Systems and methods of 3D triangulation scanning

Abstract

In accordance with some embodiments, a 3D scanner includes a light source configured to project one or more lines onto the surface of an object. Each line of the one or more lines is projected along a respective plane. The 3D scanner further includes a camera configured to obtain images of the one or more lines projected onto the surface of the object. The 3D scanner further includes a mechanical and / or optical system configured to modulate the respective planes of the one or more lines as the camera obtains images of the one or more lines projected onto the surface of the object.

Description

PCT Patent ApplicationAttorney Docket Number: 74334-250034Systems and Methods of 3D Triangulation ScanningCROSS-REFERENCE AND PRIORITY CLAIM TO RELATED PATENT APPLICATION

[0001] This patent application claims priority to U.S. provisional patent application 63 / 700,260, filed September 27, 2025, entitled “Systems and Methods of 3D Triangulation Scanning”, the entire disclosure of which is incorporated herein by reference.TECHNICAL FIELD

[0002] The present disclosure relates generally to three-dimensional (3D) scanning technology and, more particularly, to laser-based 3D scanning systems that use triangulation to determine 3D data.BACKGROUND

[0003] 3D scanning technologies can build a 3D model of the surface of a physical object. Three-dimensional scanning has applications across many fields, including quality control, reverse engineering, inspection, industrial design and manufacturing, computerized animation, science, education, healthcare, art, design, and others.SUMMARY

[0004] Triangulation-based 3D laser scanners project laser lines onto the surface of an object via a projector, and reconstruct 3D data (e.g., 3D coordinates of the surface of the object) by imaging the distortions of those lines caused by the surface of the object. To obtain a complete 3D model of the surface of the object, the lines must be scanned over every point of the surface of the object.

[0005] Existing laser scanners (e.g., that use artificial circular reference targets) have one drawback in common - they have a large gap between the lines they project (such as gaps in a range between around 1 millimeter (mm) and dozens of mm, e.g., 1-30 mm). The structure of the projected light pattern typically consists of (numbers between) 1 and dozens of lines (e.g. in some cases, between 5 to 20 lines). These large gaps between projected lines mean that conventional triangulation-based laser scanners will require extensive manual labor by a user to adequately scan an object in order to create a 3D model of that object. To achieve an illumination coverage of the object with the projected line pattern that is sufficiently dense to support adequate 3D model generation, a user of the conventional scanner would need to manually move the scanner (e.g., move the scanner up / down, tilt the scanner, rotate the scanner, etc.) to “scrub” the object with the projected lines in order to “fill the gaps” between the projected lines and obtain adequate scan coverage of the object.

[0006] Further still, projecting a denser pattern of lines to avoid the need for “scrubbing” is not desirable in many instances because this approach would require the use of more expensive projectors as well as make the image processing operations more complex and problematic because of difficulties that would arise from disambiguating dense patterns of simultaneously projected lines.

[0007] In an effort to overcome these shortcomings in the art, the inventors disclose an innovative new approach to triangulation-based 3D scanners where a modulator such as a deflector is employed to automate a shifting of line patterns projected by the 3D scanner. For embodiments where the 3D scanner is a handheld scanner, this approach reduces the amount of manual labor needed by a user to scan an object. Moreover, even in scenarios where the 3D scanner might not be handheld and / or where the 3D scanner may already project a relatively dense pattern of lines, the automated modulation techniques described herein are expected to reduce the amount of time needed to achieve a dense (or denser) illumination of an object with projected line patterns in order to support high quality 3D reconstructions of the shape of the object’s surface.

[0008] Some embodiments of the present disclosure provide a 3D scanner that includes a deflector (optical and / or mechanical) within the projecting system. In some embodiments, the deflector swings, spins, rotates, or otherwise modulates the direction of the projected laser lines as the scanning occurs (e.g., either continuously or in discrete jumps). In some embodiments, the deflector is configured to create multiple discrete angular or lineardisplacements of the lines. The goal is to ease the process of filling the gaps between the lines, thus speeding up the scanning process, reducing the required memory and processing power, and simplifying the user experience of scanning.

[0009] To that end, in some embodiments, a 3D scanner includes a light source configured to project one or more lines onto the surface of an object. Each line of the one or more lines is projected in a direction (e.g., along a respective plane or in a curved manner, with the various rays in the line defining the direction). The 3D scanner further includes a camera configured to obtain images of the one or more lines projected onto the surface of the object. The 3D scanner further includes mechanical and / or optical system configured to modulate the direction of the one or more lines as the camera obtains images of the one or more lines projected onto the surface of the object.

[0010] According to another example embodiment, a 3D scanner comprises (1) a light source configured to produce light, (2) a diffractive optical element (DOE) that is positioned optically downstream from the light source, wherein the DOE is configured to diffract incident light from the light source, (3) a lens that is positioned optically downstream from the DOE, (4) a modulator, (5) a first camera, (6) a second camera, and (7) one or more processors. The light source, the DOE, and the lens cooperate to project a pattern of lines onto a surface of an object based on the light produced by the light source. The modulator is configured to modulate the projected pattern of lines on the object surface so that the projected pattern of lines shifts on the object surface over time. The first camera is configured to obtain first images of the pattern of lines on the object surface from a first perspective over time as the modulator causes the projected pattern of lines to shift on the object surface. The second camera is configured to obtain second images of the pattern of lines on the object surface from a second perspective as the modulator causes the projected pattern of lines to shift on the object surface, wherein the second perspective is different than the first perspective. The one or more processors are configured to (1) perform a triangulation analysis based on the lines depicted in the first and second images and (2) reconstruct a 3D shape of the object surface based on the triangulation analysis. While it should be understood that the modulator can employ any of a number of techniques for modulating the projection of the line pattern, the inventors note that a particularly advantageous example can be a case where the modulator comprises a piezoelectric actuator that is configured to (1) receive a drive signal and (2) move the DOE in response to the drivesignal, wherein movement of the DOE causes the pattern of lines to shift on the object surface.

[0011] In accordance with some embodiments, a computer system is provided. The computer system includes one or more processors and memory storing instructions for performing any of the methods described herein.

[0012] In accordance with some embodiments, a non-transitory computer-readable storage medium storing instructions is provided. The non-transitory computer-readable storage medium includes instructions which, when executed by a computer system, cause the computer system to perform any of the methods described herein.BRIEF DESCRIPTION OF THE DRAWINGS

[0013] For a better understanding of the various described embodiments, reference should be made to the Description of Embodiments below, in conjunction with the following drawings in which like reference numerals refer to corresponding parts throughout the figures.

[0014] FIGS. 1 A - 1C illustrate aspects of an imaging system, in accordance with some embodiments.

