissue 1788 that may be observable via The image overlay data may also include an augmented image generator 1790 configured to integrate the image overlay data with the image data. In some examples, the surgeon or any other user may receive inset images via the optical component 1738. For example, the user may view the image presented in eyepiece 1722. or relative to the sulci or to the vascular system of blood vessels of various numbers or sizes. The brain 1770s and its parts can be seen. In some instances, the outline of the brain 1770s shows the gyri (convolutions). ) 1784 and sulci (sulci) 1786 can be captured through a three-dimensional scan. According to another example, inset 1722 may be a real (e.g., directly enlarged) image or It may include simulated images (eg, based on image processing), or a combination of both.

[0087] FIG. 18 is a functional block diagram showing in vivo 3D scanning and image integration according to some examples. FIG. 1800 is a block diagram of an augmented image generator 1890, a tissue model data repository, 1830, and a scan tissue data repository 1832, e.g., The scan may be performed, for example, to produce the image shown in FIG. The repository 1832 represents two-dimensional and / or three-dimensional anatomical features and structures of the brain 1870. The apparatus is configured to receive scanned brain data 1802. For example, the data 1802 may include MRI data, CT data, MEG data, PET data, or any other brain-related data , which may be stored in the scan tissue data repository 1832 and expanded as data 1824. The tissue model data repository 1830 may be searched by the tissue model generator 1890. A function of factors (e.g., fluid loss, incision size, gender, age, ethnicity, frailty, etc.) and storing a data model that identifies or predicts a rate of change of brain deformation or misalignment in the brain based on the data. The augmented image generator 1890 may be configured to use these data models to Corresponding loss of cerebrospinal fluid or altered brain structure due to the tumor or brain mass removed Mathematically (e.g., probabilistically) predict the degree to which a given object will be acquired (e.g., in terms of size, position, location, etc.) The data 1822 from the data model is fed to the augmented image generator 189. 0. In some examples, the elements shown in the diagram 1800 of FIG. may include structures and / or functions as similarly named or similarly numbered elements shown in the drawings. .

[0088] The augmented image generator 1890 includes an augmented image controller 1851, a biological monument generator 1852, Biological Monument Mapper 1853, Tissue Correlator 1854, Target Tissue Integration 1855, and image generator 1856. According to at least some examples, , the augmented image controller 1851 controls the auxiliary functions of the augmented image generator 1890 (e.g., element 1 852 to 1856) to facilitate the overall function of the enhanced image generator 1890. It can be achieved.

[0089] The biological monument generator 1852 uses the scanned tissue data 1824 (e.g., MR I data) to obtain characteristics of vascular or brain data 1842, such as spatial dimensions and locations of blood vessels. The data 1842 may be configured to generate data 1840 representing, for example, blood vessels or based on any other physical features, such as features of the gyrus or sulcus, e.g., geometric features The data structure includes data 1840 that specifies the spatial dimensions, location, etc. of the features. 842 may be from data 1824. Data 1840 may be from data structure 1842. 18, whereby a portion of the vascular system data 1842 is retrieved from, e.g., "Monuments" relative to adjacent brain tissue (e.g., "roadmaps" to brain regions of interest) Some examples are: According to the vascular data 1842, geometric features such as vascular planning features are described. and characterizing the vasculature of the brain 1870 (e.g., surface features) prior to surgery or other structural surgical procedures. It can be expressed.

[0090] Biological Monuments Mapper 1853 is a model generator that uses 3D scanning to Data representing derived brain or vascular data (e.g., at the post-section surface of the brain 1870) 1844, which includes the updated subset of data 1844 that is to be mapped or otherwise correlated. In some examples, the Biological Monuments Mapper 1853 may be configured to map structural brain Based on the deformation, it is possible to calculate and characterize the brain position displacement or vascular data 1842. The position displacement data 1843 may be received at a tissue correlator 1854.

[0091] The tissue correlator 1854 maps the surface feature data 1843 of the shriveled brain to the initial MRI surface data 1 824 to identify the original portion of the brain tissue originally detected by the MRI. Based on the displacement of blood vessels and surface features (e.g., ridges and grooves), the displacement and and the displacement of the target portion of the brain tissue 1888. The tissue correlator 1854 can also Access the tissue model data repository 1830 to estimate surface displacements of internal brain structures The device may also be configured to perform calculations to predict and forecast.

[0092] The target tissue integrator 1855 may associate the dye with the MRI data 1824 or The target tissue 1888 may be configured to identify portions of the target brain tissue that are not relevant. , may represent brain tissue associated with childhood epilepsy or tumors. Displacement of target tissue 1888 in relation to data from post-incision activity and tissue correlator 1854. For example, the tissue correlator 1854 may be configured to calculate the target It may be configured to identify misalignments that adjust the tissue 1888 .

[0093] The image generator 1856 performs real-time (or near real-time) and in vivo brain imaging. to generate image data 1846 showing the target tissue 1888 overlaid on an image 1848 of the target tissue. The image data 1846 may be configured to include a view of the target region 1888 overlaid thereon. Providing real-time 2D or 3D in vivo views to extend the data 1844 As shown in the image, the surgeon can then orient himself to the target tissue 1888. After removal of the brain part in 1899 (surgical modification), based on the 3D scan, The remaining brain portions may be detected in vivo to update the subset of data 1844. The enhanced image generator 1890 is used to optically present the remaining tissue to the surgeon for subsequent procedures. The graphical overlay data can then be recalculated to allow the surgeon to Itu Based on the 3D scan, the tissue that was extracted was “peeled off” and examined under an optical microscope or can be extracted in vivo via other surgical navigation devices or displays. According to various other examples, the functional block diagram 1800 may present the remaining tissue to be Variations may be made in accordance with the various examples described in the specification.

[0094] FIG. 19 illustrates a method for generating one or more luminosity edges, according to some examples. FIG. 1900 illustrates yet another example of one or more shadow casters. The wearable device may be configured to generate a second optical edge to facilitate three-dimensional scanning. This example shows a wearable shadow caster such as the 1911. The lens system 1911 includes a small lens having an edge 1950 configured to generate a luminous edge. The housing includes at least a front housing 1921 having at least one shadow caster 1920. The shadow caster 1920, at least in some examples, is a transparent screen. It can be an opaque film applied to a surface (e.g., the lens or frame of eyewear). The wear also includes ear pieces 1906 for fixing the user's ears, and a housing 1904 for storing electronic circuits, light guides, etc. A temple bar structure 1907 may be included, and a shadow cast may be disposed therein. It may also facilitate the implementation of eyewear as a 3D scanner including the data. The power and light generating module 1909 receives optical and electronic signals via conduit 1908. The power and light generating module 1909 may be optional and may be connected to any part of the user's body. It may be located at the same location or elsewhere.

[0095] In addition to the wearable system 1911, eyewear may be transparent to photon radiation including light. The transparent structure 1924 may include an optional transparent structure 1924 that is parallel to the edge 1950. A Fresnel prism may be implemented as the layer that controls the forward transmission of light along the direction of the light. Lens 1901 may be optional and, at least in some cases, may be used with a head-up display. The display may be configured to receive projected light (not shown) that forms a play or HUD. In the illustrated example, the light source may emit, for example, light beams 1930, 1930a, and 1930n (e.g., , formed from a source behind the temple bar or similar structure) to radiate light. As an optical fiber (e.g., fiber optic) configured as Many more light beams may be implemented, or the beams may be many light beams 19. A continuum of radiation resulting from overlapping combinations of 30, 1930a, and 1930n. Further, the optical radiation or beams 1930, 1930a, and 1930n may be The wavelength of the light transmitted through the fiber can be of any wavelength range. For example, The light emitted from the fiber is not detectable or perceptible by the human eye. (e.g., within the invisible spectrum of light). 1940 shows the light emission from the fiber 1930, 1930a, and 1930n, As a result, light radiation strikes the edge 1950 of the shadow caster 1920, forming a luminous edge. The front view 1940 in this example is shown in a plane parallel to the YZ plane. In addition to the front view 1940, the light beams are also 1941 along an edge 1950 (e.g., next to each other) Any number of ends of the fibers may be implemented and need not be spaced equally apart from each other. 1930a, and 1930n.

[0096] According to some examples, the light beams 1930, 1930a, and 1930n are aligned in the XY plane. In some examples, the electrodes may be disposed or oriented so as to intersect a common plane, such as a plane parallel to the electrodes. 1930, 1930a are optical emissions from each fiber and / or fiber end (not shown). , 1930n are at the edge 1950, and their directions correspond to the shadow caster 19 Alternatively, each fiber and / or fiber 20 may radiate parallel to the normal 1919 of the surface of the fiber. The optical emissions 1930, 1930a, and 1930n from the fiber ends are each at edges 195 At 0, their directions are parallel to the XY plane that contains the shadow caster 1920. 919. Linear in all dimensions X, Y, and Z. For shadow caster 1920, to achieve sharp luminosity edges, edge 1950 Their directions form an arbitrary angle in the X and Y planes, relative to the line 1919 One or more light beams 1930, 1930a, and One or more fibers may be arranged to emit 1930n.

[0097] Side view 1942 shows the shadow caster 1920 and light beams protruding from edge 1950. A side view of a fiber 1966 emitting light 1946 forming a beam 1930n is shown. 6 may be collimated (e.g., linear) as shown in side view 1942, or may be shadowed. The side view 1942 shows the periphery of the septum 1940. is shown as lying in a plane parallel to the XZ plane. The end 1969 of the fiber 1966 may have a dimension such as a width ("W1") 1927. The end 1969 of 966 is connected to, for example, the front housing 1921 and the temple bar structure 1907. Further, the ends 1969 of the fibers 1966 may be disposed in one or more of the shadow caps. The front housing 192 may be positioned at any distance ("D1") 1929 from the center of the housing 1920. The depth ("H") of 1 can be expanded to accommodate a larger distance 1929. According to an example, the diameter or W1 is in the range of 25 μm to 50 μm or less, or 400 μm or less. In another example, instead of fiber 1966 having width W1, In addition, a layer of Fresnel prisms can be used to 1919, which affects the light exiting the fiber end 1969 and is similar to the light beam 19 30, 1930a, and 1930n.

[0098] In operation, the wearable system 1911 detects the surroundings of a room, etc., including appliances, furniture, people, etc. The at least one luminosity edge is configured to be projected onto the environment. When assessing and examining the surrounding environment, such as indoors, the movement of the shadow caster 1920 In some examples, the electronic circuitry in the temple bar structure 1907 may It may include a processor, memory, an accelerometer, etc. In one case, one or more accelerometers. Using an inclinometer, compass, gyroscope, etc., the speed at which the user is moving their head can be determined. Thus, logic within the Temple Bar structure 1907 can be configured to scale the 3D Detecting the rate at which a luminosity edge is sweeping across an environment or scene in order to form a model The sweep rate may be adjusted by the eyewear system 1911 or the power and light generating module 190. Alternatively, external detection of the 1911's position and orientation may be performed. An external reference (e.g., a reflective marker or an IR LED emitter, not shown) can be provided by a Such an external detector may be, for example, a camera or a near-field sensor. do.

[0099] In some examples, electronic circuitry or wearable shadow caps within the temple bar structure 1907 may be used. Any other portion of the caster 1911 may, for example, provide a video feed to one or more lenses 1901. Supports projection to provide a graphical image overlaid on a view of three-dimensional objects in the environment. The wearable device may include a processor and memory for generating augmented reality images. A user wearing the Dowcaster 1911 can see the chairs in the room, which allows The wearable shadow caster 1911 (and the image capture device) captures the three-dimensional space of the chair. The wearable shadow caster 1911 can capture the dimensions and surface. 1901 may receive video or images that overlay different colors onto the user's view of the chair. The wearable shadow caster 1911 may be configured to reflect the user's view of the chair on the lens 1901. A video or image may be received over the headset, overlaying a graphical representation of a person sitting in a chair.

[0100] FIG. 20 illustrates an example of light projection direction from a wearable system, according to some examples. As shown, the light projection direction is the temple bar of the wearable system 2011. The light may come from many fibers or LED sources arranged along the A user 2091 wearing a handheld system 2011 and a front case shown as a dashed line. and a body, the light beams 2030, 2030a, 2030n, 2032, 2032a, and 2032n passes through the front housing. The front housing is, as described with reference to FIG. 20, the light beam 2030 may have a depth ("H") 1931. 2030a, 2030n, 2032, 2032a, and 2032n may alternatively be partially 2030 may overlap with the light emitting element 2020 to affect a continuous distribution of light (not shown). n and 2032n may be parallel to the line of sight. In some cases, the light emissions 2030, 2030a, 2032n may be parallel to the line of sight. 030n, 2032, 2032a, and 2032n are each parallel to the line of sight (not shown). As shown, the light emissions 2030, 2030a, 2030b may be projected onto the environment 2090. A subset of the optical emissions, such as 2032a and 2032b, may be projected obliquely to the line of sight (e.g., (To illuminate surface features in the environment that may be parallel to the line). In the example shown, light emission 2030 , 2030a, 2030n, 2032, 2032a, and 2032n are used to A triangular image of a contoured surface 2060 at a distance 2040 from a random shadow caster 2011. A spatial dimension may be specified.

[0101] The light emission examples shown in FIG. 2000 may be modified or adapted based on the suitability of a particular application. For example, the Wearable Shadow Caster 2011 can be used to simulate the movements of a surgeon or other surgeon performing brain surgery. According to various examples, the wearable shadow caster may be used for any other medical purpose. The data 2011 may be implemented for communication purposes such as 3D webcam communication. Wearable Shadow Caster 2011 Promotes Virtual and Augmented Reality Applications For example, the wearable shadow caster 2011 may be configured to A head-up display ("HUD") or one or more lenses or headsets capable of projecting a miniature video image. may include one or more transparent surfaces (not shown).

[0102] FIG. 21 illustrates an image capture system implemented with a wearable shadow caster, according to some examples. FIG. 2100 shows a wearable system 2111 and a wearable device. The wearable camera 2117 includes a user 2191 wearing the wearable camera 2117. A processor, a memory, and data relating to luminosity edges projected onto surfaces in an environment. The wearable camera 2117 may also include wireless devices for transmitting and receiving data. Identifying the location and orientation of the wearable camera 2117 relative to the wearable system 2111 Accelerometers, tilt detectors, compasses, etc. may also be included to report. Additionally, the light emission 2130 may be projected in a plane that includes the line of sight, or may be projected at an angle to the line of sight. As shown, light 21 may be projected as radiation 2135 back to the camera 2117. 82 may be at a distance 2180 from the light ray 2135. According to some examples, the distance 218 0 could be 20cm or in a range including 20cm. In this example, as in the other examples, Similarly, the camera location distance 2180 separates the camera from the shadow plane, as shown in FIG. One can observe the deformation of the luminosity edge resulting from the shape 2060 of the distance. The distance 2180 changes other parameters on which the wearable shadow caster 2111 operates. 20. This shortens the 3D information of the surface 2060 in FIG. 20 without adversely affecting its identification. In various other examples, the camera 2117 may be located away from the person (e.g., Therefore, the separate camera 2117 is a wearable shadow camera. 2111 is placed in the same location within the environment in which the camera 2117 is placed. and 2111 may wirelessly exchange data with each other. Elements shown in FIG. 2100 and FIG. 2100 may have similar names or similar elements shown in other figures. In one example, a wearable shadow mask may include a structure and / or function as an element of the number of The caster 2111 and the wearable camera 2117 are the same as those in the scanning system 149 of FIG. May be used interchangeably with 0.

[0103] FIG. 22 illustrates a system for multiple wearable shadow cameras working together in a common environment, according to some examples. FIG. 2200 shows a sofa 2222, a pool table 2224, and 22 shows an environment such as a room 2210, including various surface features of a chair 2226. 10 is a wearable shadow caster 2211a, 2211b, 2211c, and 22 11d are worn by users 2210a, 2210b, 2210c, and 2211d, respectively. Includes a subset of 0d. Wearable Shadow Caster 2211a, 2211b, 22 Each of 11c and 2211d includes a processor, a memory, an accelerometer, a video image generator, GPS transmitter, gyroscope, camera, radio transceiver (e.g. RF radio transmitter The image capture device may include other electronic components such as a camera, a video ... The capture devices or cameras capture the images of users 2210a, 2210b, 2210c, and 2210d. According to some examples, the elements shown in diagram 2200 of FIG. It includes structures and / or functions as similarly named or similarly numbered elements shown in other drawings. obtain.

