Method and an apparatus for determining the color stimulus specification of an object

In order to determine the color stimulus specification of a translucent object under test, it is suggested to illuminate the object under test with light having different wave length bandwidth portions, or, alternatively, to subdivide the light reflected by the object under test into different wave length bandwidth portions before it is captured by an image sensor. To exactly approach a probe head to the object under test, the object under test is visualized with the help of a further image sensor. Preferably, two image sensors are used, whereby the one image sensor is used for visualizing the object under test and the other image sensor is used for determining the colorimetric data of the object under test. In this way, the color stimulus specification of the object under test can be determined very exactly. Moreover, such a method including an apparatus suitable for performing the method can be practically realized very easily.

FIELD OF THE INVENTION 
The present invention refers to a method for determining the color stimulus 
specification of objects, particularly of translucent objects, in which 
the object under test is illuminated, in which the light reflected by the 
object under test is captured by at least one image sensor, and in which 
the colorimetric data of the object under test are arithmetically 
evaluated by means of a suitable analyzer assembly. 
Moreover, the present invention also refers to an apparatus for determining 
the color stimulus specification of objects, particularly of translucent 
objects, comprising an illumination assembly for illuminating the object 
under test, a detection assembly for capturing the light emitted by the 
illumination assembly and reflected by the object under test, and an 
analyzer assembly adapted for evaluating the colorimetric data of the 
object under test. The detection assembly includes a lens assembly and at 
least one image sensor, and it is adapted to deliver output signal data in 
response to the captured light. 
1. Background of the Invention 
The determination of the hue or tint of translucent objects is a process 
which is frequently performed in the field of dentistry. In practice, it 
is necessary to select that denture out of a number of sample dentures 
which matches the hue or tint of the tooth to be replaced. Frequently, 
instead of determining the color of the tooth to be replaced, the hue or 
tint of the adjacent tooth or of the two adjacent teeth is determined. 
The manufacturers of basic materials for the production of a denture can 
supply assortments comprising a plurality of sample dentures having 
different hue or tint; each denture of such an assortment has an 
allocation number by which the hue or tint of the denture is exactly 
specified. If a dentist has to produce a denture, up to now he proceeds, 
simply expressed, as follows: 
He visually compares the color of the tooth to be replaced with the color 
of the dentures provided in an assortment and selects that denture of the 
assortment which matches the color of the tooth to be replaced most 
closely. On the basis of the allocation number of the selected denture, 
the dentist knows the exact specification of the materials needed to 
produce a denture with the same hue or tint and he is in a position to 
manufacture the required individual denture. However, this proceeding is, 
on the one hand, quite lavish and can lead, on the other hand, to errors 
as far as the hue or tint of the final denture is concerned. 
2. Prior Art 
Methods and apparatuses are known in the art to determine the color 
stimulus specification of translucent objects. In these methods and 
apparatuses, the object to be tested and a portion thereof, respectively, 
is illuminated by a light spot, and the light reflected by a predetermined 
area, called measurement spot, is measured and subsequently evaluated. But 
due to the fact that neither the measurement spot nor the light spot 
projected onto the surface of the object under test are infinitely large 
and theoretically cannot be infinitely large, a measurement error results 
in practice. The reasons for this measurement error, on the one hand, is 
that a part of the light leaves the measurement spot through the interior 
of the translucent object, and on the other hand, that a certain amount of 
light penetrates through the translucent object and further illuminates 
the measurement spot. In other words, because the luminous flux leaving 
the translucent object to be tested is not equal to the luminous flux 
which is coupled from the exterior into the measurement spot and which is 
received by the receiving element, the measuring result is distorted in 
dependence of the translucency of the object under test. 
The above mentioned measurement error leads to the fact that the color 
stimulus specification of unknown translucent objects cannot be measured 
with sufficient accuracy with the help of the systems known up to know. 
Moreover, apparatuses for determining the color stimulus specification of 
teeth are known in the art that operate according to the following 
principles: 
A small probe head is put onto the tooth to be evaluated. From the position 
of the probe head, the operator, i.e. the dentist, knows which area of the 
tooth is evaluated. An exact positioning of the probe head is important 
insofar as the tooth doesn't have a uniform color. In order to determine 
the colors of the tooth in different areas, the dentist has to position 
the probe head in the different areas and, in each case, trigger a 
measuring cycle. 
Thereby, the illumination and the measuring of the color both are 
accomplished in the interior of the small probe head. Due to the 
translucent behavior of the teeth, the thus obtained results are primarily 
erroneous, as has been explained herein before. These measurement errors 
now are corrected with suitable mathematical and/or optical tricks. 
However, the final result still is not satisfying. 
OBJECTS OF THE INVENTION 
Thus, it is an object of the present invention to provide a method and an 
apparatus for determining the color stimulus specification of objects, 
particularly of translucent objects, by means of which the color stimulus 
specification can be determined very exactly. It is a further object of 
the present invention to provide a method and an apparatus for determining 
the color stimulus specification of objects, particularly of translucent 
objects, which can be realized in a very simple and efficient way. 