[0015] FIG. ID illustrates projected laser lines, in accordance with some embodiments.

[0016] FIG. IE illustrates an imaged pattern, in accordance with some embodiments.

[0017] FIG. IF illustrates a projector of an imaging system projecting light onto a plane, in accordance with some embodiments.

[0018] FIG. 1G illustrates projected laser lines, in accordance with some embodiments.

[0019] FIG. 1H illustrates an example in which the projected lines are curved, in accordance with some embodiments.

[0020] FIG. II illustrates an example in which a single line is projected, in accordance with some embodiments.

[0021] FIG. 1 J illustrates projected laser lines, in accordance with some embodiments.

[0022] FIGS. 1K-1N illustrate various ways that the deflectors described herein may modulate the direction of projected line(s), in accordance with various embodiments.

[0023] FIG. 2 is a block diagram of an imaging system, in accordance with some embodiments.

[0024] FIG. 3 is a block diagram of a remote device that can be used in conjunction with a 3D scanner in accordance with various embodiments.

[0025] FIG. 4 illustrates an example multi-camera 3D scanner configuration.

[0026] FIG. 5 illustrates an example projector that employs a piezoelectric actuator to modulate the projected line pattern via movement of a diffractive optical element (DOE).

[0027] FIG. 6 illustrates an example projector that employs a piezoelectric actuator to modulate the projected line pattern via movement of a lens.

[0028] FIG. 7 illustrates an example process flow for 3D scanning using modulation techniques described herein.

[0029] FIG. 8 illustrates another example process flow for 3D scanning using modulation techniques described herein.DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

[0030] Reference will now be made to embodiments, examples of which are illustrated in the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the various described embodiments. However, it will be apparent to one of ordinary skill in the art that the various described embodiments may be practiced without these specific details. In other instances, well-known methods, procedures, components, circuits, and networks have not been described in detail so as not to unnecessarily obscure inventive aspects of the embodiments.

[0031] Note that, as used herein, the term “lines” refers to lines that may be straight or curved. In addition, in laser scanners, lines often bend because of aberrations in the projector. FIG. IL illustrates an example of bent / curved lines.

[0032] Note that, as used herein, the term “projector” refers to any optical device that projects light. These projectors may be of various kinds, and they do not necessarily project a pattern. Therefore, the projectors described herein may, but do not necessarily, have components such as a projecting lens and / or a condenser. In some embodiments, the projectors described herein are an interferometry kind of projector.

[0033] FIGS. 1A-1C illustrate a three-dimensional (“3D”) imaging system 100 that includes a projector 110 and one or more cameras 112 (e.g., sensors) in accordance with one embodiment of the instant invention. Note that, in various embodiments, more than one projector and / or more than one camera may be used. As shown in FIG. 1 A, the projector 110 is configured to project laser lines onto an object 120 to be imaged. Each line is projected along a direction (or a range of directions, if the line is curved). Typically, between 5 and 20 laser lines are projected. Light rays 190-1 to 190-4 each correspond to a respective laser line. For example, ray 190-1 represents a first laser line projected from the projector 110 onto a surface 121 of the object 120, and ray 190-2 represents another laser line that is projected from the projector 110 onto the surface 121 of the object 120. The light rays 190 are reflected at the surface 121 of the object 120 (as reflected light rays 192-1 through 192-4, each corresponding, respectively, to light rays 190-1 through 190-4). At least a portion of the light is captured by the one or more cameras 112.

[0034] In some embodiments, the camera(s) 112 capture(s) a plurality of images of the object 120 while the surface 121 of the object 120 is illuminated with the laser lines.

[0035] Note that, although the projector 110 and the camera 112 are shown separately in FIGS. 1 A-1C, in some embodiments, the projector 110 and camera 112 are integrated into a single housing as a 3D scanner 200 (FIG. 2). In addition, these figures are not drawn to scale.

[0036] A user of the 3D scanner 200 may scan the object 120 by moving the 3D scanner 200 with respect to object 120 while collecting data. Thus, in some embodiments, the images of the object 120 are captured by the camera(s) 112 from different angles or positions.

[0037] Each image of the plurality of images shows an imaged pattern that corresponds to the projected laser lines, as distorted due to the surface of the object 120. Triangulation approaches can then be used to determine the 3D location / coordinates of points on the surface of the object 120 (referred to as “3D data”). In some embodiments, the 3Dscanner is not a time-of-flight or LiDAR-based scanner. As such, 3D scanner is sometimes referred to as a triangulation scanner, which operates on fundamentally different principles than time-of-flight or LiDAR scanners and which suffers from the problems discussed above that are not experienced by -of-flight or LiDAR scanners.

[0038] FIGS. 1B-1C illustrate embodiments of the 3D scanner shown in FIG. 1 (e.g., 3D scanner 200), in which the projector includes a modulator, such as mechanical and / or optical system (e.g., a deflector), configured to modulate the respective direction(s) of the one or more lines as the camera obtains (captures) images of the one or more lines projected onto the surface of the object. In some embodiments, as shown in FIG. IB, the projector includes a light source (e.g., laser 114), a mirror 116 and a motor 118. In this example, the deflector comprises the mirror 116 and the motor 118. Light from the laser 114 is incident upon the mirror 116. Motor 118 rotates the mirror (e.g., back and forth, e.g., at a frequency between 1 and 100 Hertz (Hz)) while the 3D scanner collects data. In some embodiments, rather than using a motor to rotate the mirror, the 3D scanner uses a solenoid or other component to rotate the mirror. In some embodiments, when the projector produces a plurality of laser lines, each of the laser lines is deflected / modulated by the deflector as described above. In some embodiments, multiple components (e.g., multiple motors) are used to deflect the laser lines along different axes, e.g., such that the laser lines are modulated in different directions on the surface of the object 120.

[0039] In some embodiments, a prism or other optical component may be used instead of or in addition to mirror 116. In some embodiments, the motor (or other mechanical component) rotates and / or spins the prism or other optical component (or moves the prism in a discrete or any other arbitrary manner, as illustrated in FIGS. 1K-1N) .

[0040] In various embodiments, the deflectors described herein may utilize any of the following mechanisms:

[0041] 1. Reflection - Light can be deflected when it strikes a reflective surface like a mirror.

[0042] 2. Refraction - When light passes from one medium to another with a different refractive index (e.g., air to water or glass), its path bends, as in the case of the above-described prism. Thus, some embodiments use a prism, lens, and / or fiber optic cable as a component in the aforementioned deflectors.

[0043] 3. Electro-Optic Deflection - Certain crystals exhibit a change in refractive index when subjected to an electric field. Light passing through these materials is deflected due to the induced refractive index gradient. Thus, some embodiments use an electro-optic deflector as a component in the aforementioned deflectors.

