Triangulation-based 3D imaging and processing method and system

A triangulation-based method and system for high speed 3D and gray scale imaging and associated pre-processing of digitized information allows for estimation or filtering of height and gray scale values. This estimation is based upon the confidence level of the information obtained from a pair of sensors and also based upon knowledge of the object structure and its reflectance characteristics. A modulated laser beam is scanned across the object to create a plurality of spots which are viewed by a pair of well-matched receivers. Each receiver includes a light collection and delivery system, a position sensitive detector, and an associated ratio-metric signal processor, or similar means for extraction of height and intensity information or data by triangulation. An optional automatic light control sub-system provides greatly extended dynamic range with control inputs derived from an amplifying detector included in each receiver to maximize occurrences of valid data points. Prior to image processing, each point in the digitized 3D and gray scale data is transformed based upon the digital values of the gray scale and height values. The multi-channel pointwise transformation produces an improved estimate of intensity and height at a point of interest, or is used to filter the data for improvements in the 3D and gray scale contrast prior to image processing and measurement analysis. Either linear or non-linear transformations are utilized, based on the match between 3D and/or gray values, and other conditions which determine the confidence level of the information.