[0104] In some examples, one or more remote cameras 2201 may include: A plurality of wearable shadow casters are used to capture a plurality of luminosity edges reflected from various surfaces. According to various examples, the camera 2201, the augmented image generator 2290, and Wearable Shadow Casters 2211a, 2211b, 2211c, and 2211d One or more of the users 2210a, 2210b, 2210c, and 2210d (and The wearable shadow camera may be configured to determine the location and orientation of the wearable shadow camera. In order to detect the positions and orientations of the sensors 2211a, 2211b, 2211c, and 2211d, To do this, a fiducial (e.g., a reflective marker or an IR LED emitter, not shown) may be attached to any location on the The camera 2201, the augmented image generator 2290, and the wearable One or more of the shadow casters 2211a, 2211b, 2211c, and 2211d The numbers are wearable shadow casters 2211a, 2211b, 2211c, and 221 The wearable system may be configured to identify differences between 1d and 2d at visible wavelengths or any other wavelength. The shadow casters 2211b, 2211c, and 2211 may be further configured to implement Multiple subsets of the 3D scan data may be combined to provide a complete picture of the room 2210 and its occupants. Also shown is an augmented image generator 2290, which may include logic to create a single three-dimensional model of the furniture. Therefore, the augmented image generator 2290 performs image registration to Aligning multiple 3D images and using wearable shadow casters 2211a-2211d The augmented image generator may generate an integrated image or a 3D model based on the data from the augmented image generator. 2290 stores data representing graphical images that can be overlaid on the 3D surfaces of objects in the room 2210. For example, the augmented image generator 2290 may generate 10c and 2210d are “virtual costumes” that can be selected to be viewed by other people. A graphical image of "" may be generated. and 2210d wants to perceive user 2210a wearing a "pirate costume." The augmented image generator 2290 generates the wearable shadow casters 2211b, 2211c, and a graphical image that can be superimposed on the lens in 2211d. Users 2210b, 2210c, and 2210d then wear layered "pirate costumes." Therefore, these users can visually perceive the user 2210a wearing the virtual costume. You can organize a steam party.

[0105] Wearable Shadow Casters 2211a, 2211b, 2211c, and 2211d wireless data links 2213a, 2213b, 2213c, and 2213d, respectively. In addition, the one or more cameras 2201 and the augmented image The generator 2290 transmits and receives data to and from one or more wearable shadow casters. logic (e.g., hardware, software, or a combination thereof) and RF radio equipment In one embodiment, wearable shadow casters 2211a, 2211b, 2 211c and 2211d are links 2213a, 2213b, 2213c, and 221 3D creates a peer-to-peer network to share 3D scan data and graphics In another embodiment, the wearable shadow camera can exchange images with the wearer, facilitating augmented reality applications. The clusters 2211a, 2211b, 2211c, and 2211d are connected to the wireless data link 22 14, 2215, 2213a, 2213b, 2213c, and 2213d via cameras 2201 and the augmented image generator 2290. Each of the wireless data links may be similarly adapted to implement other network topologies. It can be combined.

[0106] FIG. 23 illustrates various functions of components performing a three-dimensional scan, according to various embodiments. Illustrative examples of various computing platforms that may be configured to provide the The computing platform 2300 is a Implement a process, algorithm, or other software and any hardware implementation thereof. The techniques described above may be performed.

[0107] In some cases, the computing platform 2300 or any portion thereof (e.g., any structural portion) may be The components or functional parts include a computing device 2390a, a mobile computing device 2390b, The present invention may be implemented in any device, such as a memory device 2390c, a memory controller 2390d, and / or a processing circuit. Various examples described herein may implement various structures and / or functions. .

[0108] The computing platform 2300 includes a processor 2304, a system memory 2306 (e.g., RAM, etc.), a storage device 2308 (e.g., ROM, etc.), an in-memory cache (R 2306 or other parts of the computing platform 2300), Interface 2313 (e.g., Ethernet or wireless controller, Blue Interconnect subsystems and devices such as tooth controllers, NFC logic, etc. , facilitating communication over a port on communication link 2321, e.g., a database device (e.g., to store extended data sets, including but not limited to triple stores, etc.) A mobile computing and / or communications device having a processor, including a memory configured with A bus 2302 or other communication mechanism for communicating information with a computing device including The processor 2304 may include one or more graphics processing units ("GPUs"). ) as one or more central processing units ("CPU") manufactured by Intel (registered trademark) or similar ") or as one or more virtual processors and any combination of CPUs and virtual processors The computing platform 2300 may be implemented in any combination, including, but not limited to, Keyboard, mouse, audio input (e.g., speech-to-text driven devices), user Interfaces, displays, monitors, cursors, touch-sensitive displays Input / output devices, including LCD or LED displays, and other I / O related devices 2301 exchange data representing inputs and outputs.

[0109] It should be noted that in some examples, the input / output device 2301 may be any of the various examples described herein. a user interface on a computing device associated with the user account identifier; It may be implemented as or replace a user interface.

[0110] According to some examples, the computing platform 2300 may include a system memory 2306. A processor 2304 for executing one or more sequences of one or more instructions stored in the processor 2304. The computing platform 2300 performs certain operations in a client-server configuration. in a peer-to-peer configuration or as any mobile computing device, including a smartphone Such instructions or data may be implemented in another computer, such as the storage device 2308. The computer-readable medium may be read into the system memory 2306. Hardwired circuitry may be used as an alternative or in addition to software instructions. The term "computer-readable medium" refers to a computer program that can be implemented in software or firmware. The term refers to any tangible medium that participates in providing instructions to the processor 2304 for execution. Such media may include, but is not limited to, non-volatile media and volatile media. Non-volatile media may include, for example, optical or magnetic disks. Volatile media includes dynamic memory, such as system memory 2306 .

[0111] Known forms of computer readable media include, for example, floppy disks, flexible Disk, hard disk, magnetic tape, any other magnetic medium, CD-ROM, any other Optical media, punch cards, paper tape (e.g., or patterns of holes), RAM, PR Any other physical media such as OM, EPROM, Flash EPROM devices, any other A memory chip or cartridge, or a computer that can access data The instructions may also be transmitted or received using a transmission medium. The term "transmission medium" refers to any medium that stores, encodes, or carries instructions for execution by a machine. This may include any tangible or intangible medium capable of transmitting information, including digital or analog communications signals or other Transmission media includes computer data, electronic devices, and other non-tangible media that facilitate communication of instructions such as Coaxial cables, copper wires, and Includes optical fiber.

[0112] In some examples, execution of the sequences of instructions is performed by the computing platform 2300. According to some examples, the computing platform 2300 may include a communication link 2321 (e.g., For example, wired networks such as LAN, PSTN, etc. or WiFi with various standards and protocols. , Bluetooth, NFC, ZigBee, etc.) The processors may be coupled to any other processors to operate together (or asynchronously) in the instruction sequence. The computing platform 2300 can execute a sequence. 1 and a communication interface 2313 through which a program code (e.g., an application It can send and receive messages, data, and commands, including the protocol code ( The program code may be executed by the processor 2304 when received and / or at a later time. It may be stored in memory 2306 or other non-volatile storage for execution.

[0113] In the illustrated example, system memory 2306 includes implementations that perform the functions described herein. The system memory 2306 may include various modules that contain executable instructions. Operating System ("O / S") 2332 and Applications 2336 and / or may include logic module 2359. In the example shown in FIG. 6 may include any number of modules 2359, any one or more of which may be The parts may be implemented as a computational system by performing one or more functions described herein. Any one or more components of the system (e.g., client computing system, server computing system, The present invention may be configured to facilitate the provision of a system for computing resources, etc.

[0114] The structure and / or functionality of any of the features described above may be implemented using software, hardware, firmware, The above structures and configurations may be implemented as hardware, circuits, or combinations thereof. The elements and their functions may be integrated with one or more other structures or elements. Alternatively, , Elements and functions of elements may be subdivided into constituent subelements, if any. As software, the techniques described above can be implemented in various types of programming or formatting languages. A term, framework, syntax, application, protocol, object, or may be implemented using the techniques described above as hardware and / or firmware. The techniques include field programmable gate arrays ("FPGAs"), application specific integrated circuits (APIs), and Any device configured to design an application specific integrated circuit ("ASIC"), or any other type of integrated circuit Various types of processors, including hardware description languages ​​such as the Register Transfer Language ("RTL") of The implementation may be implemented using a programming language or an integrated circuit design language. For example, the term "module" may refer to, for example, a hardware circuit or software, or may refer to an algorithm or parts thereof and / or logic implemented in any combination thereof. These can vary and are not limited to the examples or descriptions provided.

[0115] In some embodiments, module 2359 of FIG. 23 or one of its components or more, or any process or device described herein, , a wearable device, or a computing device. It may be external (e.g., wired or wireless) or may be located internally.

[0116] In some cases, one or more modules 2359 or its / their components ( or any process or device described herein) A mobile device or any networked computing device (not shown) that communicates provides at least some of the structure and / or functionality of any feature described herein. As shown in the figures above, the structure and / or function of any of the features described above may be The functionality may be software, hardware, firmware, circuitry, or any combination thereof. The above structures and components and their functions can be implemented in one or more may be integrated or combined with multiple other structures or elements. Alternatively, the elements and the functions of the elements may be: If there are constituent sub-elements, they may be subdivided into the constituent sub-elements. At least some of the methods may be implemented in various types of programming or formatting languages, forms, Framework, syntax, application, protocol, object, or technique For example, at least one of the elements shown in any figure may be implemented using one or It may represent multiple algorithms, or at least one of the elements may represent a configuration structure and and / or represents a portion of logic, including a portion of hardware configured to provide a function. It is possible.

[0117] For example, module 2359 or one or more of its / their components or Any process or device described herein may execute one or more algorithms in memory. One or more processors configured to execute a rhythm, Devices (i.e., hats or headgear, whether worn or carried) (wearable devices such as headbands or any mobile computing device such as mobile phones) Thus, at least some of the elements in the above figures may be implemented in a single Alternatively, at least one of the elements may represent one or more algorithms. A portion of logic, including a portion of hardware, configured to provide a structure and / or functionality These can vary and are not limited to the examples or descriptions provided.

[0118] As hardware and / or software, the structures and techniques described above may be implemented in a field program. Programmable Gate Arrays ("FPGAs"), Application Specific Integrated Circuits ("ASICs"), Configured to design multi-chip modules, or any other type of integrated circuit Various types of hardware description languages, including any register transfer language ("RTL") The programming language or integrated circuit design language may be used to implement the present invention.

[0119] For example, module 2359 or one or more of its / their components or Any process or device described herein may comprise one or more circuits. may be implemented on multiple computing devices. Thus, the elements in the figures above may At least one may represent one or more components of hardware; or At least one of the elements is a part of a circuit configured to provide a structural structure and / or function. It can represent a portion of logic that contains parts.

[0120] According to some embodiments, the term "circuit" refers to, for example, one or more circuits through which a current flows. The term "system" can refer to any system that includes several components that perform a number of functions. Examples of discrete components include transistors, resistors, Examples of composite components include transistors, capacitors, inductors, and diodes. , processors, analog circuits, and field programmable gate arrays (FPGAs) "), digital circuits including application specific integrated circuits ("ASICs"). Thus, a circuit is a set of electronic and logical components (e.g. executable instructions for an algorithm, for example). A group of instructions, and thus a circuit component configured to execute the instructions. According to some embodiments, a "module" may include a system of The term may refer, for example, to hardware circuitry or software, or to a combination of both (i.e., That is, a module may be implemented as a circuit (or a program). In some embodiments, the algorithm and / or logic may refer to a portion of the The memory in which the algorithm is stored is a "component" of the circuit. The term "circuit" can also refer to a system of components that includes, for example, an algorithm. These may vary and are not limited to the examples or descriptions provided.

[0121] In view of the above, Figs. 200-2300 may be used to illustrate any number of structures that may be adapted for any number of applications. For example, any of the above structures and functions may be implemented in a mobile phone having a camera. Thus, the shadow caster and / or light source may be attached to the mobile phone. In another example, the above-mentioned Any structure and function may be used to identify a particular It may be implemented to store surface patterns for identification purposes, such as a three-dimensional scan of a fingerprint. The applications may implement the structures and functions described herein.

[0122] In one example, a method includes receiving photon radiation at a shadow caster and setting a luminosity edge. The method may include receiving photon radiation as light and forming a luminosity edge. and projecting the shadow onto a projection surface. and forming at least two portions of the photon edge. The at least two portions of the luminosity edge may be approximately The method may be performed in parallel by receiving another photon radiation at another shadow caster and and forming a luminosity edge of about the same width as the luminosity edge. The method may include detecting a shadow cast that is at a distance (e.g., a maximum distance) from the projection surface. Photon emission from a light source disposed adjacent (e.g., substantially on-axis) at the end of the In some examples, the method may include receiving photon radiation at the shadow caster. The taking includes receiving photon radiation at a first region and projecting the photon edge onto a projection surface. The shadow caster may be disposed between the one or more light sources and the projection surface. The method may include applying a motive force to move a luminous intensity edge across a projection surface. obtain.

[0123] Turning now to certain specific applications of the present invention, reference will now be made to Figs. 24, 25, 26 and 27. 28, 29, and 30, the most preferred embodiment of the present invention is shown. 24 shows a shadow caster scanner 2400. FIG. 24 shows a front view of the shadow caster scanner 2400. FIG. 25 is a rear perspective view of the shadow caster scanner 2400. FIG. 27 is an exploded view of a shadow caster scanner 2400. FIG. 28 is a front perspective view of a bladed shadow caster 2400a of the present invention. FIG. 29 is a front perspective view of a dough caster 2400b. FIG. 30 is a front perspective view of the shadow caster scanner 2400c. 3 shows an operational flowchart 3000 illustrating the operation of .