SUMMARY OF THE INVENTION 
In order to meet these and other objects, the present invention provides, 
according to a first aspect, a method for determining the color stimulus 
specification of objects, particularly of translucent objects. In this 
method, the object under test is illuminated, the light reflected by the 
object under test is captured by at least one image sensor, and the 
colorimetric data of the object under test are arithmetically evaluated by 
means of a suitable analyzer assembly. During the above step of 
illuminating the object under test, a measuring cycle is initiated and, 
thereafter, the light by means of which the object under test is 
illuminated is subdivided into a plurality of wave length bandwidth 
portions. Then, the object under test is consecutively illuminated by 
means of light comprising wavelengths of one of the plurality of wave 
length bandwidth portions. Finally, the measuring cycle is terminated and 
the above step of evaluating the colorimetric data is performed. 
According to a second aspect of the invention, a method for determining the 
color stimulus specification of objects, particularly of translucent 
objects, is provided in which the object under test is illuminated, the 
light reflected by the object under test is captured by at least one image 
sensor, and the colorimetric data of the object under test are 
arithmetically evaluated by means of a suitable analyzer assembly. During 
the above mentioned step of capturing the light reflected by the object 
under test by at least one image sensor, a measuring cycle is initiated, 
and thereafter, the light reflected by the object under test is subdivided 
into a plurality of wave length bandwidth portions. Consecutively, the 
light reflected by the object under test and comprising wavelengths of one 
of the plurality of wave length bandwidth portions is directed to the at 
least one image sensor, whereafter the measuring cycle is terminated and 
the above step of evaluating the colorimetric data is performed. 
By the suggested methods as outlined above, in which the object under test 
is illuminated with light having different wave length bandwidth portions, 
or in which the light reflected by the object under test is subdivided 
into different wave length bandwidth portions before it hits the image 
sensor or sensors, respectively, the prerequisite is created for a method 
than can be realized in a very simple manner, thereby avoiding the 
spectral evaluation of the captured light by means of a spectra photo 
meter as suggested in the prior art. Moreover, the color stimulus 
specification of the object under test can be determined, with regard to 
the human perception, more exactly than until now. 
According to preferred embodiments of both of the above outlined methods, 
the object under test is mapped onto the image sensor, and the signal data 
delivered by the image sensor are visualized. Thereby, performing the 
measurement is greatly simplified and the ease of operation is increased 
insofar as the positioning of the probe head required for capturing the 
reflected light is simplified for the operator, independently of the size 
of the probe head. 
Still in order to meet the above mentioned and further objects, the present 
invention provides, in a further aspect, an apparatus for determining the 
color stimulus specification of objects, particularly of translucent 
objects. Two different realizations of that apparatus are suggested. 
Common to both realizations is that the apparatus comprises an 
illumination assembly for illuminating the object under test. Further, 
both realizations of the apparatus comprise a detection assembly for 
capturing the light emitted by the illumination assembly and reflected by 
the object under test, whereby the detection assembly includes a lens 
assembly and at least one image sensor. The detection assembly delivers 
output signal data in response to the captured light. Finally, there is 
provided in both realizations an analyzer assembly for evaluating the 
colorimetric data of object under test, a probe head adapted to receive 
selected parts and elements of the apparatus, whereby the probe head can 
be displaced towards the object under test for taking a measurement, and 
means for visualizing the output signal data delivered by the detection 
assembly. 
The above mentioned two realizations of the apparatus differ insofar as, in 
the first realization, the illumination assembly is provided with a color 
separator adapted to subdivide visible light into a plurality of wave 
length portions, and, in a second case, the detection assembly is provided 
with a color separator adapted to subdivide visible light into a plurality 
of wave length portions.

DETAILED DESCRIPTION OF THE INVENTION 
With the aid of the accompanying drawing, the design and the mode of 
operation of the apparatus for determining the color stimulus 
specification of translucent objects will be further explained. Since the 
method and the apparatus according to the invention are particularly 
useful for determining the color stimulus specification of teeth, a 
partial sectional view of the upper and lower jaw 6a, 6b of a human being 
is schematically shown. As the real object under test, an upper incisor 7 
is selected. In looking at the accompanying drawing, it has to be 
considered that it shows the invention in a strictly schematic matter and 
is not drawn to scale. 
The apparatus substantially comprises an illumination assembly, generally 
designated by reference numeral 1, a detection assembly, generally 
designated by reference numeral 2, and an analyzer assembly, generally 
designated by reference numeral 3. Selected elements of the apparatus are 
received in a probe head 5 that is moved towards the object under test 7 
when a measurement has to be performed. 
Preferably, the probe head 5 can be replaced by a probe head of somewhat 
different design, such that, if appropriate, another probe head 5 can be 
used that is perfectly matched to the specific requirements of the 
measurement to be performed. For example, if the object under test 7 just 
has to be visualized, without the need to determine the color stimulus 
specification of the object under test 7, a relatively small and handy 
probe head can be used, since such a probe head has to receive a 
substantially smaller number of elements. 