[0044] 4. Acousto-Optic Deflection - In this method, an acoustic wave is used to create a varying refractive index in a material, which diffracts the light passing through it. The deflection angle depends on the frequency of the acoustic wave. Thus, some embodiments use an acousto-optic deflector as a component in the aforementioned deflectors.

[0045] 5. Magneto-Optic Deflection - In some materials, the polarization and direction of light can be influenced by a magnetic field, an effect known as the Faraday effect. This causes the light to deflect depending on the strength and orientation of the magnetic field. Thus, some embodiments use an magneto-optic deflector as a component in the aforementioned deflectors.

[0046] Moreover, as explained further below, it should be understood that the modulator need not employ deflection of light via these techniques. For example, the modulator may trigger movement of the projector itself or components thereof to achieve desired shifts of the line pattern projection.

[0047] FIG. 1C illustrates an embodiment in which the motor or other component rotates the laser 114 rather than the mirror 116. In such embodiments, the mirror 116 is optional, as the light from the laser 114 may be projected directly onto the surface of the object 120 without first being reflected by a mirror.

[0048] In some embodiments, the light source projects a plurality of lines, including a first set of lines oriented along a first set of respective planes and a second set of lines oriented along a second set of respective planes (as illustrated in FIG. 1G). The first set of respective planes and the second set of respective planes intersect on the surface of the object (e.g., are perpendicular and / or at an angle between 45 and 90 degrees).

[0049] In some embodiments, although not shown in FIG. 1B-1C, the mechanical and / or optical system comprises a first mechanical and / or optical sub-system (e.g., subsystem 250-1, FIG. 2) configured to modulate the first set of lines along a first axis and a second mechanical and / or optical sub-system (e.g., sub-system 250-2) configured to modulate the second set of lines along a second axis that is different from the first axis. Insome embodiments, each of the first mechanical and / or optical sub-system and the second mechanical and / or optical sub-system is analogous to the mechanical and / or optical system described with reference to FIG. 1B-1C, albeit configured to modulate the direction(s) the respective lines along a different axis.

[0050] FIG. ID shows an example of the projection pattern 130 emitted from the projector 110 (e.g., illustrated as propagated onto a hypothetical flat plane, such as plane 156, FIG. IF), and FIG. IE shows an example of an imaged pattern 132 captured by the camera(s) 112 (e.g., as projected onto the surface of a curved object). In the example shown in FIG. ID, the projection pattern 130 includes a plurality of laser lines 140. For example, the projection pattern 130 shown in FIG. 1C may be projected by the projector 110 onto the object 120, as shown in FIG. 1 A.

[0051] FIG. IE is an example of an imaged pattern 132 that is captured by the camera(s) 112 while the projector 110 projects the projection pattern 130 toward the objects 120, as shown in FIG. 1A. The image includes a plurality of imaged elements 142. In this case, the imaged elements 142 are distorted lines. Each of the imaged elements 142 (e.g., distorted lines) corresponds to a respective laser line 140 in the projection pattern 130. In this example, imaged element 142-1 in the imaged pattern 132 corresponds to laser line 140-1 in the projection pattern 130; imaged element 142-2 in the imaged pattern 132 corresponds to laser line 140-2 in the projection pattern 130; imaged element 142-3 in the imaged pattern 132 corresponds to laser line 140-3 in the projection pattern 130; and imaged element 142-4 in the imaged pattern 132 corresponds to laser line 140-4 in the projection pattern 130.Arrows 150 in FIG. ID illustrate that the direction of the lines is modulated, as described with reference to FIG. 1B-1C (e.g., the direction of the surface normal of the lines is modulated). Arrows 152 in FIG. IE illustrate the effect of this modulation on the imaged elements 142, namely that that imaged elements 142 are “scrubbed” over the surface of the object.

[0052] FIG. IF illustrates a projector system projecting light onto a plane 156 (e.g., a hypothetical flat plane), in accordance with some embodiments. Aside from illustrating that the imaging systems of the current disclosure may include multiple cameras 112a, 112b (and multiple projectors, not shown), FIG. 1G primarily illustrates plane 156 to serve as a reference for the projection patterns shown in FIGS. 1G-1N, described below.

[0053] FIG. 1G illustrates an example in which the light source (e.g., laser 114) projects a plurality of lines, including a first set of lines 160 (e.g., lines 160-1 through 160-4) oriented along a first set of respective planes and a second set of lines (e.g., lines 162-1 through 162-4) oriented along a second set of respective planes (as illustrated in FIG. 1G). The first set of respective planes and the second set of respective planes intersect on the surface of the object (e.g., are perpendicular and / or at an angle between 45 and 90 degrees). As indicated by arrows 164, both sets of lines are concurrently modulated (e.g., in perpendicular directions) to “scrub” the surface of the object while the user acquires data (e.g., while the user moved the scanner in space around the object and the camera(s) acquire images).

[0054] FIG. 1H illustrates an example in which the projected lines are curved, either intentionally or due to aberrations in the optics of the system. In either case, the curvature of the lines may be accounted for when calculating 3D data.

[0055] FIG. II illustrates an example in which a single line is projected.

[0056] FIG. 1 J illustrates an example, similar to that of FIG. 1G, except that neither the first set of lines nor the second set of lines is vertical or horizontal. In addition, in some embodiments, the angle between the first set of lines and the second set of lines is less than 90 degrees.

[0057] FIGS. 1K-1N illustrate various ways that the deflectors described herein may modulate the direction of projected line(s), in accordance with various embodiments. It should be understood that, although FIGS. 1K-1N illustrate modulation of a series of parallel lines, any of the line patterns or element patterns described herein (e.g., the patterns shown in FIGS. 1G-1 J) may be modulated as described with reference to FIGS. 1K-1N.

[0058] FIG. IK illustrates “back-and-forth” modulation of the respective lines, in accordance with some embodiments. In such embodiments, the direction of the lines is continuously modulated as the camera(s) of the imaging system obtain images. While FIG. IK shows that the modulation shifts the lines back and forth with respect to a vertical axis, it should be understood that the modulation could shift the lines back and forth relative to other axes if desired. Further still, for embodiments where the projected lines extend along multiple axes (see, for example, FIG. 1G), it should be understood that the back and forth modulation can shift the lines relative to multiple axes (e.g. both a vertical axis and ahorizontal axis). To achieve a continuous back and forth modulation like that shown by FIG. IK, a drive signal can be provided to the modulator that will cause the modulator to shift the lines in the manner shown by FIG. IK. For example, in some configurations, a sinusoidal voltage waveform can be used to drive a movement of a modulator to achieve a continuous back and forth shifting of the projected lines along a desired axis.