[0124] More specifically, the present invention shown in Figs. 24, 25, 26, 27, 28, 29, and 30 Still referring to the description, the shadow caster scanner 2400 includes an outer housing 2410. , a rear panel 2418 having a camera opening 2432, a top panel 2412, a pivot point 24 11, two side panels 2414, and a base 2416. 0; a shadow caster 2420 having a rectangular front segment 2424, two Side segments 2422, each of which is The side segments 2422 are vertically dependent from the ends of the front segments 2424. 2421 and shoulder screw 2428. The shoulder screw 2428 is connected to the nut 2419 and washer 241. 3, which is rotatably attached to the side panel 2414 using a shoulder mount. 2423 and a tab 2426 depending from the side segment 2422. A caster 2420 and an actuator assembly 2440, which are connected to the outer housing 2410. an actuator arm 2442 depending from the actuator arm 2442; and an actuator motor 2446 which is connected to the actuator motor 2446 and The actuator connector 24 connects to the tab 2426 of the shadow caster 2420. 44; and a light source 2450, the light source 24 50 is discrete, continuous, linear, and the side segments of the shadow caster 2420 2422, the shoulder screw 2428 of the shoulder mount 2423, extending between the optical a source 2450; and a video camera assembly 2430, said video camera assembly 2430 through the camera opening 2432 in the rear panel 2418 of the outer housing 2410. Extending from the video camera support platform 2436 and the video camera support platform 2438, A video camera 2434 mounted on a form 2436, the camera lens 2435, It has a camera synchronization port 2433, a video output port 2439, and a control port 2490. a video camera assembly 2430 having a video camera 2434; A memory stored in a computer-readable medium; and a processor having the computer-readable medium (see FIG. a display (not shown); and a light source 2450 that is connected to the shadow cap. The high contrast shadow of the known geometry is cast by illuminating the star 2420. A contrast shadow forms the one or more luminous edges on the object and the active The actuator motor 2446 moves the shadow caster 2420 to the object. The one or more luminosity edges are swept across the object, and the video camera 2434 captures the capturing said one or more luminosity edges of said three-dimensional points on said display and storing said three-dimensional points in said memory; and said processor forms a three-dimensional data representation from said recorded three-dimensional points; a processor for generating the three-dimensional model of the object using the three-dimensional data representation; The three-dimensional model is displayed on the display using the processor. In the present embodiment, a filter-equipped shadow caster 2420a shown in FIG. 27 is used as a shadow caster 2420b. 420 may be used in conjunction with the Shadow Caster Scanner 2400, and a filtered shadow The caster 2420a has a rectangular front segment 2424a and two side segments. Each of the side segments 2422a is a front segment The side segments 2422a are vertically dependent from the ends of the side segments 2424a, , a triangular and shoulder mount 2423a, said shoulder mount 2423a being Each side segment 24 has a shoulder screw hole 2421a and a tab 2426a. 22a. A front segment 2424a and two side segments 2422 a is a first filter 2423a, a second filter 2425a, and a third filter 24 27a, which may filter out different colors of light or have various opacities. Although only three filters are shown in the figure, any number of filters can be used. Alternatively, the bladed shadow caster 2400b shown in FIG. 28 may be used as a shadow caster. A bladed shadow caster may be used in place of the shadow caster scanner 2420. The dow caster 2420b has a rectangular front segment 2424b and two side segments. Each of the side segments 2422b is a front The side segments 2422b are vertically dependent from both ends of the side segments 2424b. Each has a triangular shape and a shoulder mount 2423b. Each side segment has a shoulder screw hole 2421b and a tab 2426b. 2422b. The front segment 2424b and the two side segments 24 22b includes a first segment 2423b, a second segment 2425b, and a third segment 2427b to create more luminosity edges. Although one segment is shown in the figure, any number of segments may be used. Shadow Caster 2400c with Wide Blades shown in Shadow Caster 2420 Instead of the wide blade shadow caster scanner 2400, it can be used with the Shadow Caster Scanner 2400. The caster 2420c is made up of a front segment 2424c and two side segments 24 22c, each of the side segments 2422c being Each of the side segments 2422c has a triangular shape and depends vertically from each of the ends of the side segments 2424c. and shoulder mount 2423c, each of which is , a side segment 2422c having a shoulder screw hole 2421c and a tab 2426c The front segment 2424c and the two side segments 2422c have The first wide segment 2423c, the second wide segment 2425c, and the third wide segment It also has an edge segment 2427c to create more luminosity edges. Although segments are shown in the figure, any number of segments may be used. In the operation flowchart 3000 shown in FIG. The first step in the process is to position the scanner at the target object in step 3005. Next, in a registration determination step 3010, It is determined whether the scanner is aligned with the object. If the scanner is not aligned, If so, the scanner is aligned with the object in a scanner alignment step 3040. Once the scanner is aligned, in focus determination step 3015, the camera It is determined whether the object is in focus. If the camera is not in focus, If so, the camera is focused in a camera focus step 3020. Once focused, in a start recording step 3025 the camera begins recording the object. Next, in a start sweep step 3045, the shadow caster calculates the light intensity across the object. Next, in a collection and analysis step 3050, the recorded Frames from the video are collected and analyzed by a processor to create a point cloud. In a stop step 3060, the shadow caster stops sweeping the luminosity edge across the object. Next, in a point cloud filtering step 3070, the processor filters the point cloud. Next, in a surface construction step 3075, the processor A 3D surface model is constructed from the point cloud. Next, the image display step 3055 is performed. In the step, the model is displayed on the display by the processor. At 3030, it is determined whether another scan is needed. If another scan is needed, If another scan is not required, the start recording step 3025 is repeated as described above. If so, in a file save step 3035, the modeled surfaces are combined and saved as a file. Finally, in a scanner storage step 3080, after operation, the scanner are stored.

[0125] The structure of the present invention shown in Figs. 24, 25, 26, 27, 28, 29, and 30 The construction details are as follows: The rear panel 2418 of the outer housing 2410 is made of steel, copper clad Plastic, High Density Plastic, Silicone, PVC, Fiberglass, Carbon Fiber Fiber, composite, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood, or The top panel 2412 of the outer housing 2410 is made of steel. , copper cladding, plastic, high density plastic, silicone, PVC, fiberglass Lath, Carbon Fiber, Composites, Metal, Galvanized Steel, Stainless Steel, Aluminum, Brass The outer housing 2410 may be made of a strong and rigid material such as brass, copper, wood, or other similar materials. Nel 2414 is a composite of steel, copper cladding, plastic, high density plastic, silicone PVC, fiberglass, carbon fiber, composites, metals, galvanized steel, stainless steel , a strong and rigid material such as aluminum, brass, copper, wood, or other similar materials. The base 2416 of the 2410 can be made of steel, copper cladding, plastic, high density plastic. , silicone, PVC, fiberglass, carbon fiber, composites, metals, galvanized steel, Made of strong and rigid materials such as stainless steel, aluminum, brass, copper, wood, or other similar materials Shadow Caster 2420 is available in steel, copper cladding, plastic, high density plastic. Silicone, PVC, Fiberglass, Carbon Fiber, Composites, Metals, Galvanized Steel , stainless steel, aluminum, brass, copper, wood, or other similar materials. configurable shapes, 3D printed shapes, configurable opacity of liquid crystals, etc., or It also has various color filters. The shoulder screw 2428 is made of steel, copper cladding, Plastic, High Density Plastic, Silicone, PVC, Fiberglass, Carbon Fiber, Composites, metals, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other The nut 2419 and washer 2413 are made of a steel, copper clad, or similar material. Ding, Plastic, High Density Plastic, Silicone, PVC, Fiberglass, Car Bon fiber, composites, metals, galvanized steel, stainless steel, aluminum, brass, copper, wood The tabs 242 of the shadow caster 2420 may be made of a rigid material such as PTFE or other similar material. 6, Steel, Copper cladding, Plastic, High density plastic, Silicone, PVC , fiberglass, carbon fiber, composites, metals, galvanized steel, stainless steel, aluminum The actuator assembly may be made of a lightweight, rigid material such as aluminum, brass, copper, wood, or other similar materials. The actuator arm 2442 of the solid 2440 is made of steel, copper cladding, and plastic. , high density plastic, silicone, PVC, fiberglass, carbon fiber, composites, gold metal, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials. The actuator assembly 2440 has an actuator motor 2446. The actuator assembly 2 includes a linear stepper motor, an electric motor, a hydraulic system, etc. 440 Actuator Connector 2444 is made of steel, copper cladding, plastic, high Density plastics, silicone, PVC, fiberglass, carbon fiber, composites, metals, Strong materials such as galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials. The light source 2450 may be an incandescent lamp, a halogen lamp, a fluorescent lamp, a linear lamp, or a slit lamp. tube light, LED, LED array, linear array of LED, light source of different colors, color LED, laser, X-ray source, UV source, or infrared source. Video camera support platform Form 2436 is a composite material made of steel, copper cladding, plastic, high density plastic, silicone Carbon fiber, PVC, fiberglass, composites, metal, galvanized steel, stainless steel It has a strong and rigid material such as steel, aluminum, brass, copper, wood, or other similar materials. The camera 2434 may include a digital or analog video camera. The camera lens 2435 , telephoto lenses, filter lenses, magnifying lenses, or lenses with negative focal lengths, etc. The memory stored in the non-transitory computer readable medium may include software, instructions, data, or algorithms, etc. The processor may be a computer, a mobile phone, a PC, or a CPU. Displays include monitors, screens, televisions, augmented reality headsets, etc. , or a microscope. The filtered shadow caster 2420a may include a configurable liquid crystal or the like. Various colors may filter out different colors of light or may have different opacities. The bladed shadow caster 2400b is made of steel, copper clad Plastic, High Density Plastic, Silicone, PVC, Fiberglass, Carbon Textiles, composites, metals, galvanized steel, stainless steel, aluminum, brass, copper, wood, or has a strong and rigid material like other similar materials, configurable shapes, 3D printed shapes, It may further comprise configurable opacity such as liquid crystal, or various color filters. Bladed Shadow Caster 2400c is available in steel, copper clad, plastic, high density Plastics, silicone, PVC, fiberglass, carbon fiber, composites, metals, zinc Rigid materials such as lead-plated steel, stainless steel, aluminum, brass, copper, wood, or other similar materials configurable shapes, 3D printed shapes, configurable opaque shapes such as liquid crystals, The optical element may further include various optical filters, such as a reflective layer, a reflector, a reflector plate, a reflector window, etc., or various color filters, etc.

[0126] Referring now to another embodiment of the present invention, FIGS. 5 and 36, a surgical shadow caster scanner 3100 is used during surgery. FIG. 31 shows a surgical shank being used during brain surgery on a patient 3170. FIG. 32 is a front perspective view of a dow caster scanner 3100 used during brain surgery. An operational flowchart 320 illustrating the operation of the surgical shadow caster scanner 3100 is shown. FIG. 33 shows a surgical shadow camera being used as a side scanner during brain surgery. 3 shows a side scanner flow chart 3300 illustrating the operation of the side scanner 3100. Figure 34 shows a surgical shadow caster being used as a side scanner during brain surgery. Algorithm Flowchart 3 Depicting the Algorithm Used by Scanner 3100 FIG. 35 shows a surgical shadow pad being used for patient registration. 3 shows a registration flow chart 3500 illustrating the digital scanner 3100. Figure 36 shows a surgical shadow caster scanner 3100 being used during robotic brain surgery. 36 shows a robot flow chart 3600 illustrating the operation of the robot.

[0127] More specifically, the present invention of Figs. 31, 32, 33, 34, 35 and 36 Referring to FIG. 31, a surgical shadow caster scanner 3100 is A shadow 3167 from the caster 3120 is cast over the craniotomy incision 3180 of the patient 3170. The head forceps 31 are shown in a vertical position while a video camera 3130 records the sweep. 65, right angle forceps 3161, and lockable bent arm 3163 are used to scan the patient 3170. The surgical shadow caster scanner 3100 is fixed in position relative to the area being scanned. 2, an operational flowchart 3200 illustrates a surgical shadow cage being used during brain surgery. The operation of the surgical shadow caster scanner 3100 will now be described. The first step in the setup is to drape the scanner in a suitable position for surgery in step 3203. , fits outside the surgical shadow caster scanner 3100 and protects the patient 31 from contamination during surgery. This involves draping the scanner with a custom drape that can protect the scanner 70. Next, the scanner position In a determining step 3205, the surgical shadow caster scanner 3100 is Then, in a registration decision step 3210, the scanner In this case, it is determined whether the incision 3180 of the patient 3170 is aligned with the object. If the scanner is not aligned, then in the scanner alignment step 3240 Once the scanner is aligned, the focus is In step 3215, it is determined whether the camera is focused on an object. If the camera is not focused, then in camera focus step 3220 The camera is focused. When the camera is focused, the recording start step 3225 is started. Then, in a start sweep step 3245, the camera starts recording the object. The shadow caster begins to sweep the luminosity edge across the object. Then the collection and analysis steps In step 3250, frames of the recorded video are collected and analyzed by a processor. Next, in a new point cloud filtering step 3252, the new The new point cloud is filtered by a processor. The filtered point cloud is then updated. In a new step 3254, the filtered point cloud display is updated. In a cloud filtering step 3270, the processor filters the entire point cloud. Next, in a surface construction step 3275, the processor Then, in a surface transmission step 3263, the surface is The surgical navigation computer then transmits the A computer that identifies where the surgeon's tools are and where the patient is in relation to a common three-dimensional coordinate system. It uses surgical navigation to assist in surgery. Then, the file storage In step 3235, the surface is saved to a file. In step 5, the model is displayed on the display by the processor. In step 3230, it is determined whether another scan is needed. If so, the alignment decision step 3210 is repeated as described above. In step 3260, the shadow caster stops sweeping the luminosity edge across the object. Next, in a stop recording step 3265, the camera stops recording. In step 3277, the drape is removed from the scanner. Finally, in a scanner storage step 3280, the scanner is stored after operation. In FIG. 33, a side scanner flow chart 3300 illustrates a side scanner during brain surgery. A surgical shadow caster scanner 3100 is described, which is used as a side scanner. First steps in operating the Surgical Shadow Caster Scanner 3100 as a scanner Suitable for surgery, surgical shadow caster, in scanner drape step 3303 Customizable to fit on the outside of the Scanner 3100 and protect the Patient 3170 from contamination during surgery This includes placing a drape over the scanner. Next, in step 3305, the scanner is positioned. Then, the surgical shadow caster scanner 3100 is positioned next to the object. In an alignment decision step 3310, it is determined whether the scanner is aligned with the object. If the scanner is not aligned, a scanner alignment step 334 is performed. At 0, the scanner is aligned with the object. When the scanner is aligned, the In focus decision step 3315, it is determined whether the camera is focused on the object. If the camera is not focused, a camera focus step 3320 is performed. The camera is focused at step 3. When the camera is focused, recording starts. In 325, the camera starts recording the object. Next, in a start sweep step 3345 At this point, the shadow caster begins to sweep the luminosity edge across the object. In a processing and analysis step 3350, frames of the recorded video are collected by a processor. Then, in a sweep stop step 3360, the shadow The caster stops sweeping the luminosity edge across the object. Next, stop recording step 33 At 65, the camera stops recording the object. Next, the point cloud filtering step 3 At 370, the processor filters the point cloud. Next, the surface construction step 33 At 75, the processor constructs a model of a three-dimensional surface from the filtered point cloud. Then, in a file save step 3335, the surface is saved to a file. Then, in an image display step 3355, the model is displayed on the display by the processor. In another scan decision step 3330, it is determined whether another scan is needed. If another scan is required, then in still targeting step 3333, It is determined whether the scanner is still facing the target. If so, the start recording step 3325 is repeated as described above. If not, a retract step 3337 waits until the scanner retracts. Once the scanner has retracted to the target, the begin recording step 3325 is repeated as described above. If another scan is not required, then in a scanner undrape step 3377, The drape is removed from the scanner. Finally, in a scanner storage step 3380 After the scanner is operated, it is stored. In FIG. 34, the algorithm flow chart 3400 The Surgical Shadow Caster Scanner 3 is used as a side scanner during brain surgery. The algorithm used by the surgical shadow caster scanner 31 is described below. The first step in the 00 algorithm is the program start step 3404. Then, in parameter collection step 3408, User-supplied or program-specified scan and analysis parameters are then collected. In a start recording step 3425, the camera starts recording. At 445, the motor is started to move the shadow caster and cast the light across the object. Next, in a video acquisition step 3450, the recorded video is The frames are collected. Next, in a buffer decision step 3424, the video buffer It is then determined whether the buffer is full enough to be parsed. If the buffer is not full enough, If so, the video collection step 3450 is repeated as described above. If the video frame is sufficiently filled, then in a frame analysis step 3444 the video frame is analyzed. Next, in a new point cloud filtering step 3452, the new The new point cloud is filtered by a processor. The filtered point cloud is then updated. In a new step 3454, the filtered point cloud display is updated. In step 3458, which determines whether the buffer is full, it is determined whether there are still enough frames in the buffer. If there are not enough frames in the buffer, the buffer is resized as described above. If there are still enough frames in the buffer, decision step 3424 is repeated. In a sweep end decision step 3478, it is determined whether or not the sweep is to be ended. If not, the frame analysis step 3444 is repeated as described above. If so, the motor is stopped in a stop motor step 3468. In a stop step 3465, the camera stops recording the object. In step 3464, the analysis of the frame is completed. Next, the point cloud filtering step In step 3470, the processor filters the point cloud. Next, a surface construction step In step 3475, the processor derives a three-dimensional surface model from the filtered point cloud. Then, in a file save step 3435, the surface is saved to a file. The model is then displayed by the processor in an image display step 3455. In another scan decision step 3430, it is determined whether another scan is required. If another scan is required, then in step 3414, if still visible, It is determined whether the target or fiducial is still visible in the camera's field of view. If so, the begin recording step 3425 is repeated as described above. If the target or fiducial is no longer visible, a wait step 3412 waits until the target or fiducial becomes visible again. When the target or fiducial becomes visible again, start recording step 34 as described above. 25 is repeated. Finally, if another scan is not required, the algorithm ends at step At 3490, the user exits the algorithm. A flowchart 3500 illustrates a surgical shadowing device being used for patient registration. The first step in patient registration is described in detail below. In step 3503, the custom frame is draped over the scanner. Next, in a scanner positioning step 3505, a surgical shadow camera is The star scanner 3100 is positioned above the object. Next, alignment determination step 3 At 510, it is determined whether the scanner is aligned with the object. If the scanner is not aligned, then in scanner alignment step 3540 the scanner Once the scanner is aligned, focus determination step 3 At 515, it is determined whether the camera is focused on an object. If not, the camera is focused in a camera focus step 3520. When the camera is focused, in a start recording step 3525, the camera Then, in a start sweep step 3545, the shadow camera starts recording the object. The starter begins to sweep the luminosity edge across the object. Next, a collect and analyze step 355 At 0, frames of the recorded video are collected and analyzed by a processor to generate a point cloud. Next, in a sweep stop step 3560, the shadow caster creates a Next, in a stop recording step 3565, the camera stops sweeping the luminosity edge. Then, in a point cloud filtering step 3570, the processor Next, in a surface construction step 3575, the processor The processor builds a 3D surface model from the filtered point cloud. It then saves the file In a save step 3235, the surface is saved to a file. Next, a surface send step At 3563 the surface is sent to the navigation computer. Then, 2 scans At decision step 3531, it is determined whether two scans have been acquired. of If a scan has not been acquired, perform scanner positioning step 3505 as described above. Repeat. If two scans have been collected, in the first fiducial identification step 3581 Next, in a second fiducial identification step 3583, Next, in a calculation step 3585, the processor Then, if the scanner or patient moves, the mapping In step 3587, we map all surface points to new positions using a rigid transformation. Finally, in a step 3595 for continuing the operation, the operation is continued. Flowchart 3600 is a surgical shadow camera used during robotic brain surgery. The operation of the shadow caster scanner 3100 will now be described. The first step in the procedure is to drape the scanner in a suitable position for surgery. , fits outside the surgical shadow caster scanner 3100 and protects the patient 31 from contamination during surgery. This involves draping the scanner with a custom drape that can protect the scanner 70. Next, the scanner position In a determining step 3605, the surgical shadow caster scanner 3100 determines whether the robot The object is positioned over the object using the controlled motors. Next, an alignment determination step is performed. In step 3610, it is determined whether the scanner is aligned with the object. If the scanner is not aligned, then in scanner alignment step 3640 the scanner Once the scanner is aligned, focus determination step 3 At 615, it is determined whether the camera is focused on an object. If not, the camera is focused in a camera focus step 3620. When the camera is focused, in a start recording step 3625, the camera Then, in a start sweep step 3645, the shadow camera starts recording the object. The starter begins to sweep the luminosity edge across the object. Next, a collect and analyze step 365 At 0, frames of the recorded video are collected and analyzed by a processor to generate a point cloud. Next, in a new point cloud filtering step 3652, the new point cloud is filtered. Then, the filtered point cloud is updated in step 3. At 654, the filtered point cloud display is updated. Next, the whole scan decision In step 3667, it is determined whether the entire region of interest has been scanned. If the entire area has not been scanned, repeat the acquisition and analysis step 3650 as described above. If the entire region of interest has been scanned, then the entire point cloud filtering step 3670 In step 367, the processor filters the entire point cloud. 5, the processor constructs a model of a three-dimensional surface from the filtered point cloud. Next, in a surface transmission step 3663, the surface is transmitted to the surgical navigation computer. Then, in a file save step 3635, the surface is saved to a file. The model is then displayed by the processor in an image display step 3655. In another scan decision step 3630, it is determined that another scan is necessary. If another scan is required, the alignment determination step is performed as described above. Step 3610 is repeated. If another scan is not desired, the process returns to step 3660 to stop sweep. At this point, the shadow caster stops sweeping the luminosity edge across the object. In a stop step 3665, the camera stops recording the object. In a remove drape step 3677, the drape is removed from the scanner. In a scanner storage step 3680, the scanner is stored after operation.