[0059] FIG. IL illustrates discrete modulation of the respective lines, in accordance with some embodiments. In such embodiments, the position of the lines jumps from one location to the next as the camera(s) of the imaging system obtains images. In some embodiments, the jumps occur at the same frequency as the camera obtains images (e.g., 100- 150 frames per second (fps) or higher). As noted above in connection with FIG. IK, the discrete back and forth movement shown by FIG. IL can be made with respect to a single axis (e.g., back and forth movement along a vertical axis) or multiple axes (e.g., back and forth movement along vertical and horizontal axes such as for a line pattern shown by FIG. 1G). To achieve a discrete back and forth modulation like that shown by FIG. IL, a drive signal can be provided to the modulator that will cause the modulator to shift the lines in the manner shown by FIG. IL. For example, in some configurations, a step voltage waveform or digital signal can be used to drive a movement of a modulator to achieve a discrete back and forth shifting of the projected lines along a desired axis.

[0060] FIG. IM illustrates “spinning” of the respective lines, in accordance with some embodiments. In such embodiments, the pattern of lines is rotated about an axis as the camera(s) of the imaging system obtain images. Further still, the spinning modulation can be arranged to exhibit any of a number of rotational patterns such as Lissajous patterns if desired. To achieve a spinning modulation like that shown by FIG. IM, a drive signal can be provided to the modulator that will cause the modulator to rotate the lines in the manner shown by FIG. IM. For example, in some configurations, a voltage waveform can be used to drive rotation of a motor that will cause a spinning action that would operate to achieve a spinning shift of the projected lines around a desired axis.

[0061] FIG. IN illustrates translation and / or rotation of the respective lines along an arbitrary path, in accordance with some embodiments, as the camera(s) of the imaging system obtain images. To achieve an arbitrary path modulation like that shown by FIG. IN, a drive signal can be provided to the modulator that will cause the modulator to shift the lines along an arbitrary path such as that shown by FIG. IN. For example, in some configurations, arandomized voltage waveform can be used to drive a randomized movement of a modulator to achieve a shifting of the projected lines along an arbitrary path.

[0062] FIG. 2 is a block diagram of 3D scanner 200, in accordance with some embodiments. 3D scanner 200, or the computer system of 3D scanner 200, typically includes memory 204, one or more processor(s) 202, a power supply 206, user input / output (I / O) subsystem 208, one or more sensors 203 (e.g., including camera(s) 112, FIG. 1 A-1B), a projector 110, and a communication bus 210 for interconnecting these components. The processor(s) 202 execute modules, programs, and / or instructions stored in memory 204 and thereby perform processing operations.

[0063] In some embodiments, the processor(s) 202 include at least one central processing unit. In some embodiments, the processor(s) 202 include at least one graphical processing unit (GPU). In some embodiments, the processor(s) 302 include at least one neural processing unit (NPU) for executing neural networks. In some embodiments, the processor(s) 202 include at least one field programmable gate array (FPGA).

[0064] In some embodiments, memory 204 stores one or more programs (e.g., code or other sets of instructions) and / or data structures. In some embodiments, memory 204, or the non-transitory computer readable storage medium of memory 204 stores the following programs, modules, and data structures, or a subset or superset thereof:• an operating system 212 that includes procedures for handling various basic system services and for performing hardware-dependent tasks;• network communication code (which may be embodied by one or more module(s) 218) for connecting the 3D scanner to other computer systems (e.g., remote device 236) via one or more communications network(s) 250;• user interface code (which may be embodied by one or more modules 220) that receives commands and / or inputs from a user via user input / output (VO) subsystem 208 and provides outputs for presentation and / or display on user input / output (I / O) subsystem 208;• data processing code (which may be embodied by one or more modules 224) for processing or pre-processing data from sensors 203, including optionally calculating 3D data (3D coordinates) using triangulation methods, generating a reconstruction of the shape of the object, and / or a displayed preview of the reconstruction. Alternatively, in variousembodiments, any or all of the data processing may be performed by remote device 236 to which 3D scanner 200 is coupled through network 250 (see FIG. 3). In some embodiments, data processing module 224 accounts for the state of the deflector when calculating the 3D data;• data acquisition code (which may be embodied by one or more modules 226) for controlling the cameras, projectors, and readout of the sensors; and• storage 230 including buffer(s), RAM, ROM, and / or other memory that stores data used and generated by 3D scanner 200.

[0065] The above identified modules (e.g., data structures and / or programs including sets of instructions) need not be implemented as separate software programs, procedures, or modules, and thus various subsets of these modules may be combined or otherwise rearranged in various embodiments. In some embodiments, the memory 204 stores a subset of the modules identified above. Furthermore, the memory 204 may store additional modules not described above. In some embodiments, the modules stored in the memory 204, or a non- transitory computer readable storage medium of the memory 204, provide instructions for implementing respective operations in the methods described below. In some embodiments, some or all of these modules may be implemented with specialized hardware circuits (e.g., FPGAs) that subsume part or all of the module functionality. One or more of the above identified elements may be executed by one or more of the processor(s) 202.

[0066] In some embodiments, the user input / output (VO) subsystem 208 communicatively couples the 3D scanner 200 to one or more devices, such as one or more remote device(s) 236 via a communications network 250 and / or via a wired and / or wireless connection. In some embodiments, the communications network 250 is the Internet. In some embodiments, the user input / output (I / O) subsystem 208 communicatively couples the 3D scanner 200 to one or more integrated or peripheral devices, such as a touch-sensitive display.

[0067] FIG. 3 shows an example where various operations can be offloaded from the 3D scanner to remote device 236. The remote device 236 can comprise a computer system that includes one or more processors 302, memory 304, a power supply 306, and user I / O 308 that can be interconnected via bus 310. User I / O 308 can provide an interface for communicating with the 3D scanner 200 via a network 250 (e.g., the Internet, a local area network, a WiFi network, a Bluetooth network, etc.). The memory 304 can store datastructures and code such as those shown by FIG. 3 (e.g., see operating system 312, network communication code 318, user interface code 320, data processing code 324, neural network training code 328, and storage 330). In this example, various operations have been offloaded from the 3D scanner 200 to the remote device 236 such as code that carries out triangulation of 3D points from the images captured by the sensors 203 (e.g., cameras) (see triangulation module 344). Moreover, in example embodiments where one or more neural networks are used to facilitate operations such as 3D shape reconstructions and / or object recognitions, the data processing code can also include one or more neural networks 340 (e.g., 340-a, 340-b, etc.). Examples of neural network approaches that can be used in connection with 3D shape reconstructions are described in U.S. Patent Application Publication 2023 / 0184542, the entire disclosure of which is incorporated herein by reference. Further still, the memory 304 can also include code for training the neural networks 340 (see module 328). The abovereferenced and incorporated U.S. Patent Application Publication 2023 / 0184542 also describes techniques for training such neural networks. However, it should be understood that FIG. 3 merely shows an example of configurations for a remote device 236.Practitioners may choose to deploy fewer, additional, and / or different operations on the remote device 236 if desired. Further still, it should be understood that some practitioners may find it desirable to host all processing operations needed for 3D shape reconstruction on the scanner 200 itself; in which case the remote device 236 may be merely used for offloading the data output of the scanner 200 and / or providing views of the reconstructions produced by the scanner 200.

[0068] In some embodiments, projector 110 includes one or more lasers. In some embodiments, the one or more lasers comprise vertical -cavity surface-emitting lasers (VCSELs). In some embodiments, projector 110 also include an array of light emitting diodes (LEDs) that produce visible light. In some embodiments, the projector includes a mechanical and / or optical system configured to modulate direction of the one or more lines (e.g., modulate the direction of the surface normal of the lines) as the camera 112 obtains (captures) images of the one or more lines projected onto the surface of the object. In some embodiments, the one or more lines comprises a plurality of lines, including a first set of lines oriented along a first set of respective planes and a second set of lines oriented along a second set of respective planes. The first set of respective planes and the second set of respective planes intersection on the surface of the object. In some embodiments, the mechanical and / oroptical system comprises a first mechanical and / or optical sub-system 250-1 configured to modulate the first set of respective planes along a first axis and a second mechanical and / or optical sub-system 250-2 configured to modulate the second set of respective planes along a second axis that is different from the first axis.

[0069] The communication bus 210 optionally includes circuitry (sometimes called a chipset) that interconnects and controls communications between system components.

[0070] FIG. 4 illustrates an example multi-camera 3D scanner configuration. In this example, the 3D scanner 400, which can be a mobile 3D scanner such as a portable and / or handheld 3D scanner, includes a projector 110 along with a first camera 112a and a second camera 112b. As also shown by FIG. IF, the first and second cameras 112a and 112b are deployed in a spaced “stereo” configuration, with the projector 110 positioned between the two cameras 112a and 112b. As also shown by FIG. IF, cameras 112a and 112b have different perspectives (see field of view 412a for the first camera 112a and field of view 412b for the second camera 112b that show the two camera have different viewing angles). The fields of view 412a and 412b are overlapping with respect to the object 120 to be scanned so both camera 112a and 112b can capture respective images of the pattern 402 that has been projected onto the object surface 121, albeit from different perspectives. The projector 110 projects a pattern of lines 402 onto the surface 121 of the object 120, and a modulator can cause an automated shifting of this projected pattern 402 on the object surface 121 over time. To facilitate the use of triangulation to determine the locations / coordinates of 3D points on the object surface 121 based on the content of images produced by cameras 112a and 112b, the scanner can be calibrated with calibration data that defines the relative positions of cameras 112a and 112b to each other. For example, this calibration data can include the distance between the cameras 112a and 112b and the relative viewing angles of the cameras 112a and 112b. This calibration data can be stored in memory for the scanner 400 and can be used by the triangulation algorithm that operates on the images produced by the cameras 112a and 112b. Of note, for some embodiments, it is not necessary for the cameras 112a and 112b to be calibrated relative to projector 110. In other words, the triangulation of points on the object surface 121 can be achieved without any knowledge of where the projector 110 is positioned relative to camera 112a or camera 112b. However, some practitioners may also choose to include the relative positioning between the cameras 112a and 112b relative to the projector 110 to help facilitate post-processing operations.

[0071] FIG. 5 illustrates an example projector 110 that employs a piezoelectric actuator 520 to modulate the projected line pattern 402 via movement of a diffractive optical element (DOE) 504. This example configuration provides a compact and efficient projector that avoids the need for additional components such as mirrors, motors, etc. The projector 110 of FIG. 5 relies on a DOE 504 to create a desired pattern of lines 402 such as those shown by FIGS. 1G-1 J. The projector 110 includes a light source 502, a DOE 504 that is optically downstream from the light source 502, and one or more lenses 506 that are optically downstream from the DOE 504. The light source 502 can be a laser (e.g., a VCSEL) that is configured to produce collimated light 508 that propagates through the DOE 504. The DOE 504 is designed to diffract the incident light 508 (see diffracted light 510) in a manner that will yield a desired pattern 402. This diffracted light 510 is propagated through lensing 506 which may take the form of one or more lenses (e.g., a convex lens). The lens 506 operates to focus the diffracted light onto a reference plane in a manner that produces the projected pattern of lines 402 on the object surface 121. It should also be understood that the projector 110 may include additional optical components that are not shown by FIG. 5.

[0072] To achieve a desired modulation of the projected pattern 402 on the object surface 121, a piezoelectric actuator 520 can be used. The piezoelectric actuator 520 is operatively coupled with the DOE 504. The piezoelectric actuator 520 converts an incoming electrical signal (see drive signal 522) into mechanical motion (see piezoelectric displacement force 524) that is operative to move the DOE 504 in desired directions as a function of the drive signal 522. Piezoelectric actuators 520 can be used to provide precise, high resolution, movements that will shift the DOE 504 and cause a concomitant shifting of the projected pattern 402 on the object surface 121. An example of a material that can be used by the piezoelectric actuator 520 for producing a piezoelectric effect can include lead zirconate titanate (PZT). As an example, drive signals 522 such as sinusoidal waveforms (digital or analog) can be used to cause movement of the DOE 504 in a back and forth direction along one or two dimensional axes. As another example, drive signals 522 could also be provided to the piezoelectric actuator 520 that are operative to shift the pattern 402 in a circular, curved, or arbitrary / randomized path. The drive signals 522 can be generated by processor(s) 202 of the scanner 200 (such as via execution of data acquisition code 226) and provided to the piezoelectric actuator 520 by the processor(s) 202.

[0073] While FIG. 5 shows a piezoelectric actuator being used to shift the DOE 504, it should be understood that in other embodiments, a practitioner may choose to achieve modulation of the pattern 402 by coupling a piezoelectric actuator with other components of the projector 110. For example, FIG. 6 shows an example where piezoelectric actuator 620 converts a drive signal 622 into piezoelectric displacement force 624 that is operative to move the lens 506 and achieve a desired shifting of the projected pattern 402. In still other embodiments, a practitioner might choose to configure the scanner so that the projector 110 itself is moveable (via a motor or the like). However, it is believed that the use of a piezoelectric actuator to move a projector component such as the DOE 504 would provide a simple and compact technique for achieving desired modulations of pattern 402.