[0128] Details of the construction of the present invention shown in Figures 31, 32, 33, 34, 35, and 36 The Surgical Shadow Caster Scanner 3100 is available in steel, copper clad, plastic , high density plastic, silicone, PVC, fiberglass, carbon fiber, composites, gold metal, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials. The Shadow Caster 3120 is made of steel, copper cladding. , Plastic, High Density Plastic, Silicone, PVC, Fiberglass, Carbon Fiber , composites, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other and having rigid materials such as similar materials, configurable shapes, 3D printed shapes, liquid crystal It may also have configurable opacity, etc., or different color filters, etc. 3130 includes a digital or analog video camera, etc. Head forceps 3165, right angle forceps 3161 and the lockable bend arm 3163 are made of steel, copper cladding, plastic , high density plastic, silicone, PVC, fiberglass, carbon fiber, composites, gold metal, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials. The material has high rigidity.

[0129] Referring now to another embodiment of the present invention, FIG. 42, 43, and 44 show an endoscopic version of the shadow caster. FIG. 38 is a front perspective view of an endoscope shadow caster scanner 3700. FIG. 39 is an exploded view of the slit-moving endoscope shadow kit. FIG 40 is a front perspective view of an endoscopic shadow caster scanner 3900. The tip 400 of the slit-moving endoscope shadow caster scanner 3900 FIG. 41 shows a front perspective view and an exploded view of endoscopes 4000, 4000a, and 4000b. Shadow Caster Scanner 3700 and Slit-type Mobile Endoscope Shadow Caster Scanner FIG. 42 shows an optical path block diagram 4100 illustrating the optical paths of the endoscopic system during surgery. Shadow Caster Scanner 3700 and Slit Movable Endoscope Shadow Caster Scanner 3 FIG. 43 shows an endoscope operation flow chart 4200 illustrating the operation of the endoscope system 900. Shadow Caster Scanner 3700 and Slit Movable Endoscope Shadow Caster Scanner 3 Endoscopy algorithm flow chart 43 describing the algorithm used by 900 44 shows an endoscope shadow caster scanner 3700 and a slit moving type internal An endoscopic sweep frame illustrating the shadow caster sweep of the endoscopic shadow caster scanner 3900. A flow chart 4400 is shown.

[0130] More specifically, Figs. 37, 38, 39, 40, 41, 42, 43, and 4 Still referring to the present invention of 4, in Figs. 37, 38 and 40, an endoscope shadow kit is shown. The calibrator scanner 3700 includes optional tip 4001, 4001a, or 4001b. The endoscope shadow caster scanner 3700 is provided with an endoscope body 4000, 000a, and 4000b, wherein the endoscope body 4000, 4000a, or 4000 b is the base end portion 3701, the tip portion 4001, 4001a, or 4001b, 1 and the tip 4001, 4001a, or 4001b. 010, 4010a, or 4010b, the endoscope sleeve 4010, 4010a, or 4010b, and toward the tip 4001, 4001a, or 4001b. The tapered optical fiber bundles 4060a and 4060b, and the endoscope sleeve 4010 , 4010a, or 4010b, and the tip portion 4001, 4001a, or 4 001b oriented endoscope camera 4030, 4030a, or 4030b the main body 4000, 4000a, and 4000b; the tapered optical fiber bundle 4060a and The tip portion of the endoscope main body 4000, 4000a, or 4000b is disposed above 4060b. Shadow casters 4020, 402 mounted on 4001, 4001a, or 4001b Shadow caster 4020, 400a, or 4020b having a semicircular piece 20a or 4020b; and a light output unit 3700 having a horizontal platform 3730. , a vertical stand 3705 extending from the horizontal platform 3730, Stepper motor linear actuator 3740 extending from platform 3730, as shown A translation platform 371 connected to a stepper motor linear actuator 3740 5, a light source 3701 slaved to the translation platform 3715, a cylindrical lens 3760; a fiber optic bundle 3710, which may be an image-bearing fiber optic bundle, slaved to the light source 3701; A rounded taper 3720 depending from the optical fiber bundle 3710, and a light output portion 3700 having a slit 3725 mounted thereon; A processor (not shown) having a memory stored in the medium; and the computer-readable medium. and a display (not shown), and the light emitting unit 3700 is connected to the endoscope main body 40. 3701 connected to the proximal end 3701 of the 3000, 4000a, and 4000b, The optical fiber bundle 3710, the rounded taper 3720, the slit 3725, and the tapered portion 3726 are illuminating the above-mentioned shadow caster 4020 or 4020a. Then, it casts a high-contrast shadow of the known geometry and forming the one or more luminous intensity edges on the object; and The actuator 3740 moves the translation platform 3715 together with the light source 3701. and moving the endoscopic camera to sweep the one or more luminous intensity edges across the object. The one or more of the three-dimensional points on the object are detected by the laser 4030, 4030a, or 4030b. and storing said three-dimensional points in said memory, said processor detecting said three-dimensional edges of said three-dimensional points. forming a three-dimensional data representation from the determined three-dimensional origin, and the processor generating said three-dimensional model of said object using said representation, said three-dimensional model being processed by said process; The display is shown using the slit moving type. The endoscopic shadow caster scanner 3900 includes optional tip sections 4001, 4001a. , or 4001b. Slit-type mobile endoscope shadow caster scanner 39 00 is an endoscope body 4000, 4000a, and 4000b, and a proximal end portion 3701 ( 37 and 38), tip portion 4001, 4001a, or 4001b, The endoscope extending between the end 3701 and the tip 4001, 4001a, or 4001b. Sleeve 4010, 4010a, or 4010b, the endoscope sleeve 4010 or 010a and pointing toward the tip 4001, 4001a, or 4001b. The tapered optical fiber bundle 4060a and the endoscope sleeve 4010, 4010a, is disposed in 4010b and faces the tip 4001, 4001a, or 4001b. An endoscope body 4000, 4030a, or 4030b having an endoscope camera 4030, 4030a, or 4030b 000a and 4000b; the endoscope main body is disposed above the tapered optical fiber bundle 4060a. The tip 4001, 4001a, or 4001b of the body 4000, 4000a, or 4000b A shadow caster 4020, 4020a, or 4020b mounted on the 01b, A shadow caster 4020, 4020a, or 4020b having a semicircular piece; A shooting section 3900, comprising a horizontal platform 3930, the horizontal platform 39 30, a vertical stand 3905 extending from the horizontal platform 3930, A stepper motor linear actuator 3940 is attached to the vertical stand 3905. A support platform 3915, a light source (not shown), and a fiber optic bundle 3 slaved to the light source. 910, a rounded taper 3920 depending from the optical fiber bundle 3910, and the stepper module A light emitting unit 3 having a slit 3925 mounted on a linear actuator 3940. 900; a memory stored in a non-transitory computer readable medium; A processor (not shown) having a medium; and a display (not shown), The light source 3900 is connected to the light source, which is connected to the optical fiber bundle 3910, the rounded corner tape. The slot 3920, the slit 3925, the tapered optical fiber bundle 4060a, and the sleeve Illuminating the shadow caster 4020 or 4020a to obtain high contrast images of known geometry a high contrast shadow that projects a high contrast shadow over the one or more luminous edges; The stepper motor linear actuator 3940 is formed on the object and the slit 3 925 to sweep the one or more luminous intensity edges across the object, The endoscope camera 4030, 4030a, or 4030b captures the one of the three-dimensional points on the object. or detecting a plurality of luminosity edges and recording said three-dimensional points in said memory, said processor forming a three-dimensional data representation from the recorded three-dimensional points; generating said three-dimensional model of said object using the original data representation, said three-dimensional model being The above-mentioned processor is used to display the above-mentioned display. 100 is an endoscope shadow caster scanner 3700 and a slit-moving endoscope shadow The optical path of the caster scanner 3900 will be described. First, in the light source step 4110, The light is emitted from the light source 3701. Next, in a source injection step 4120, the light is The light is illuminated through the reflectors 3700 and 3900, where the light source 3701 moves or The slit 3925 moves. Next, in the fiber step 4130, the light emitting portion 37 Light from 3900 and 3900 travels down tapered optical fiber bundle 4060a. In step 4140, the light is guided to the endoscope body 4000, 4000a, or 4000b. The tip of the tip 4001, 4001a, or 4001b of the shadow caster 4020 , 4020a, or 4020b. Next, in the camera step 4150, The light and luminosity edges are detected by the endoscope cameras 4030, 4030a, or 4030b. Finally, in step 4160, the computer The images from 030a or 4030b are sent to a processor and processed into a three-dimensional model. In FIG. 42, the endoscope operation flowchart 4200 includes a scanner drape step 4. 203, an endoscopic shadow caster scanner 3700 used during surgery and The operation of the slit-moving endoscope shadow caster scanner 3900 will be described. Daw Caster Scanner 3700 and Slit Mobile Endoscope Shadow Caster Scanner 39 The first step in the operation of 00 is the endoscopic shadow caster scanner 3700 suitable for surgery Or it fits on the outside of the slit mobile endoscope shadow caster scanner 3900 and can be used during surgery. This involves placing a custom drape over the scanner that can protect the patient from contamination. In the scanner insertion step 4205, the endoscopic shadow caster scanner 3700 or the slide The tip 4001, 4001a, or 4001b is inserted into a natural or artificial orifice. Next, enable step 4 In 210, a light source 3701 and an endoscope camera 4030, 4030a, or 4030b Next, in a navigate step 4240, the endoscope shadow cage is The tip of the Stascanner 3700 or the Slit-type Moving Endoscope Shadow Caster Scanner 3900 The end 4001, 4001a, or 4001b is navigated to the target. In the case determination step 4215, the endoscopic camera 4030, 4030a, or 4030 It is determined whether the endoscopic cameras 4030, 4030a and b are focused on the target. , or if 4030b is not in focus, the camera focus step 4220 In the endoscope camera 4030, 4030a, or 4030b is focused. Once the mirror camera 4030, 4030a, or 4030b is in focus, the recording start step In step 4225, the endoscopic camera 4030, 4030a, or 4030b records the target. Next, in a start sweep step 4245, the luminosity edge is A light source 3701 of a caster scanner 3700 or a slit-type mobile endoscope shadow caster Initiate a sweep across the object by moving the slit 3925 of the scanner 3900. Next, in a collection and analysis step 4250, the processor frames are collected and analyzed to create a point cloud. Then, a new point cloud filtering step At 4252, the new point cloud is filtered by a processor. In step 4254, the filtered point cloud display is Next, in a full scan decision step 4267, it is determined whether the entire region of interest has been scanned. If the entire region of interest has not been scanned, then the If the entire region of interest has been scanned, the entire acquisition and analysis step 4250 is repeated. In a point cloud filtering step 4270, the processor filters the entire point cloud. Next, in a surface construction step 3275, the processor A three-dimensional surface model is constructed from the point cloud. Next, in surface transmission step 4263, The plane is sent to the surgical navigation computer. Next, a file save step 423 In step 4255, the surface is saved to a file. The model is displayed on the display by the processor. Another scan decision step 4230 In step 2, it is determined whether another scan is needed. If another scan is needed, The begin sweep step 4245 is repeated as described above. If another scan is not required In a stop sweep step 4260, the luminosity edge stops sweeping across the object. Then, in a stop recording step 4265, the camera stops recording the object. In a remove scanner drape step 4277, the drape is removed from the scanner. Finally, in a scanner storage step 4280, the scanner is stored after operation. In FIG. 43, an endoscopy algorithm flow chart 4300 is provided for the endoscopy shadow caster. Used by Scanner 3700 and Slit Mobile Endoscope Shadow Caster Scanner 3900 The algorithm to be used will be described. Transfer The first step in the algorithm for the Dynamic Endoscope Shadow Caster Scanner 3900 is Then, in a program start step 4304, the program is started. In a parameter collection step 4308, user-supplied or program-specified scan and Next, in a recording start step 4325, the endoscopic camera The camera 4030, 4030a, or 4030b starts recording. Next, the sweep starts. At 345, the stepper motor linear actuator 3740 or 3940 is started. The light source 3701 of the endoscope shadow caster scanner 3700 or the slit moving endoscope The slit 3925 of the shadow caster scanner 3900 is moved to measure the light intensity across the object. Next, in a video acquisition step 4350, the recorded video is Next, in a buffer decision step 4324, the video buffer is It is determined whether the buffer is full enough to be parsed. If the buffer is not full enough, Then, the video collection step 4350 is repeated as described above. If so, the video frame is analyzed in a frame analysis step 4344. Then, in step 4358, it is determined whether the buffer is still sufficient. Then, it is determined whether there are still enough frames in the buffer. If not, the buffer decision step 4324 is repeated as described above. If there are still enough frames in the frame, the sweep is terminated in end of sweep decision step 4378. If the sweep is not complete, the frame analysis step is performed as described above. If the sweep is complete, then stop motor step 4368 is performed. Then, the stepper motor linear actuator 3740 or 3940 stops. In the stop step 4365, the endoscopic camera 4030, 4030a, or 4030b Next, in a frame analysis end step 4364, The analysis is complete. Next, in a point cloud filtering step 4370, the processor Next, in a surface construction step 4375, the processor A 3D surface model is constructed from the filtered point cloud. Then, a file saving step is performed. In step 4335, the surface is saved to a file. Next, the image is displayed in step 4355. In the step, the model is displayed on the display by the processor. At 4330, a determination is made as to whether another scan is needed. If another scan is needed, Then, the start recording step 4325 is repeated as described above. Finally, if another scan is required, If not, the user terminates the algorithm in end algorithm step 4390. In FIG. 44, an endoscope sweep flow chart 4400 is shown that includes an endoscope shadow caster ski. The shadow caster scanner 3700 and the slit-type moving endoscope shadow caster scanner 3900 First, in the motor parameter setting step 4407, The parameters of the motor linear actuator 3740 or 3940 are set. Next, In the sweep start step 4445, the light source 3 of the endoscope shadow caster scanner 3700 701 or slit 3925 of slit mobile endoscope shadow caster scanner 3900 Next, the current motor position acquisition sequence is In step 4447, the stepper motor linear actuator 3740 or 3940 Next, in a sweep end decision step 4449, it is determined whether the light source is at the end of the sweep. If the source has not reached the end of the sweep, then the The Get Current Motor Position step 4447 is repeated. The light source has reached the end of the sweep and If another scan is required, the algorithm repeats step 4494 and The motor parameter setting step 4407 is repeated in the opposite direction to the can. In order to use optical fiber bundle 4060b, proximal tapered optical fiber bundles 3720 and 39 20 must have the same shape as the tip tapered optical fiber bundle 4060b, for example, tapered to a semi-rounded corner. Must be.

[0131] The book shown in Figures 37, 38, 39, 40, 41, 42, 43, and 44 The details of the construction of the invention are as follows: the endoscope sleeve 4010, 4010a, or 4010b is The fiber optic bundle may include a flexible material such as acrylic, silicone, or metal. For example, 4060a and 4060b may be made of optical fiber, glass, plastic, or composite material, etc. The endoscope camera 4030, 4030a, or 4030b may be a standard endoscope camera or the like. Shadow casters 4020, 4020a, or 4020b are made of steel, copper clad Plastic, High Density Plastic, Silicone, PVC, Fiberglass, Carbon Fiber Fiber, composite, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood, or It has a rigid material like other similar materials, and can be used for configurable shapes, 3D printed shapes, liquid The horizontal plate may further have configurable opacity, such as crystals, or various color filters. Forms 3730 and 3930 are available in steel, copper clad, plastic, high density plastic Stick, silicone, PVC, fiberglass, carbon fiber, composites, metals, zinc plating Strong and rigid materials such as steel, stainless steel, aluminum, brass, copper, wood, or other similar materials Vertical stands 3705 and 3905 are made of steel, copper cladding, plastic , high density plastic, silicone, PVC, fiberglass, carbon fiber, composites, gold metal, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials. The stepper motor linear actuators 3740 and 3940 have a high rigidity material. A linear stepper motor, an electric motor, or a hydraulic system may be used. 715 is made of steel, copper cladding, plastic, high density plastic, silicone, P VC, fiberglass, carbon fiber, composites, metal, galvanized steel, stainless steel, aluminum The light source 3701 is made of a rigid material such as aluminum, brass, copper, wood, or other similar material. , heat lamp, halogen lamp, fluorescent lamp, line light, tube light with slits, LED, LED array Linear arrays of LEDs, light sources of different colors, color LEDs, lasers, X-ray sources, UV sources, or The cylindrical lens 3760 is made of glass, acrylic, ceramic, or other optical material. The optical fiber bundles 3710 and 3910 may be made of glass, acrylic, or ceramic. The rounded tapers 3720 and 3920 are made of glass, plastic, etc. Slit 3725 is available in steel, copper clad, plastic, high density plastic. , opaque paint, silicone, PVC, fiberglass, carbon fiber, composites, metals , galvanized steel, stainless steel, aluminum, brass, copper, wood, or other similar materials. The non-transitory computer readable medium has an opaque material. The processor may include a program, instruction, data, or algorithm. A display includes a monitor, a screen, a television, an extension cable, a display, a display unit, a display ... The support platform 3915 may be made of steel, copper, Cladding, Plastic, High Density Plastic, Silicone, PVC, Fiberglass, Carbon fiber, composites, metals, galvanized steel, stainless steel, aluminum, brass, copper The slits 3925 may be made of steel, copper clad, or other similar materials. Ding, Plastic, High Density Plastic, Opaque Paint, Silicone, PVC, Fiberglass, Carbon Fiber, Composites, Metals, Galvanized Steel, Stainless Steel, Aluminum The material may be opaque, such as aluminum, brass, copper, wood, or other similar material.

[0132] Referring now to another embodiment of the present invention in FIG. 45 and FIG. 46, a whole person shadow FIG. 45 shows a whole person shadow scanner 4500 for scanning a whole person 4570. 500. FIG. 46 illustrates the operation of the whole person shadow scanner 4500. A full person action flowchart 4600 is shown. Regarding.

[0133] More specifically, and still referring to the present invention in Figs. 45 and 46, a full-body shadow scanner 4 The 500 is similar in construction to the Shadow Caster Scanner 2400, but it can scan the entire body 4570 surfaces. It is scaled and configured to scan the entire room, including the ceiling, etc. The whole person shadow scanner 4500 can be mounted on the whole person shadow caster 4520. Using the luminance edge projection method, the luminance edge is projected onto the whole person 4570, and the luminance edge is projected onto the whole person 4530 using the whole person camera 4530. The Whole Person Shadow Scanner 4500 is used for skin scanning or dermatological examinations. It can be used to remove freckles, moles, skin lesions, skin cancer, warts, tumors, abnormalities, or scars, etc. It is possible to map the skin features of the whole person 4570. Optionally, Very close to smaller embodiments of the Shadow Scanner 4500 and / or similar scanners to perform higher resolution scans over smaller areas of interest, e.g. The scans performed at different times also allowed the researchers to focus on the three-dimensional shape of the moles in the whole person. It can also provide a record of skin changes over time, for example, new moles or changing features. Furthermore, in combination with color filters, the tumor or cancer area can be easily identified during scanning. In FIG. 46, the whole person operational flow chart 4600 may: The operation of the whole-person shadow scanner 4500 used will be described. Whole-person shadow scanner The first step in the operation of 4500 is to position the scanner in step 4605. The whole person shadow scanner 4500 is positioned above the whole person 4570 or the whole person 457 0 under the whole person shadow scanner 4500. Next, In step 4610, the whole person shadow scanner 4500 scans the whole person 457 in this case. It is determined whether the scanner is aligned with the object whose AF is 0. If so, the scanner is aligned with the object in a scanner alignment step 4640. Once the scanner is aligned, in focus determination step 4615, the camera It is determined whether the camera is focused on an object. If so, the camera is focused in a camera focus step 4620. Once in focus, in a start recording step 4625 the camera begins recording the subject. Next, in a start sweep step 4645, the shadow caster sweeps the light across the object. Next, in a collection and analysis step 4650, the recorded Frames of video are collected and analyzed by a processor to create a point cloud. In a stop step 4660, the shadow caster 4520 detects the luminosity edge across the object. Next, in a stop recording step 4665, the camera stops recording the object. Then, in a point cloud filtering step 4670, the processor filters the point cloud. Next, in a surface construction step 4675, the processor A 3D surface model is constructed from the ringed points. Next, an image display step 4655 In the step S10, the model is displayed on the display by the processor. In step 4630, it is determined whether another scan is needed. If another scan is needed, If not, the begin sweep step 4645 is repeated as described above. If so, in a file save step 4635, the surfaces are merged and saved to a file. Finally, in a scanner storage step 4680, after operation, the whole person shadow scanner 45 00 is stored.

[0134] The details of the construction of the present invention shown in Figs. 45 and 46 are shown in Figs. 37, 38, 39, 40 41, 42, 43, and 44 are substantially the same as the construction details of the present invention shown in FIG. .

[0135] Referring now to another embodiment of the present invention, in FIG. FIG. 47 shows a security shadow scanner 4700 scanning a pedestrian 4770. FIG. 46 is a front perspective view of a security shadow scanner 4700. A security scanner operation flowchart 4800 illustrating the operation of the scanner 4700. Shows.

[0136] In more detail, still referring to Figs. 47 and 48, the security shadow scanner 4 The Shadow Caster Scanner 700 is similar in construction to the Shadow Caster Scanner 2400, but is The motion can be used to sweep the luminosity edge and measure the speed of the pedestrian 4770 against the wall 47 72 may further include one or more additional cameras 4737. The shadow scanner 4700 is configured to scan the surface of the pedestrian 4770. The ceiling 4776 of the room 4710 is configured to be cauldron-shaped, and the ceiling 4776 ... Other versions may have the light source mounted on the ceiling of the room. The ShadowScanner 4700 uses a stationary Shadow Caster 4720 to project light onto pedestrians 4770. 4730 and optionally additional cameras 4737. An additional camera 4737 (and in fact a security camera) is used to record the luminosity edge. The camera 4730 and the additional camera 4737 detect not only the luminosity edge but also the object itself. It can also detect bodies and help determine the speed of objects. Security Shadow Scanner 4 The 700 will be used to scan people for security risks and will be used at building entrances In addition, it can be placed at the entrance to the entrance or secure area by using a color filter. Different features, such as identification of weapons or contraband, may be identified during the scan. The security scanner operation flowchart 4800 shows the security shadow scanner used. The operation of the security shadow scanner 4700 will be described. The first step is to activate the scanner in step 4801, which activates the security system. Activating the shadow scanner 4700. Next, a focus determination step At 4815, a security camera 4730 and optionally an additional camera 4737 It is determined whether the security camera 4730 and the object are focused on. Optionally, if the additional camera 4737 is not in focus, the camera focus switch In step 4820, a security camera 4730 and optionally additional cameras 47 37 is focused. Security camera 4730 and optionally additional cameras 4 When the 737 is focused, in a recording start step 4825, the security camera 4730 and optionally an additional camera 4737. 70. Next, in a frame collection step 4850, The frames of the recorded video are collected by the processor. Next, the velocity calculation step 4 At 851, the speed of the object, in this case a pedestrian 4770, is calculated by the processor. Next, in a frame analysis step 4844, the image from the security camera 4730 is The frames are analyzed using a processor to create a point cloud. Then, the entire scan is judged. In step 4867, it is determined whether the entire region of interest has been scanned. If the entire area has not been scanned, the frame collection step 4850 is repeated as described above. If the entire region of interest has been scanned, the point cloud filtering step 4870 In step 4875, the processor filters the point cloud. In the method, a processor constructs a model of a three-dimensional surface from the filtered point cloud. Next, in a file save step 4835, the surface is saved to a file. In a surface transmission step 4871, the surface is transmitted to the processor for display. In decision step 4830, it is determined whether another scan is needed. If so, the frame collection step 4850 is repeated as described above. If another scan is not required, the scanner is deactivated in step 4881. The scanner is deactivated.

[0137] The details of construction of the present invention shown in Figs. 47 and 48 are shown in Figs. 37, 38, 39, 40 , which are substantially similar to the construction details of the present invention shown in Figures 41, 42, 43, and 44.

[0138] Referring now to another embodiment of the present invention, FIG. 53 shows a vision shadow scanner 4900. FIG. 49 shows a vehicle which is an automobile 4901. FIG. 50 is a front perspective view of a vision shadow scanner 4900 incorporated in the FIG. 51 is an enlarged view of the indication area 4911 of FIG. 9. 5 shows a vision scanner operation flowchart 5100 illustrating the operation of the vision scanner 4900. FIG. 52 shows the operation of the vision shadow scanner 4900 incorporated in a robot. Illustrated is a flowchart 5200 of the robotic vision scanner operation. A submersible Vision Shadow Scanner 4900 installed in a boat, demonstrating its operation. 5 is a flow chart 5300 showing the operation of the scanner.

[0139] For further details, still refer to the present invention in FIGS. 49, 50, 51, 52 and 53. The Vision Shadow Scanner 4900 uses the motion of a moving vehicle to detect the surroundings of the vehicle. It sweeps the luminosity edge across the The na 4900 is a shadow caster 4920 having a vertex 4999, Above the headlight 4998 of 01, above the light source 4950 subordinate to the above vertex 4999 Vehicle 4901 with light source 4950 mounted thereon or consistent with that described in FIG. A shadow caster 4920 is placed inside the vehicle, and a roof 4903 is mounted on the vehicle 4901. In FIG. 51, the vision system includes a camera 4930 mounted on the vision system and a processor (not shown). Scanner operation flowchart 5100 illustrates a vision shadow scanner installed in a vehicle. The operation of the vision shadow scanner 4900 will be described. In step 5101, a scanner activation step is performed. 4900. Next, in the alignment determination step 5110 This determines whether the vision shadow scanner 4900 is aligned. If the John Shadow Scanner 4900 is not aligned, the scanner alignment switch In step 5140, the motor is used to align the vision shadow scanner 4900. Once the vision shadow scanner 4900 is aligned, the focus determination scan In step 5115, it is determined whether the camera 4930 is in focus. If the camera 4930 is not in focus, then in the camera focus step 5120 The camera 4930 is focused using a motor. When the camera 4930 is started, in a start recording step 5125, the camera 4930 starts recording the surroundings of the vehicle. Next, in a frame collection step 5150, frames of the recorded video are collected. are collected by the processor. Next, in a speed determination step 5151, the processor Next, in a frame analysis step 5144, the camera The frames from 4930 are analyzed using a processor to create a point cloud. At a body scan decision step 5167, it is determined whether the entire region of interest has been scanned. If the entire region of interest is not scanned, the frame acquisition steps are repeated as described above. Step 5150 is repeated. If the entire region of interest has been scanned, the point cloud filtering step In step 5170, the processor filters the entire point cloud. Next, surface construction In step 5175, the processor extracts a point cloud of a surrounding area of ​​the vehicle from the filtered point cloud. Next, in a surface transmission step 5171, the surface is transmitted to the processor Next, in another scan decision step 5130, it is determined whether another scan is required. If another scan is required, the alignment determination step is performed as described above. 5110 is repeated. Then, if another scan is not required, stop recording step 516 At 5, the camera 4930 stops recording the surroundings of the vehicle. Finally, the scanner is deactivated. In activation step 5181, the scanner is deactivated. The Smart Vision Scanner Operational Flowchart 5200 relies on the speed of the vehicle to determine the surrounding area. Instead of sweeping luminosity edges, the robot actively scans its surroundings to achieve vision. Shadow Caster Scanner, which is built into the robot, is different from the Shadow Scanner 4900. The first step in the operation of the robot scanner is to A scanner activation step 5201 includes activating the scanner. Next, in alignment decision step 5210, it is determined whether the scanner is aligned. If the scanner is not aligned, the scanner alignment step is performed. At 5240, the scanner is aligned using robotically controlled motors. Once the imager is aligned, the camera is focused in focus decision step 5215. If the camera is not in focus, the camera focus is In step 5220, the camera is focused using robotically controlled motors. Once the camera is focused, in a start recording step 5225, the camera Next, in a sweep start step 5245, the shadow cast is The scanner starts to sweep the luminosity edge around the robot. Then, frames are collected and analyzed. In step 5250, frames of the recorded video are collected and analyzed by a processor. Next, in a whole scan determination step 5267, the region of interest is It is determined whether the entire region of interest has been scanned. If the entire region of interest has not been scanned, The frame acquisition and analysis steps 5250 are then repeated as described above. If the entire area has been scanned, then in point cloud filtering step 5270, the processor The processor filters the entire point cloud. Next, in a surface construction step 5275, the processor The sensor then builds a 3D model of the robot's surroundings from the filtered point cloud. In a surface transmission step 5271, the surface is transmitted to the robot's processor. In another scan decision step 5230, it is determined whether another scan is needed. If another scan is required, the alignment decision step 5210 is repeated as described above. Then, if another scan is not needed, in a stop sweep step 5260, the shadow The caster stops sweeping the luminosity edge around the robot. Then the record stop switch At step 5265, the camera stops recording the robot's surroundings. In a deactivation step 5281, the scanner is deactivated. The submersible vision scanner operation flowchart 5300 is incorporated in an underwater submersible vehicle. The operation of the Shadow Caster scanner installed in the submersible is explained below. The first step in the operation is to activate the scanner in a scanner activation step 5301. Next, in a focus determination step 5315, It is determined whether the camera is in focus. If the camera is not in focus, In a camera focus step 5320, the camera is focused. When the camera is notified, in a start recording step 5325, the camera begins recording the area around the submersible. Next, in a start sweep step 5345, the light or moving submersible begins to sweep around the submersible. Next, a frame acquisition and analysis step 5350 begins. In this system, the recorded video frames are collected and analyzed by a processor to create a point cloud. Next, in a stop sweep step 5360, the light stops sweeping or the submersible moves. The light intensity edge stops moving, causing it to stop sweeping around the submersible. In a cloud filtering step 5370, the processor filters the entire point cloud. Next, in a surface construction step 5375, the processor From the swarm, a three-dimensional model of the surroundings of the submersible is constructed. Next, in surface preservation step 5335 Then, in image display step 5355, the surface is Next, in another scan decision step 5330, If another scan is required, the Finally, if another scan is not needed, then the start recording step 5325 is repeated. In a scanner deactivation step 5381, the scanner is deactivated.