[0074] FIG. 7 illustrates an example process flow for 3D scanning using modulation techniques described herein. For ease of reference, the discussion of the FIG. 7 process flow will be made with reference to the embodiments of FIGS. 4 and 5. However, it should be understood that the operations of FIG. 7 can be used in connection with other example embodiments described herein.

[0075] At step 700, the projector 110 projects a line pattern 402 onto the object surface 121. A modulator such as a piezoelectric actuator can be used to modulate the projected line pattern 402 on the object surface 121.

[0076] While step 700 is being carried out, cameras 112a and 112b can be capturing images of the object surface 121 over time (where these images include depictions of the line pattern 402 as projected onto the object surface 121). The images captured by camera 112a can be referred to as first images; and the images captured by camera 112b can be referred to as second images. As noted above, the first and second images will be captured by cameras 112a and 112b that have different viewing angles of the object 120.

[0077] At step 704, the first and second images are stored in memory. The logic carried out by processor(s) 202 can analyze the first and second images to make an assessment as to whether additional scan data is needed for the reconstruction. For example, the data can be analyzed to assess whether a density of acquired data (e.g., the lines as shifted across the object surface) has achieved a defined threshold. If more data is needed, the scanner can continue to perform steps 700, 702, and 704 while the projected line pattern 402 is modulated.

[0078] Once the scanner decides at step 706 that it has sufficient data, the processor(s) can proceed to step 708, where the first and second images are processed using a triangulation algorithm that uses triangulation to determine the 3D locations / coordinates for points on the object surface 121. This triangulation approach can be aided by calibration data that registers the relative positions of the cameras 112a and 112b to each other and by the distortions of the line patterns 402 shown in the first and second images.

[0079] At step 710, the processor(s) stores data in memory that represents the reconstructed 3D shape of the object surface 121. This reconstruction is based on the 3D points that were determined at step 708.

[0080] It is worth noting that FIG. 7 is an example only, and practitioners may choose to add to, remove from, and / or re-order the steps of this process flow. For example, step 706 can be performed after steps 708 and / or step 710 to make a decision on whether to continue scanning as a function of a running update of a 3D reconstruction. As another example, the scanning process can be further aided by reference markers that a user may add to the object surface 121. For example, a user may choose to place multiple reference markers on the object surface 121 where these reference markers can take the form of circles of known diameters with various reflective properties. Cameras 112a and 112b can be used to capture images of these reference markers on the object 120 (where these images can be referred to as reference images). Image processing can be performed on the reference images to make judgements about the shape of object surface 121 as a function of distortions that are seen on the reference markers in the reference images (e.g., the circular reference markers may be viewed as ovals in the reference images, which allows the processor(s) to make judgments about the curvature of the object surface 121 based on observed dimensions of the ovals in the reference images). Accordingly, some practitioners may choose to modify the FIG. 7 process flow by adding steps for imaging reference markers on the object 120 and analyzing the resultant reference images as part of the shape reconstruction.

[0081] FIG. 8 illustrates another example process flow for 3D scanning using modulation techniques described herein. For ease of reference, the discussion of the FIG. 7 process flow will be made with reference to the embodiments of FIGS. 4 and 5. However, it should be understood that the operations of FIG. 7 can be used in connection with other example embodiments described herein. With this example, the reconstruction process willemploy three sets of operations that can be performed multiple times in an iterative manner to obtain the scan data used for object surface reconstruction.

[0082] Set of operations 850 involve using reference markers on the object to obtain reference images as noted above. At step 800, the cameras 112a and 112b are used to flash / flood illuminate the object 120 (where the object 120 has various reference markers that are disposed on its surface 121). Cameras 112a and 112b can include a lighting system that is operable to provide this flash / flood illumination. Cameras 112a and 112b capture reference images of the object as the object is flash / flood illuminated (step 802). These reference images can then be stored in memory (step 804).

[0083] Set of operations 852 involve capturing first and second images of the object 120 using cameras 112a and 112b while a first line pattern (Line Pattern 1) is projected onto the object 120 (and where this first line pattern is modulated using techniques described herein). As an example, Line Pattern 1 can be created by projecting a horizontal line pattern on the object. At step 806, Line Pattern 1 is projected onto the object; and Line Pattern 1 can be modulated over time as noted above. At step 808, cameras 112a and 112b capture first and second images of the object as Line Pattern 1 is projected thereon. These first and second images are then stored in memory (step 810).

[0084] Set of operations 854 involve capturing first and second images of the object 120 using cameras 112a and 112b while a second line pattern (Line Pattern 2) is projected onto the object 120 (and where this second line pattern is modulated using techniques described herein). As an example, Line Pattern 2 can be created by projecting a different line pattern on the object than Line Pattern 1 (e.g., where Line Pattern 2 can be a vertical line pattern if Line Pattern 1 is a horizontal line pattern). At step 812, Line Pattern 2 is projected onto the object; and Line Pattern 2 can be modulated over time as noted above. At step 814, cameras 112a and 112b capture first and second images of the object as Line Pattern 2 is projected thereon. These first and second images are then stored in memory (step 816).

[0085] A practitioner may find it desirable to separately project the different line patterns (e.g., horizontal and vertical patterns) as described with reference to FIG. 8 in order to simply the image processing operations as fewer numbers of lines would need to be resolved and disambiguated during the triangulation analysis.

[0086] The ability to project different line patterns can be achieved through the use of separate optical channels for projecting the different line patterns. For example, the separate optical channels can include different light sources that are multiplexed together by the projector 110 (where the light source for Line Pattern 2 is disabled while the light source for Line Pattern 1 is enabled for performing set of operations 852; and vice versa for set of operations 854). As another example, the separate optical channels can include a common light source where a splitter is used to create separate optical paths that feed different DOEs that can be selectively enabled / disabled to produce the different line patterns. Still other techniques could be used if desired by a practitioner.

[0087] Operation sets 850, 852, and 854 can be repeated as necessary to obtain sufficient data for a high quality 3D shape reconstruction of object surface 121. The manner and order in which the operation sets 850, 852, and 854 are performed can be achieved in any of a number of different ways. For example, the system can perform operation sets 852 and 854 fully sequentially (e.g., capturing images of Line Pattern 1 at Modulation Positions 1 through n; and then capturing images of Line Pattern 2 at Modulation Positions 1 through n). As another example, the modulations of line pattern projections can occur on each iteration of operations for 852 and 854 (e.g., the system can capture images of Line Pattern 1 at Modulation Position 1; then capture images of Line Pattern 2 at Modulation Position 1; then capture images of Line Pattern 1 at Modulation Position 2; then capture images of Line Pattern 2 at Modulation Position 2; and so on). Moreover, a practitioner may choose not to return to operation set 850 on subsequent iterations.