[0140] The details of construction of the present invention shown in Figures 49, 50, 51, 52, and 53 are DOW CASTER 4920 is suitable for steel, copper cladding, plastic, high density plastic, Silicone, PVC, fiberglass, carbon fiber, composites, metals, galvanized steel, stainless steel The structure is made of strong and rigid materials such as stainless steel, aluminum, brass, copper, wood, or other similar materials. configurable shapes, 3D printed shapes, configurable opacity such as liquid crystal, or various color The headlight 4998 may further include a color filter. or custom headlights. The light source 4950 may be a line light or a point source. 01 includes standard automobiles, autonomous automobiles, remote controlled automobiles, robots, or submarines, etc. The camera 4930 may include a digital or analog video camera or the like.

[0141] Referring now to another embodiment of the present invention, FIG. , and Figure 59 shows a drone being used to scan a large area with a shadow caster. FIG. 54 shows a system of the present invention for scanning a house 547 using a drone and sunlight. Front perspective view of the Solar Drone Shadow Caster Scanner System 5400 scanning 0 FIG. 55 illustrates the operation of the solar drone shadow caster scanner system 5400. FIG. 56 is a flowchart of a solar drone operation 5500. Scan the area using a drone Shadow Caster Scanner System 5600 FIG. 57 illustrates the operation of the drone shadow caster scanner system 5600. FIG. 58 is a drone operation flowchart 5700 illustrating the operation of the solar drone shadow. Daw Caster Scanner System 5400 and Drone Shadow Caster Scanner System Drone algorithm flow chart explaining the algorithms used by the 5600 FIG. 59 shows the solar drone shadow caster scanner system 5400 and and the Shadow Caster used by the Drone Shadow Caster Scanner System 5600 59 is a drone sweeping flowchart 5900 illustrating drone sweeping.

[0142] More specifically, the present invention as shown in Figs. 54, 55, 56, 57, 58 and 59. Referring to Figures 54 and 55, the solar drone shadow caster scanner system The system 5400 includes a remotely controlled flying vehicle and a drone having a shadow caster 5424. A plurality of shadow drones 5420 each having a shadow caster 54 24, a plurality of shadow drones 5420 having panels subordinate to said drones; A plurality of camera drones 5430 having the drone and a video camera, The video camera is a non-transient control system with multiple camera drones 5430 subordinate to the drone. a memory stored in a computer readable medium; and the shadow drone 5420 and the camera. A processor capable of controlling a drone 5430 and having the computer-readable medium (see FIG. The shadow caster 5424 includes a display (not shown); A continuous collective shadow caster is formed, and the collective shadow caster is aligned. The sun has a collective shadow caster 5424. Illuminate and cast high contrast shadows 5467 of known geometry, The light source 5467 creates one or more luminosity edges around the house 5470 and its surroundings. The plurality of shadow drones 54 formed and aligned in the flight formation. 20 moved in formation through the area and covered the house 5470 and its surroundings. and sweeping the one or more luminosity edges to image the video camera of the camera drone 5430. The camera detects the one or more luminosity edges of the house 5470 and its surrounding three-dimensional points. and storing the three-dimensional point in the memory, and the processor calculates a distance from the stored three-dimensional origin. and forming a three-dimensional data representation from the three-dimensional data, the processor using the three-dimensional data representation to The three-dimensional model of the house 5470 and its surroundings is generated, and the three-dimensional model is The solar drone operation flowchart is shown in FIG. 5500 describes the operation of the solar drone shadow caster scanner system 5400 The first step in the operation of the Solar Drone Shadow Caster Scanner System 5400 In the shadow caster installation step 5502, the step This involves attaching the Shadow Drone 5420 to the Shadow Caster placement stage. In the top 5511, the shadow drone 5420 performs a nearly continuous shadow cast in the air. Next, in camera drone positioning step 5505, The camera drone 5430 is positioned above the shadow drone 5420 in the air. Next, in the alignment determination step 5510, the shadow drone 5420 It is determined whether the shadow drone 5420 is aligned with the drone 5430. If the camera drone 5430 is not aligned, perform drone alignment step 5. At 540, the drones are aligned. The shadow drone 5420 is the camera drone. Once aligned with the lens 5430, in focus determination step 5515, It is determined whether the drone 5430 is focused on the object. If the camera 5430 is not in focus, then in a camera focus step 5520: The camera drone 5430 is focused. Then, in a start recording step 5525, the camera drone 5430 begins recording the subject. Next, in a start sweep step 5545, the shadow drone 5420 starts The target is addressed by flying in unison over and above the target using the Start sweeping the luminosity edge across the object. Next, in a collection and analysis step 5550 The recorded video frames are then collected and analyzed by a processor to create a point cloud. Next, in a new point cloud filtering step 5574, the new point cloud is filtered by the processor. Then, in step 5554, the filtered point cloud is updated. The filtered point cloud display is updated accordingly. Next, the whole scan decision step 5 At 567, it is determined whether the entire object has been scanned. If not, the collection and analysis step 5550 is repeated as described above. If a body has been scanned, then in a whole point cloud filtering step 5570, the processor The processor filters the entire point cloud. Next, in a surface construction step 5575, the processor The processor builds a 3D surface model from the filtered point cloud. It then saves the file In a save step 5535, the surface is saved to a file. In the 5555, the model is displayed on the display by the processor. In a step 5530, it is determined whether another scan is needed. If necessary, the shadow caster placement step 5511 is repeated as described above. If no scan is required, the shadow drone 54 20 stops sweeping the light intensity edge across the object. Finally, the scanner stores step 55 At 80, the drone is stored after operation. The shadow caster scanner system 5600 includes a plurality of shadow drones 5620, The shadow drones 5620 are drones and drones with remotely controlled flying vehicles, respectively. and a shadow caster 5624 having a panel subordinate to the drone. A shadow drone 5620; and a plurality of light drones 5650, Each of the drones 5650 includes a plurality of drones and a light source slaved to the drone. A light drone 5650; and a plurality of camera drones 5630. Each of the drones 5630 has a video camera slaved to the drone. , a plurality of camera drones 5630; and a memory stored in a non-transitory computer readable medium. and; the Shadow Drone 5620, the Light Drone 5650, and the Camera Drone A processor (not shown) capable of controlling the computer 5630. a processor (not shown) having a data-readable medium; and a display (not shown), The plurality of shadow drones 5640 are arranged such that the shadow casters 5624 are substantially continuous. They aligned in a flying formation to form a collective shadow caster. , the collective shadow caster includes the aligned shadow caster 5624 The light drone 5650 illuminates the collective shadow casters to provide a known geometry. A bird casts a high contrast shadow 5667 on the bird, and the bird casts a high contrast shadow 5667 on the bird forms the one or more luminosity edges around the house 5670 and its periphery, The plurality of shadow drones 5620 aligned in the direction of the house 5670 and and moving in formation around the said house 5670 and its surroundings. The one or more luminosity edges are swept and the video camera of the camera drone 5630 is The camera detects the one or more luminosity edges of the house 5670 and its surrounding three-dimensional points. , the three-dimensional points are recorded in the memory, and the processor calculates a coordinate system from the recorded three-dimensional points. and forming a three-dimensional data representation of the house using the three-dimensional data representation. 5670 and its surroundings, and the three-dimensional model is generated by the processor. The drone operation flowchart is shown in Figure 57. 5700 illustrates the operation of the drone shadow caster scanner system 5600. The first step in the operation of the Lawn Shadow Caster Scanner System 5600 is to In the step 5702 of attaching the shadow caster, the shadow caster 5624 is attached to the shadow Then, proceed to the light installation step 5708. The light is then attached to the Light Drone 5650. In a determination step 5718, the light drone 5650 is positioned in the air. In the shadow caster placement step 5711, the shadow drone 5620 is Next, the camera drone position is In a decision step 5705, the camera drone 5630 detects the shadow drone 56 20. Next, in the alignment determination step 5710, the shadow The outdoor drone 5420 and the light drone 5650 are aligned with the camera drone 5630. It is determined whether the shadow drone 5620 and the light drone 5650 have been captured. If the drone is not aligned with the mela drone 5630, the drone alignment step 5740 The drones are aligned in the shadow drone 5620 and the light drone Once the camera drone 5650 is aligned with the camera drone 5630, focus determination step 57 At 15, it is determined whether the camera drone 5630 is focused on a target object. If the Camera Drone 5630 is not in focus, the Camera Focus step In step 5720, the camera drone 5630 is focused. When the camera drone 563 is focused, in a recording start step 5725, 0 starts recording the object. Next, in the sweep start step 5745, the shadow drop The LightDrone 5620 uses the LightDrone 5650 as a light source to capture the subject over the subject. Start sweeping the luminosity edge across the target by flying in unison over it. Next Then, in a collection and analysis step 5750, the frames of the recorded video are input to a processor. Next, a new point cloud is filtered in step 577. In 4, the new point cloud is filtered by the processor. In step 5754, the filtered point cloud display is updated. Next, in a whole object scan decision step 5767, it is determined whether the whole object has been scanned. If the entire object has not been scanned, then it is collected and analyzed as described above. Step 5750 is repeated. If the entire object has been scanned, the entire point cloud filtering is performed. In a filtering step 5770, the processor filters the entire point cloud. In a surface construction step 5775, the processor constructs a three-dimensional surface from the filtered point cloud. A model of the surface is constructed. Then, in a file save step 5735, the surface is saved to a file The model is then stored in a file in a display image step 5755 by the processor. In another scan determination step 5730, another scan is If another scan is required, the light drone position is used as described above. If another scan is not desired, the positioning step 5718 is repeated. In step 5760, the Shadow Drone 5620 stops sweeping the luminosity edge across the object. Finally, in a scanner storage step 5780, the drone is stored after operation. In FIG. 58, the drone algorithm flowchart 5800 is Daw Caster Scanner System 5400 and Drone Shadow Caster Scanner System Drone algorithm flow chart explaining the algorithms used by the 5600 The solar drone shadow caster scanner system 5400 and the drone First steps in the algorithm for the Shadow Caster Scanner System 5600 The method includes starting the program in a program start step 5804. In parameter collection step 5808, user-supplied or program-specified scan And analysis parameters are collected. Next, in a linkage guarantee step 5811, the drone but Next, in a recording start step 5825, the camera drone 5 430 or 5630 starts recording. Next, in a sweep start step 5845, the shutter The Dow Drone 5420 or 5620 flies in unison over and above the target. Next, start the video acquisition step 5 by sweeping the luminosity edge across the object. At 850, frames of recorded video are collected. Next, a buffer decision step is performed. In step 5824, it is determined whether the video buffer is full enough to analyze. If the buffer is not full enough, the video collection step 5850 is performed as described above. If the buffer is full enough to parse, the frame parse step 58 is repeated. At 44, the video frames are analyzed to construct a point cloud. In step 5858, it is determined whether there are still enough frames in the buffer. If there are not enough frames in the buffer, the buffer decision step is performed as described above. If there are still enough frames in the buffer, the drone position is In alignment determination step 5810, it is determined whether the drone is still aligned. If the drone is not aligned, a drone alignment step 5840 When the drone is aligned, the sweep end decision In step 5878, it is determined whether the sweep is to end. , the frame analysis step 5844 is repeated as described above. If the sweep is finished, In a stop sweep step 5860, the shadow drone 5420 or 5620 stops sweeping. Next, in a stop recording step 5865, the camera drone 5430 or 563 0 stops recording the object. Next, in a frame analysis end step 5864, Then, in a point cloud filtering step 5870, the processor Next, in a surface construction step 5875, the processor Build a 3D representation of the model from the filtered points. Then save the file In step 5835, the surface is saved to a file. At 55, the model is displayed on the display by the processor. In step 5830, it is determined whether another scan is needed. If not, the interlocking assurance step 5811 is repeated as described above. Finally, another scan If no additional steps are required, then in algorithm end step 5890 the user exits the algorithm. In FIG. 59, the drone sweep flowchart 5900 includes the sun drone shadow Caster Scanner System 5400 and Drone Shadow Caster Scanner System 5 The shadow caster sweep used by 600 will be described. First, the parameter setting step In step 5908, the drone movement parameters are set. Next, the drone alignment is performed. In step 5911, the drone is aligned in the air. In the drone 5945, the Shadow Drones 5420 and 5620 approach the target area at a constant speed. Start the sweep by flying above the drone in unison. Next, obtain the current drone position. In step 5927, the drone is located. In decision step 5910, it is determined whether the drone is misaligned. If the drone is misaligned, then in drone alignment step 5940 The drone is aligned. When the drone is no longer misaligned, the sweep end In decision step 5978, it is determined whether the shadow drone 5420 or 5620 is at the end of a sweep. It is determined whether the shadow drone 5420 or 5620 reaches the end of the sweep. If not, step 5927 of obtaining current drone position is repeated as described above. Shadow drone 5420 or 5620 has reached the end of its sweep and is ready to begin another scan. If so, in algorithm iteration step 5997, the drone first The parameter setting step 5908 is repeated with the movement in the opposite direction to the scan.

[0143] Details of the construction of the present invention are shown in Figures 54, 55, 56, 57, 58, and 59. , drones include standard remote controlled flying vehicles, etc. 424 and 5624 are suitable for steel, copper cladding, plastic, high density plastic, steel Ricon, PVC, fiberglass, carbon fiber, composites, metals, galvanized steel, stainless steel It has a lightweight, strong material such as stainless steel, aluminum, brass, copper, wood, or other similar materials. , configurable shapes, 3D printed shapes, configurable opacity such as liquid crystal, or various The camera drone 5430 or 5630 video camera further includes a color filter. The light source of the Light Drone 5650 is white light. Heat lamp, halogen lamp, fluorescent lamp, line light, tube light with slits, LED, LED array , a linear array of LEDs, light sources of different colors, color LEDs, lasers, X-ray sources, UV sources, or The non-transitory computer readable medium may include a memory, a storage medium, a memory unit, a storage medium ... , instructions, data, or algorithms. A processor may be a device such as a computer, a mobile phone, A display includes a monitor, a screen, a television, an extension, a reality headsets, or microscopes, etc.

[0144] Referring now to another embodiment of the present invention, a tripod shadow scanner is shown in FIG. FIG. 60 shows a system 6000. Tripod shadow scanner in a stadium 6070. FIG. 61 is a perspective view of the system 6000. FIG. 60 is a perspective view of a shadow scanner system 6000.

[0145] More specifically, and still referring to the present invention in Figs. 60 and 61, a tripod shadow scanner system The stem 6000 is horizontal and has a rotatable shadow caster platform 6037 and; a light source 6050 dependent on the center of the shadow caster platform 6037; Each of the shadow caster platforms 6037 is located around the light source 6050. At least one shadow caster 6020 depending from a vertical panel 6024 and At least one system having an inclined panel 6022 inclined toward the light source 6050. A shadow caster 6020 and a number of video cameras 6033 each mounted on a tripod 030; a memory stored in a non-transitory computer readable medium; A processor (not shown) having a medium; and a display (not shown), The video cameras 6030 are arranged around the shadow caster platform 6037. The light source 6050 is disposed so as to illuminate the at least one shadow caster 6020. ,casting a high contrast shadow 6067 of known geometry, and the above high contrast shadow The shadow 6067 forms one or more luminosity edges on the stadium 6070 and The shadow caster platform 6037 rotates, thereby rotating the light source 6050 around the The shadow caster 6020 is rotated by the One or more luminosity edges are swept across the stadium. and capturing said one or more luminosity edges of a three-dimensional point of said frame 6070 and integrating said three-dimensional point with said frame. and said processor forms a three-dimensional data representation from said recorded three-dimensional points. and wherein the processor uses the three-dimensional data representation to generate the three-dimensional model of the stadium. and generating a three-dimensional model on the display using the processor. In another version of this embodiment, while the directional light source 6050 rotates, The shadow caster platform 6037 remains stationary.

[0146] The construction details of the present invention shown in Figures 60 and 61 are the shadow caster platform. 6037, steel, copper cladding, plastic, high density plastic, silicone, PVC, fiberglass, carbon fiber, composites, metals, galvanized steel, stainless steel, a The objective is to have a strong and rigid material such as aluminum, brass, copper, wood, or other similar materials. Source 6050 can be used for incandescent lamps, halogen lamps, fluorescent lamps, line lights, tube lights with slits, LE D, LED array, linear array of LED, light source of different colors, color LED, laser, X-ray The Shadow Caster 6020 is made of steel, copper clad Plastic, High Density Plastic, Silicone, PVC, Fiberglass, Carbon Fiber Fiber, composite, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood, or It has a rigid material like other similar materials, and can be used for configurable shapes, 3D printed shapes, liquid The vertical panel 6 may further have configurable opacity, such as crystals, or various color filters. 024 is made of steel, copper cladding, plastic, high density plastic, silicone, P VC, fiberglass, carbon fiber, composites, metal, galvanized steel, stainless steel, aluminum configurable shape, having a rigid material such as aluminum, brass, copper, wood, or other similar material; 3D printed shapes, configurable opacity such as liquid crystals, or different color filters, etc. The sloped panel 6022 may further include a steel, copper cladding, plastic, high density Plastic, silicone, PVC, fiberglass, carbon fiber, composites, metals, zinc Strong and rigid, such as plated steel, stainless steel, aluminum, brass, copper, wood, or other similar materials Configurable shapes with materials, 3D printed shapes, configurable opacity of liquid crystals, etc. or various color filters, etc. Analog video cameras, etc. The memory stored in the non-transitory computer readable medium includes A processor is a computer program that includes software, instructions, data, or algorithms. , mobile phone, PC, or CPU. Display includes monitor, screen, television, etc. The present invention relates to a medical device, such as a 3D camera, a 3D scanner, an augmented reality headset, or a microscope.

[0147] Referring now to another embodiment of the present invention, in Figs. 62, 63 and 64, a single Mobile shadow caster scanner or tabletop shadow scanner algorithms, sweeps, and FIG. 62 shows a flow chart of the operation of the single mobile shadow caster scanner. or an algorithm flow describing the algorithm used by the tabletop shadow scanner. Chart 6200 is shown in FIG. 63. FIG. 1 is a sweep flow chart illustrating the shadow caster sweep used by a tabletop shadow scanner. FIG. 64 shows a single mobile shadow caster scanner or tabletop 6 shows an operational flow chart 6400 illustrating the operation of the shadow scanner.

[0148] More specifically, still referring to the present invention in Figs. 62, 63, and 64, in Fig. 62: The algorithm flow chart 6200 is for a single mobile shadow caster scanner or This describes the algorithm used by the tabletop shadow scanner. The first step in the algorithm for a Shadowcaster scanner or tabletop shadow scanner The process includes starting the program in a program start step 6204. Then, in parameter collection step 6208, user-supplied or program-specified scan parameters are collected. Next, in a start recording step 6225, the camera Next, in a start sweep step 6245, the motor is started to rotate the The shadow caster is moved to sweep the edge of luminosity across the object. In step 6250, a frame of the recorded video is collected. At decision step 6224, it is determined whether the video buffer is full enough for analysis. If the buffer is not full enough, video collection step 6 will be terminated as described above. 250 is repeated. When the buffer is full enough to analyze, the frame analysis step In step 6244, the video frames are analyzed to construct a point cloud. In a filtering step 6252, the new point cloud is filtered by the processor. Next, in a filtered point cloud update step 6254, the filtered point cloud is The point cloud display is updated. Next, step 625 is performed to determine whether the buffer is still sufficient. At 8, it is determined whether there are still enough frames in the buffer. If there are no more frames available, the buffer decision step 6224 is repeated as described above. If there are still enough frames in the buffer, then at end of sweep decision step 6278 If the sweep is not completed, the frame is reset as described above. The analysis step 6244 is repeated. If the sweep is finished, the stop motor step 626 In step 6265, the motor is stopped. Next, in a frame analysis end step 6264, The analysis is complete. Next, in a point cloud filtering step 6270, the processor Next, in a surface construction step 6275, the processor A 3D representation of the model is constructed from the filtered point cloud. Then, a file saving step is performed. In step 6235, the surface is saved to a file. In the step, the model is displayed on the display by the processor. At 6230, a determination is made as to whether another scan is needed. If another scan is needed, Then, the start recording step 6225 is repeated as described above. Finally, if another scan is required, If not, the user terminates the algorithm in end algorithm step 6290. In FIG. 63, a sweep flow chart 6300 is shown for a single mobile shadow caster. A shadow caster sweep used by a scanner or tabletop shadow scanner is described. First, in a motor parameter setting step 6308, the motor parameters are set. Next, in a start sweep step 6345, the shadow caster calculates the luminous intensity across the object. Next, in a current motor position acquisition step 6327, the motor position is acquired. Next, in a sweep end determination step 6378, the shadow caster is If the shadow caster does not reach the end of the sweep, If so, the current motor position acquisition step 6327 is repeated as described above. If the step reaches the end of the sweep and another scan is required, the algorithm repeats the step. Step 6397 sets the motor parameters in the opposite direction to the first scan. 08 is repeated. In FIG. 64, an operational flowchart 6400 is Explain the operation of a shadow caster scanner or tabletop shadow scanner. The first step in the operation of a shadow caster scanner or tabletop shadow scanner is to In a scanner positioning step 6405, the scanner is positioned above the object. Next, in a registration decision step 6410, the scanner is registered with the object. If the scanner is not aligned, the scanner alignment In step 6440, the scanner is aligned with the object. Once aligned, the camera focuses on the object in focus decision step 6415. If the camera is not in focus, the camera focus is In step 6420, the camera is focused. Once the camera is focused, In a start recording step 6425, the camera starts recording the object. Next, start sweep In step 6445, the shadow caster begins sweeping the luminosity edge across the object. Next, in a collection and analysis step 6450, frames of the recorded video are processed. The points are collected and analyzed by the processor to create a point cloud. Then, a new point cloud filtering step is performed. At step 6452, the new point cloud is filtered by the processor. In step 6454, the filtered point cloud table Next, in a full scan decision step 6467, the entire region of interest is scanned. If the entire region of interest has not been scanned, the above-mentioned The acquisition and analysis step 6450 is repeated so that the entire region of interest is scanned. If so, in a global point cloud filtering step 6470, the processor filters the global point cloud. Next, in a surface construction step 6475, the processor A 3D surface model is constructed from the point cloud. Then, a file save step 6435 is performed. In step 6455, the surface is saved to a file. The data is displayed on the display by the processor. In step 100, it is determined whether another scan is required. If another scan is required, the above-mentioned If another scan is not desired, the sweep is stopped and the record start step 6425 is repeated. In a stop step 6460, the shadow caster stops sweeping the luminosity edge across the object. Next, in a stop recording step 6465, the camera stops recording the object. Finally, in a scanner storage step 6480, the scanner is stored after operation.

[0149] Referring now to another embodiment of the present invention, a room shadow caster is shown in FIG. FIG. 65 shows a flow chart of the operation of the scanner, which can be used with a tripod to scan a room. Single Tripod Room Scanner Operation Flowchart Explaining How the Shadowcaster Scanner Works FIG. 66 shows a shadow camera that can be used with an overhead light to scan a room. 6 shows an overhead light room scanner operation flow chart 6600 illustrating the operation of the star scanner. vinegar.

[0150] More specifically, still referring to the present invention in Figs. 65 and 66, Fig. 65 shows a single tripod section. The indoor scanner operation flow chart 6500 may be used with a tripod to scan a room. The operation of the caster scanner is described below. It can be used with a tripod and is a shadow camera that scans a room. The first step in the operation of the scanner is to position the scanner, step 6505. This involves setting up a tripod in the room. Next, turn on the light in the Light Step 6509. Next, in alignment decision step 6510, the scanner is aligned with the room. If the scanner is not aligned, the scanner position In an alignment step 6540, the scanner is aligned with the room. Once aligned, the camera focuses on the room in focus decision step 6515. If the camera is not in focus, the camera focus is In step 6520, the camera is focused. In a start recording step 6525, the camera starts recording the room. Next, start sweep In step 6545, the light source begins to sweep the luminous intensity edge across the room. In a collection and analysis step 6550, the frames of the recorded video are processed by a processor. These are then collected and analyzed to create a point cloud. Then, the new point cloud is filtered in step 6552. The new point cloud is then filtered by a processor. In an update filtered point cloud step 6554, the filtered point cloud display is updated. Next, in a full scan decision 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 acquisition and The analysis step 6550 is repeated. If the entire region of interest has been scanned, the entire point cloud file is In a filtering step 6570, the processor filters the entire point cloud. Next, in a surface construction step 6575, the processor Then, in step 6535, a three-dimensional surface model of the room is constructed. The surface is then saved to a file. Then, in image display step 6555, the model is The processor displays the result on the display. A determination is made as to whether another scan is needed. If another scan is needed, the sweep is performed as described above. If another scan is not desired, the sweep stop step 6545 is repeated. At step 6560, the shadow caster stops sweeping the luminosity edge across the room. Then, in a stop recording step 6565, the camera stops recording the room. In a scanner storage step 6580, the scanner is stored after operation. Explain how the Shadowcaster scanner works to scan a room, which can be used in conjunction with an overhead light. Overhead Light Room Scanner Operational Flowchart 6600. The first step in the operation of a scanning shadow caster is the preparation step 6605. This involves preparing the scanner in the room. Then, the overhead lights are turned on. Next, in a lighting decision step 6617, If the area of ​​the room is not illuminated, the light is directed Then in step 6618, the light is redirected. Once the area of ​​the room is illuminated, the position In alignment decision step 6610, it is determined whether the shadow caster is aligned with the camera. If the shadow caster is not aligned with the camera, the scanner position In an alignment step 6640, the shadow caster is aligned with the camera. Once the drawcaster is aligned with the camera, in focus decision step 6615 Then, it is determined whether the camera is focused on the room. If not, then in a camera focus step 6620 the camera is focused. Once the camera is in focus, in start recording step 6625 the camera begins recording the room. Next, in a sweep start step 6645, the shadow caster sweeps through the room. Then, in a collection and analysis step 6650, the recorded intensity edge is started to be scanned. The captured video frames are collected and analyzed by a processor to create a point cloud. In a new point cloud filtering step 6652, the new point cloud is filtered by the processor. Next, in a filtered point cloud update step 6654, The filtered point cloud display is updated. Next, the whole scan decision step 6667 is performed. In the step 100, it is determined whether the entire region of interest has been scanned. If not, the collection and analysis step 6650 is repeated as described above. If the entire area has been scanned, then in a whole point cloud filtering step 6670, the process The processor then filters the entire point cloud. Next, in a surface construction step 6675, The processor then builds a model of the 3D surfaces of the room from the filtered point cloud. In a file save step 6635, the surface is saved to a file. In display step 6655, the model is displayed by the processor on the display. Then, in another scan decision step 6630, it is determined whether another scan is needed. If another scan is required, the begin sweep step 6645 is repeated as described above. If another scan is not required, the shadow caster is stops sweeping the luminosity edge across the room. Next, in a stop recording step 6665 The camera then stops recording the room. Finally, in a scanner storage step 6680, the scanner The scanner is stored after operation.

[0151] Referring now to another embodiment of the present invention, a plurality of camera shadows are shown in FIG. The algorithm flow chart of the Caster Scanner is shown in Figure 67. Multi-camera algorithm flow chart describing the algorithms used by the scanner. Figure 68 shows a multiple shadow caster using a single stationary shadow caster. A multi-camera stationary shadow caster that describes the algorithm of the camera shadow caster scanner. 68 shows a cluster flow chart 6800.

[0152] In further detail, still referring to the present invention in Figs. 67 and 68, in Fig. 67, a multi-color The camera algorithm flowchart 6700 is a shadow caster that uses multiple cameras. The algorithm used by the scanner is described below. The first step in the scanner algorithm is the program start step 6704. Then, in parameter collection step 6708, User-supplied or program-specified scan and analysis parameters are then collected. In a start recording step 6725, the cameras start recording. At step 6745, the motor is started to move the shadow caster to the target. Next, in a video capture step 6750, the recorded video is Next, a buffer decision step 6724 is performed. In step 100, it is determined whether the video buffer is full enough to be analyzed. If not, the video collection step 6750 is repeated as described above. If the buffer is full enough to parse, then in frame parsing step 6744 Video frames collected from multiple cameras are analyzed to build a point cloud. In step 6758, which determines whether the buffer is full, it is determined whether there are still enough frames in the buffer. If there are not enough frames in the buffer, the buffer is cleared as described above. If there are still enough frames in the buffer, then the buffer decision step 6724 is repeated. If so, a decision is made in sweep end decision step 6778 as to whether or not to end the sweep. If not, the frame analysis step 6744 is repeated as described above. If so, the motor is stopped in a stop motor step 6768. In a stop step 6765, the multiple cameras stop recording the object. In a frame analysis end step 6764, the analysis of the frame is ended. Next, the point cloud filter In a ring step 6770, the processor filters the point cloud. In a registration step 6279, the points from the multiple cameras are registered with each other. Next, in a surface construction step 6775, the processor A 3D surface model is constructed from the tiled point cloud. Then, save the file in step 6. In 735, the surface is saved to a file. Next, in image display step 6755 The model is then displayed on the display by the processor. At 30, it is determined whether another scan is needed. If another scan is needed, The start recording step 6725 is repeated as described above. Finally, if another scan is required If not, then in algorithm termination step 6790, the user terminates the algorithm. In FIG. 68, a multi-camera static shadow caster flowchart 6800 is Multi-camera shadow casting using multiple cameras including a single static shadow caster We explain the algorithm of the shadow caster scanner. The first step in the algorithm for a multi-camera shadow caster scanner is to In a program start step 6804, the program is started. In a data collection step 6808, user-supplied or program-specified scanning and analysis The parameters are collected. Next, in a start recording step 6825, the multiple cameras start recording. Next, in a one frame acquisition step 6850, one frame is acquired from each camera. Next, in a buffer decision step 6824, the video frames are collected. It is determined whether the buffer is full enough to be parsed. If not, the step 6850 of acquiring one frame is repeated as described above. If the velocity is filled enough to be analyzed, then in the velocity calculation step 6851, at least 2 The frames from the two cameras are used to calculate the target velocity. Then, the frame analysis step In step 6844, the main camera video frames are analyzed to construct a point cloud. In step 6858, which determines whether the buffer is still sufficient, it is determined whether there is still sufficient frame in the buffer. If there are not enough frames in the buffer, If there are still enough frames in the buffer, the buffer decision step 6824 is repeated. If so, in target field of view determination step 6814, it is determined whether the target is outside the field of view of the main camera. If the target is not outside the field of view of the main camera, the frame resolution is performed as described above. Analysis step 6844 is repeated. If the target is outside the field of view of the main camera, recording stops. In step 6865, the multiple cameras stop recording the object. In a filtering step 6870, the processor filters the point cloud. In a surface construction step 6875, the processor constructs a three-dimensional surface from the filtered point cloud. A model of the surface is constructed. Then, in a file save step 6835, the surface is saved to a file The model is then stored in a file in a display image step 6855 by the processor. In another scan decision step 6830, another scan is If another scan is required, the start recording step is performed as described above. 6825 is repeated. Finally, if no other scan is required, the algorithm ends. At step 6890, the user terminates the algorithm.