[0088] Moreover, while FIG. 8 shows a particular sequence of operation sets (850 followed by 852 followed by 854); it should be understood that practitioners may choose to vary the orders. For example, operation set 850 can be performed after or between operation sets 852 and 854. Moreover, the scanner can control the frequency of the camera shutters and speed of modulation to achieve a desired sharpness of the camera images.

[0089] At step 818, the reference images, first images, and second images are processed using a triangulation algorithm that uses triangulation to determine the 3D locations / coordinates for points on the object surface 121. This triangulation approach can be aided by (1) calibration data that registers the relative positions of the cameras 112a and 112b to each other, (2) the distortions of the line patterns 402 shown in the first and second images, and (3) the distortions of the reference markers shown in the reference images.

[0090] At step 820, the processor(s) stores data in memory that represents the reconstructed 3D shape of the object surface 121. This reconstruction is based on the 3D points that were determined at step 818.

[0091] The foregoing description, for purpose of explanation, has been described with reference to specific embodiments. However, the illustrative discussions above are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Many modifications and variations are possible in view of the above teachings. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, to thereby enable others skilled in the art to best use the invention and various described embodiments with various modifications as are suited to the particular use contemplated.

[0092] It will also be understood that, although the terms first, second, etc. are, in some instances, used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first neural network could be termed a second neural network, and, similarly, a second neural network could be termed a first neural network, without departing from the scope of the various described embodiments. The first neural network and the second neural network are both neural network, but they are not the same neural network, unless the context clearly indicates otherwise.

[0093] The terminology used in the description of the various described embodiments herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used in the description of the various described embodiments and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the term “and / or” as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items. It will be further understood that the terms “includes,” “including,” “comprises,” and / or “comprising,” when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0094] As used herein, the term “if’ is, optionally, construed to mean “when” or “upon” or “in response to determining” or “in response to detecting,” depending on the context. Similarly, the phrase “if it is determined” or “if [a stated condition or event] is detected” is, optionally, construed to mean “upon determining” or “in response to determining” or “upon detecting [the stated condition or event]” or “in response to detecting [the stated condition or event],” depending on the context.

Claims

WHAT IS CLAIMED IS:

1. A 3D scanner comprising: a light source configured to produce light; a diffractive optical element (DOE) that is positioned optically downstream from the light source, wherein the DOE is configured to diffract incident light from the light source; a lens that is positioned optically downstream from the DOE; a modulator; a first camera; a second camera; and one or more processors; wherein the light source, the DOE, and the lens cooperate to project a pattern of lines onto a surface of an object based on the light produced by the light source; wherein the modulator is configured to modulate the projected pattern of lines on the object surface so that the projected pattern of lines shifts on the object surface over time; wherein the first camera is configured to obtain first images of the pattern of lines on the object surface from a first perspective over time as the modulator causes the projected pattern of lines to shift on the object surface; wherein the second camera is configured to obtain second images of the pattern of lines on the object surface from a second perspective as the modulator causes the projected pattern of lines to shift on the object surface, wherein the second perspective is different than the first perspective; and wherein the one or more processors are configured to (1) perform a triangulation analysis based on the lines depicted in the first and second images and (2) reconstruct a 3D shape of the object surface based on the triangulation analysis.

2. The 3D scanner of claim 1 wherein the modulator comprises a piezoelectric actuator that is configured to (1) receive a drive signal and (2) move the DOE in response to the drive signal, wherein movement of the DOE causes the pattern of lines to shift on the object surface.

3. The 3D scanner of claim 1 wherein the one or more processors are configured to provide the drive signal to the piezoelectric actuator.

4. The 3D scanner of any of claims 2-3 wherein the drive signal is configured to cause the piezoelectric actuator to shift the pattern of lines in a back and forth direction along a first axis.

5. The 3D scanner of claim 4 wherein the drive signal is configured to cause the piezoelectric actuator to shift the pattern of lines in a back and forth direction along the first axis and a second axis.

6. The 3D scanner of any of claims 4-5 wherein the drive signal is configured to cause the piezoelectric actuator to continuously shift the pattern of lines in the back and forth direction.

7. The 3D scanner of any of claims 4-5 wherein the drive signal is configured to cause the piezoelectric actuator to shift the pattern of lines in discrete jumps in the back and forth direction.

8. The 3D scanner of any of claims 2-3 wherein the drive signal is configured to cause the piezoelectric actuator to spin the pattern of lines about an axis of rotation.

9. The 3D scanner of any of claims 2-3 wherein the drive signal is configured to cause the piezoelectric actuator to shift the pattern of lines along an arbitrary path.

10. The 3D scanner of claim 1 wherein the modulator comprises a mirror for reflecting the pattern of lines onto the object surface, and wherein the mirror is adjustable to shift the pattern of lines on the object surface.

11. The 3D scanner of claim 10 wherein the modulator further comprises a motor for driving adjustment of the mirror in response to a drive signal.

12. The 3D scanner of claim 1 wherein the modulator comprises a piezoelectric actuator that is configured to (1) receive a drive signal and (2) move the lens in response to the drive signal, wherein movement of the lens causes the pattern of lines to shift on the object surface.

13. The 3D scanner of claim 1 wherein the modulator comprises a piezoelectric actuator thatis configured to (1) receive a drive signal and (2) move the light source in response to the drive signal, wherein movement of the light source causes the pattern of lines to shift on the object surface.

14. The 3D scanner of any of claims 1-13 wherein the pattern of lines comprise a plurality of lines that are concurrently projected onto the object surface.

15. The 3D scanner of claim 14 wherein the plurality of lines that are concurrently projected onto the object surface include a plurality of points of intersection between the concurrently projected lines.

16. The 3D scanner of any of claims 1-13 wherein the plurality of lines that are concurrently projected onto the object surface include (1) a first plurality of lines that are concurrently projected on the object surface at a first time and (1) a second plurality of lines that are concurrently projected on the object surface at a second time.

17. The 3D scanner of claim 16 wherein the first and second plurality of lines are orthogonal to each other.

18. The 3D scanner of any of claims 16-17 wherein the light source is pulsed so that the 3D scanner switches between projections of the first plurality of lines and the second plurality of lines onto the object surface.

19. The 3D scanner of any of claims 1-18 wherein the light source comprises a laser source.

20. The 3D scanner of claim 19 wherein the laser source comprises a vertical-cavity surfaceemitting laser (VCSEL).

21. The 3D scanner of any of claims 19-20 wherein the laser source comprises a plurality of laser sources.

22. The 3D scanner of any of claims 1-21 further comprising a memory configured to store calibration data for the first and second cameras, wherein the calibration data comprises datathat represents relative positioning as between the first and second cameras with respect to each other, and wherein the one or more processors are further configured to perform the triangulation analysis based on (1) the lines depicted in the first and second images and (2) the calibration data.