[0153] Referring now to another embodiment of the present invention, a custom shadow caster is constructed as shown in FIG. 4 shows a flowchart illustrating a method for

[0154] More specifically, and still referring to the present invention in FIG. 69, a custom shadow caster roach This article describes how to create a custom shaped shadow caster. In a determination step 6910, the overall object outline is determined using photography, video, or shadow projection. Next, in a shadow generation step 6920, the custom shaped shadow caster is Entire objects can be created using 3D printing, configurable shadow casters, or other fabrication methods. Next, in a shadow caster arrangement step 6930, The stam-shaped shadow caster is placed as close to the surface of the object as possible. In a sweep step 6940, the entire object of the shadow caster is scanned to obtain a luminous intensity edge across the object. This sweeps the image and affects the scan.

[0155] The construction details of the present invention shown in FIG. 69 are as follows: the custom shaped shadow caster is made of steel, copper clad Welding, Plastic, High Density Plastic, Silicone, PVC, Fiberglass, Carbon fiber, composite materials, metals, galvanized steel, stainless steel, aluminum, brass, copper, A structure that can be constructed from a rigid material such as wood or other similar material and manipulated into a desired shape. shapes, 3D printed shapes, configurable opacity such as liquid crystal, or different colors It may further include a filter, etc.

[0156] Referring now to another embodiment of the present invention, FIG. 70 and FIG. 71 show a shadow caster. FIG. 7 shows a linear light source with slits 7000 that provides the scanner with improved scanning results. FIG. 70 shows a perspective view of a linear light source with slits 7000. FIG. An exploded view of the light source 7000 is shown.

[0157] More specifically, still referring to the present invention in Figs. 70 and 71, a linear light source 7 with slits 000 is a slit tube 7010, the inside of which is painted white (paint containing TiO2). 7011, an opaque exterior 7012, and a slit tube 7010 extending the length of the tube and having a width A slit tube 7010 having a slit 7020 and both of the slit tubes 7010 Two light sources 7060 depending from the end and two heat sinks depending from the light sources 7060 7050 and two clamps 7030 wrapped around the slit tube, with screws 7 040, and two clamps 7030, the clamps 7030 being connected to the slip The width of the slit tube 7020 can be adjusted. This allows light to escape in a controlled manner, thereby improving the accuracy of the shadow caster scanner. The tube can alternatively be of any cross-sectional shape, as long as the light escapes through the slit. The light source 7060 is an assembly of LEDs. The light source 7060 has a refractive element in front. The LEDs may alternatively be slit 7020 or may be bare as shown. No direct light outside (direct light outside the slit 7020 can cause non-uniform lighting) The slit tube 7010 can be placed in a linear array (as well as a strip) as shown in FIG. Alternatively, an optical fiber can be used to guide the light into the slit tube 7010. The alternative is to avoid localized heat generation at the expense of having to attach a fiber bundle to the light. LEDs require and have a heat sink. However, in the case of linear arrays of LEDs In this case, the slit tube 7010 can itself be the heat sink. may have a tube inside another tube and allow air to flow through the space between the tubes for thermal control. The clamp 7030 squeezes or releases the slit tube 7010, thereby causing the slit 70 20, thereby increasing or decreasing the light output, respectively. This is used to adjust the width of the slit 7020. Other light source variants include a lens with net negative refractive power (negative focal length) or It may be advantageous to add a series of lenses. These lenses may be cylindrical and may be slits. Such a lens or lenses may extend along the length of the light guide tube 7010. reduces the intensity of light on an object and increases the angular range of the light depending on the focal length of the lens combination. , has the effect of changing the effective distance of the light source. In the case of a negative lens, the effective source is shifted by some amount. shift it closer to the object.

[0158] The details of the construction of the present invention shown in Figures 70 and 71 are that the slit tube 7010 is made of plastic. The light source 7060 may be an incandescent lamp, Optical fiber bundle, halogen lamp, fluorescent lamp, line light, slit tube light, LED, LED array, L Linear array of EDs, light sources of different colors, colored LEDs, lasers, X-ray sources, UV sources, or infrared The heat sink 7050 includes a thermally conductive material such as a metal. Can be used with steel, plastic, high density plastic, silicone, PVC, fiberglass, carbon Fiber, Composites, Metals, Galvanized Steel, Stainless Steel, Aluminum, Brass, Copper, Wood, or other similar materials. The screw 7040 is made of steel, copper clad , Plastic, High Density Plastic, Silicone, PVC, Fiberglass, Carbon Fiber , composites, metal, galvanized steel, stainless steel, aluminum, brass, copper, wood, or other The material may be a strong and rigid material such as a similar material.

[0159] An advantage of the present invention is, but is not limited to, that the light source of the present invention can scan sharp contrast patterns. Projecting onto objects in the can creates weight and expense, and may involve no lenses Minimal optics; optics required to optimize light beam at specific distances 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 suitable for a large depth of field; the light source of the present invention has a very bright light source. and maintains accuracy even when well away from the shadow caster; The bright light source determines the number of points that can be measured simultaneously and the depth resolution of 0.6 inches (approximately 100 ps). (a 0.6 inch change in latency results in typical noise sensitivity) Time delays that can limit the absolute resolution, limited by the typical electron rise time (100 ps) Do not rely on pulse or phase detection techniques used in systems that assess distance through measurement. and; the light source of the present invention is a one-dimensional, i.e., one-dimensional, light source that illuminates an object from a wider angle than competing technologies. For example, the light source may be optimally "extended" along a line, and the surface being 3D scanned is simultaneously illuminated. Because the object must be illuminated and observed, it can be seen more clearly than with typical projection-based scanners. This increased illumination angle is advantageous because it allows for a wider scanning range; Hardware separation between all three elements: light source, shadow caster, and receiver Therefore, multiple shadows can be seen from one or more shadow casters. There can be many cameras; they are actually "point sources" with width, so scene contrast The extension of such a light source adds light by recreating the light source along the line while improving the The reason is that the extension adds light, but away from the edge of the shadow caster. It does so by reducing the "solid angle" of light, so that the linear light source reduces, on average, the resolution of the light source. To add brightness while improving image quality; as long as the extended light source is collinear, There can be more than one light source, they do not have to be consecutive; all the light sources of the present invention are taken together. casts a shadow edge (and actually increases the contrast of the shadow edge) and The reason for this is that this cooperation allows for a wide angular range while still using separate light sources of practical construction, and for a given To increase the potential for creating custom lighting geometries for multiple tasks; If a shadow caster physically disappears from the light, multiple shadow casters may cause a single A light source can be used and, when aligned, will cast shadows throughout the room. The camera system allows for more localized use of one long, bright light at the top of the room. The shadow generation method of the present invention can generate shadows with a large depth of field. must be adapted to produce sharp patterns only over a limited range. This inherently creates depth of field problems, such as using a projector that uses a lens that must be maintain sharpness due to geometric effects, not effects caused by lenses that By eliminating the need for a photonic projector and the peculiarities of laser single-wavelength operation, The light source of the invention can be of any wavelength, broadband or narrowband, and can be scanned in the same scan White light and fluorescent excitation wavelengths can be used in the present invention, whereas laser light can be used to cast shadows. or an alternative "mode" that can cast a shadow on the laser light that is particularly advantageous for intraoperative fluorescence measurements. "As a matter of spatial resolution, we can use one camera in The white light emitted by the laser produces sharper shadows with fewer visible diffraction artifacts than laser light. White light does not suffer from the same speckle problem as narrowband laser light, and this noise source is eliminated by the present invention. The sharpness provided by the shadows in the present invention, which have a simple one-line geometry, is avoided. Edges and large contrast allow instant subsurface scattering measurements, Optical imaging to detect skin cancer is an ongoing problem, as determining the boundary between tissue and cancerous tissue is an ongoing issue. This could lead to real-time biological applications such as biopsy or cancer surgery; In the field of security, these subsurface scattering measurements are very difficult to measure. These subsurface scattering measurements allow for improved security scanning. However, it has been useful to the makeup world in computer graphics reproduction of actors' faces. For example, real-time comparison of the scattering characteristics of different frequencies of light, such as blue and red. The use of white light has advantages over single frequency sources (lasers or lamps) because it can An array of LEDs may be used, with LEDs of different wavelengths interwoven and flashing alternately, and the camera Since the camera optimizes exposure and captures color information in each alternating frame, the present invention allows two The shadow caster of the present invention has a side triangle that can be used with a separate frequency. The shaped cross section allows the shadow caster to be applied very close to the object, forming one continuous This allows the light to extend to the sides while casting a sharp shadow edge, making these side shimmers even more noticeable. The shadow caster is defined by the extended light source together with the shadow caster components. It can be connected to an intermediate shadow caster as long as it creates a triangular cross section when viewed along the line. segmented shadow casters can add additional shadow width; It can accelerate scanning of object geometries without significant complexity in a scalable manner. Therefore, during the sweep, for a simple object, these separate shadows do not overlap, but are instead a composite of the object. The ability to analyze shadows independently using shadow separation according to noise; X-ray structural scans are usually particularly feasible because they require imaging of the ion beam and then the scattered light. Although the light source of the present invention is not practical, the simplicity of the light source of the present invention allows the use of a wide variety of light sources, including x-rays, which are relatively easy to project without a shadow lens. To show that any linear light source can serve as a typical implementation of this technique. The configuration holds the camera and light sources stationary and changes to the scene, mainly due to shadow edges, Improved accuracy in some situations, especially in relatively small shadow areas, The overall illumination of the object changes very little, resulting in a large signal-to-noise scan. This means that the typical embodiment of the present invention is calibrated and Thus, all cameras, lights, and shadows are robustly attached to each other without any calibration. It has casters and the calibration can again be determined autonomously (additional hardware such as a calibration stand is required). The scanning technique of the present invention is capable of detecting a variety of traces, including brightness and accuracy. It can be constructed with a do-off and therefore very fine using specific optimized geometries. the ability to scan flat objects with high resolution (microscopy); the invention has potential Improved raw accuracy; large objects are better as long as the camera records the shadow edges. The ability to measure items with sub-millimeter accuracy; If you can do this, you can always sharpen the shadows and improve accuracy; the scanner , which in no way relies on feature matching or photogrammetry, but instead relies on the high signal-to-noise ratio It relies solely on triangulation to provide one "right" answer and ensure the certainty of the scan. noise in scans often leads to banding and other artifacts. It can be removed automatically, rather than through other scanning techniques that are often compromised by With the present invention, image noise is reduced by the contrast provided by sharp shadow edges. Although the image may be overwhelming, this noise usually occupies many pixels from the shadow edges. In subsequent data triangulation, such noise points are eventually eliminated very far away. D-space, calculate the average radius of each point from a certain number of nearest neighbors, and set the radius to be smaller than a threshold g. Easily filtered using a density thresholding algorithm that removes those with large average distances Produces very clean scans that are well-structured; using the present invention, By tracking the motion (possibly with a separate camera), the movement of the object can be more easily compensated for. This invention is particularly useful for people who tend to shift their weight from side to side when sitting. Useful for scanning; the invention captures both the color of an object and its 3D coordinates in each picture. At the same time, this means that if an object moves in three dimensions, its exact color is also represented, and the three-dimensional Simultaneous identification of shape and color is pixel-by-pixel, allowing for color image registration across 3D scans In this invention, this data comes from a single camera, eliminating the complex problem of simulating In general, the present invention includes a system Relatively inexpensive scan quality and high quality for generating 3D models using a shadow caster Provides improved accuracy.

[0160] In a broad embodiment, the present invention generally comprises generating one or more luminosity edges: The present invention relates to an apparatus, method and system for forming a three-dimensional model of an object or an environment. In one embodiment, the present invention provides a method for detecting one or more luminosity edges across an object or area being modeled. one or more light sources and one or more shadow casters that generate one or more means for detecting luminosity edges relative to the object or area being modeled; a means for moving one or more luminosity edges and a three-dimensional representation of t...

Claims

1. An apparatus for forming a three-dimensional model of an object by generating one or more luminosity edges, the apparatus comprising: one or more light sources; one or more image capture devices; a memory provided in a non-transitory computer readable medium; a processor comprising the computer readable medium; one or more shadow casters comprising a transparent liquid crystal matrix, the transparent liquid crystal matrix being controllable by the processor and capable of generating a plurality of opaque regions, the plurality of opaque regions including a shape having at least one edge, the edge being contained within a plane that contains the one or more light sources; Equipped with the one or more light sources cast sharp shadows of known geometry by illuminating the one or more shadow casters, the sharp shadows forming the one or more luminous intensity edges on the object; the processor generates a series of the plurality of opaque regions on the transparent liquid crystal matrix, the transparent liquid crystal matrix simulating a movement of the one or more shadow casters to sweep the one or more luminosity edges across the object; the one or more image capture devices capture a plurality of images of the one or more luminous intensity edges on the object and store the plurality of images in the memory; the processor forms a three-dimensional data representation from the recorded images; The processor uses the three-dimensional data representation to generate the three-dimensional model of the object.

2. The device described in claim 1, wherein the one or more light sources are discrete or continuous.

3. The device described in claim 1, wherein the one or more light sources are linear.

4. The device described in claim 1, wherein the one or more light sources comprise one or more light arrays.

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

6. The apparatus of claim 1, wherein the one or more shadow casters further have a configurable shape.

7. The device of claim 1, wherein the one or more shadow casters further have configurable opacity.

8. The device of claim 1, wherein the one or more shadow casters further comprise a color filter.

9. The device of claim 1, further comprising an augmented reality headset, and the three-dimensional model is displayed within the augmented reality headset.

10. The apparatus of claim 1, wherein the one or more shadow casters are movable.

11. The apparatus described in claim 1, wherein the one or more shadow casters are mounted on a robot.

12. The apparatus of claim 1, further comprising a display, and the three-dimensional model is displayed on the display.

13. The device of claim 1, wherein the one or more shadow casters further comprise a periodic opacity variation.

14. The device of claim 1, wherein the plurality of opaque regions of the transparent liquid crystal matrix further include regions of varying opacity.

15. The apparatus of claim 1, wherein the one or more shadow casters further comprise a pattern.

16. A method for forming a three-dimensional model of an object by generating one or more luminosity edges, 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 transparent liquid crystal matrix capable of generating a plurality of opaque regions, the plurality of opaque regions including a shape having at least one edge, the edge being contained within a plane that includes the one or more light sources; forming the one or more luminous intensity edges on the object using the one or more light sources and the one or more shadow casting elements by casting a sharp shadow of known geometry; generating a series of the plurality of opaque regions on the transparent liquid crystal matrix, the transparent liquid crystal matrix simulating movement of the one or more shadow casting elements to move the one or more luminous edges across the object; capturing a plurality of images of the one or more luminous intensity edges on the object; generating a three-dimensional data representation from the captured images; and generating the three-dimensional model of the object using the three-dimensional data representation; A method comprising:

17. The method of claim 16, wherein the one or more light sources are discrete or continuous.

18. The method of claim 16, wherein the one or more light sources are linear.

19. The method of claim 16, wherein the one or more light sources comprise one or more light arrays.

20. The method of claim 16, wherein the shape of the one or more shadow casting elements is based on the object.

21. The method of claim 16, wherein the one or more shadow casting elements have a configurable shape.

22. The method of claim 16, wherein the one or more shadow casting elements further comprise configurable opacity.

23. The method of claim 16, wherein the one or more shadow casting elements further comprise a color filter.

24. The method of claim 16, wherein the one or more shadow casting elements are movable.

25. The method of claim 16, wherein the one or more shadow casting elements are mounted on a robot.

26. The method of claim 16, wherein the one or more light sources are linear and the edges that share the plane with the one or more light sources are parallel to the one or more light sources.

27. The method of claim 16, further comprising displaying the three-dimensional model.

28. The method of claim 16, wherein the one or more shadow casting elements further comprise periodic opacity variations.

29. The method of claim 16, wherein the plurality of opaque regions of the transparent liquid crystal matrix further comprises regions of varying opacity.

30. The method of claim 16, wherein the one or more shadow casting elements further comprise a pattern.

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