23. The 3D scanner of claim 22 wherein the calibration data comprises a distance between the first and second cameras.

24. The 3D scanner of any of claims 22-23 wherein the calibration data comprises view angles for the first and second cameras.

25. The 3D scanner of any of claims 1-24 wherein the first and second cameras are in a stereo configuration.

26. The 3D scanner of any of claims 1-25 wherein the lens is positioned between the first and second cameras.

27. The 3D scanner of any of claims 1-26 wherein the pattern of lines include gaps between the lines that exhibit a spacing between 1 mm and 30 mm on the object surface.

28. The 3D scanner of any of claims 1-27 wherein the one or more processors perform the 3D reconstruction in response to repeating sets of operations, wherein the repeating sets of operations comprise: a first set of operations wherein the first and second cameras flash or flood illuminate a plurality of reference markers on the object and obtain reference images of the object while the pattern of lines are not projected on the object surface, wherein the reference images include the illuminated reference markers; a second set of operations wherein (1) the light source, DOE, and lens cooperate to project a first pattern of lines onto the object and (2) the first and second cameras obtain first and second images of the object that include the projected first pattern of lines; and a third set of operations wherein (1) the light source, DOE, and lens cooperate to project a second pattern of lines onto the object and (2) the first and second cameras obtain first and second images of the object that include the projected second pattern of lines,wherein the first and second patterns of lines have different axes relative to each other; wherein the first, second, and third set of operations are performed by the 3D scanner at different times; and wherein the one or more processors are further configured to perform the triangulation analysis based on (1) the lines depicted in the first and second images and (2) the reference markers depicted in the reference images.

29. The 3D scanner of any of claims 1-28 wherein the 3D scanner comprises a mobile 3D scanner.

30. The 3D scanner of claim 29 wherein the one or more processors are remote from the mobile 3D scanner.

31. The 3D scanner of claim 29 wherein the light source, DOE, lens, modulator, first and second cameras, and one or more processors are part of the mobile 3D scanner.

32. The 3D scanner of any of claims 29-31 wherein the mobile 3D scanner is a handheld 3D scanner.

33. The 3D scanner of any of claims 1-32 wherein the one or more processors include one or more field programmable gate arrays (FPGAs).

34. The 3D scanner of any of claims 1-33 wherein the modulator comprises a refection deflector.

35. The 3D scanner of any of claims 1-34 wherein the modulator comprises a refraction deflector.

36. The 3D scanner of any of claims 1-35 wherein the modulator comprises an electro-optic deflector.

37. The 3D scanner of any of claims 1-36 wherein the modulator comprises an acousto-optic deflector.

38. The 3D scanner of any of claims 1-37 wherein the modulator comprises a magneto-optic deflector.

39. A 3D scanning method, the method comprising: diffracting light from a light source using a diffractive optical element (DOE); projecting the diffracted light onto a surface of a 3D object using a lens, wherein the projected diffracted light exhibits a pattern of lines on the object surface; modulating the projected diffracted light over time so that the pattern of lines shift over the object surface over time; obtaining first images of the object surface from a first perspective over time as the pattern of lines shift on the object surface, wherein the first images depict the pattern of lines on the object surface; obtaining second images of the object surface from a second perspective over time as the pattern of lines shift on the object surface, wherein the second images depict the pattern of lines on the object surface, and wherein the second perspective is different than the first perspective; performing a triangulation analysis based on the lines depicted in the first and second images; and reconstructing a 3D shape of the object surface based on the triangulation analysis.

40. The method of claim 39 further comprising performing the steps using a 3D scanner as set forth in any of claims 1-38.

41. A 3D scanner, comprising: a light source configured to project one or more lines onto a surface of an object; a camera configured to obtain images of the one or more lines projected onto the surface of the object; and a mechanical and / or optical system configured to modulate a direction that the one or more lines are shone as the camera obtains images of the one or more lines projected onto the surface of the object.

42. The 3D scanner of claim 41, wherein the one or more lines comprises a plurality of lines,including a first set of lines and a second set of lines, the first set of lines and the second set of lines intersecting on the surface of the object.

43. The 3D scanner of claim 42, wherein the mechanical and / or optical system comprises a first mechanical and / or optical sub-system configured to modulate the direction of the first set of lines and a second mechanical and / or optical sub-system configured to modulate the direction of the second set of lines.

44. The 3D scanner of any of claims 41-43, wherein the optical and / or mechanical system includes a mirror and / or prism upon which the one or more lines from the light source are shone and a motor to rotate the mirror and / or prism.

45. The 3D scanner of any of claims 41-44, wherein the optical and / or mechanical system includes a motor to rotate the light source.

46. The 3D scanner of any of claims 41-45, wherein the light source is a laser.

47. The 3D scanner of any of claims 41-46, wherein the 3D scanner is a triangulation scanner.

48. The 3D scanner of any of claims 41-47, wherein the one or more lines comprise a plurality of lines numbering between 5 and 20 lines.

49. The 3D scanner of any of claims 41-48 further comprising a diffractive optical element (DOE) in an optical path between the light source and the object, wherein the DOE defines the one or more lines for projection onto the object.

50. The 3D scanner of claim 49 wherein the mechanical and / or optical system comprises a piezoelectric actuator coupled to the DOE, wherein the piezoelectric actuator is configured to modulate the one or more lines in response to a drive signal that causes movement of the DOE.

51. A method, comprising: projecting one or more lines onto a surface of an object,; obtaining images of the one or more lines projected onto the surface of the object; and while obtaining the images, modulating a direction that the one or more lines are shone as the camera obtains images of the one or more lines projected onto the surface of the object.

52. The method of claim 51, further comprising, using a triangulation approach applied to the obtained images to determine 3D coordinates of one or more points on the surface of the object.

53. The method of any of claims 51-52 further comprising defining the one or more lines projected onto the object using a diffractive optical element (DOE) in an optical path between a light source and the obj ect.

54. The method of claim 53 wherein the modulating step comprises modulating the direction that the one or more lines are shown using a piezoelectric actuator coupled to the DOE, wherein the piezoelectric actuator modulates the one or more lines in response to a drive signal that causes movement of the DOE.

55. The method of any of claims 51-54 further comprising performing the method using the 3D scanner of any of claims 41-50.

56. A non-transitory computer-readable storage medium storing instructions which, when executed by a computer system, cause the computer system to perform the method of any of claims 51-55.

Images