The illumination assembly 1 comprises a light source 13, an UV band 
elimination filter 12, a concave mirror 11, a color separator 8, a bundle 
of light conducting fibers 14 as well as a number of lenses 15. The color 
separator 8 designed as a monochromator comprises a step motor 9 as well 
as a concave mirror 10 incorporating a diffraction grating. The concave 
mirror 10 provided with the diffraction grating can be rotated by means of 
the step motor 9 around an axis that runs perpendicular to the drawing 
plane. Between the light source in the form of a bulb 13 and the 
monochromator 8, there is inserted an UV band elimination filter 12. 
Between the UV band elimination filter 12 and the monochromator 8, there 
is inserted a conventional concave mirror 11 without diffraction grating. 
The concave mirror 11 without diffraction grating can be swiveled, by 
means not further shown in the drawing, between a rest position and an 
operating position 11a. The bulb 13, the UV band elimination filter 12, 
the concave mirror 11 as well as the monochromator 8 are located outside 
of the probe head 5, while the bundle of light conducting fibers 14 is 
lead into the interior of the probe head 5 and optically couples the probe 
head 5 with the bulb 13. 
The end of the bundle of light conducting fibers 14 is separated into 
individual fibers 14a in the interior of the probe head 5. In order to 
ensure an illumination of the object under test 7 as homogenous as 
possible, the individual fibers 14a are arranged along the periphery of a 
circle. The lenses 15 located in front of the fibers 14a additionally 
contribute to a homogenous illumination of the object under test 7. 
Preferably, not only the object under test 7 per se, but also the adjacent 
regions of the upper and lower jaw 6a, 6b are illuminated as well; 
thereby, the problems arising in determining the color stimulus 
specification of translucent objects discussed herein before can be 
eliminated to a great extent. Anyway, due to the translucent behavior of 
the object under test 7, it is important that the illuminated area is 
larger than the area scanned during determining the color stimulus 
specification of the object under test 7. 
The detection assembly 2 essentially comprises a lens assembly 21 centrally 
located in the interior of the probe head 5 as well as two image sensor 
members 22, 23. Even if only three lenses 21a, 21b and 21c are shown in 
the drawing, in practice, a more complex, highly corrected lens assembly 
is used. However, for the reason of simplicity, in the following, 
reference is made to the lens assembly 21. 
The analyzer assembly 3 comprises a suitably video circuitry 3a as well as 
a computer 4 comprising a video monitor, for example a commercially 
available personal computer. 
The image sensor members 22, 23 are constituted, in the present embodiment, 
by CCD (charge coupled device) chips. The one image sensor 22 comprises a 
color CCD chip, while the other image sensor 23 comprises a 
black-and-white CCD chip. Both image sensor members 22, 23 are connected 
to the video circuitry 3a by means of a data cable 30. Moreover, the probe 
head is provided with a polarizer 18; the design and the mode of operation 
thereof will be further explained herein after. 
In order to perform a measurement cycle in which the color stimulus 
specification of the object under test 7 is determined, the conventional 
concave mirror 11 has to be in its rest position, i.e. swiveled to its 
lower position, such that the light emitted by the bulb 13 is reflected by 
the concave mirror 10 which is provided with the refraction grating and, 
thereby, directed to the input end of the bundle of light conducting 
fibers 14. By rotating the concave mirror 10 which is provided with the 
refraction grating, the wave length portion of the light coupled to the 
bundle of light conducting fibers 14 is varied. In the present embodiment, 
by rotating the concave mirror 10 by approximately 15.degree., the light 
emitted by the bulb 13 is selectively directed to the input end of the 
bundle of light conducting fibers 14 in a region of wave lengths between 
appr. 380 nanometers and appr. 730 nanometers; this region corresponds 
more or less to the visible light. The light reflected by the object under 
test 7 to the B/W sensor 23 is recorded as an image and assigned by 
calculation to that wave length region by which the object under test 7 
has been illuminated by the illumination assembly 1. This recording is 
performed in steps whereby a step length of appr. 10 nanometers has proven 
as advantageous. Thus, a total of thirty-six different spectral backing 
values in the region of the visible light are recorded and analyzed. 
Moreover, it is possible to swivel the concave mirror 10 into a inoperative 
position in which the light emitted by the bulb 13 and passing the UV band 
elimination filter 12 is not directed to the input end of the bundle of 
light conduction fibers 14. If the monochromator 8 is in that so-called 
dark position, a dark correction of the apparatus can be performed. In 
other words, the measurement value present at the image sensors 22, 23 
during that dark correction, the so-called dark value, corresponds to the 
amount of ambient light falling onto the object under test 7 and onto the 
detection assembly 2. In order to avoid a distortion of the measurement 
values present at the image sensors 22, 23 caused by ambient stray light, 
in each case, that dark value is subtracted from the really measured 
value. 
In order to provide for a wide-spread and homogenous illumination of the 
object under test 7, the probe head 5 must have a certain minimal 
diameter. For determining the color stimulus specification of teeth, the 
probe head 5 preferably has a diameter of appr. 2 to 3 centimeters. 
However, since a probe head 5 of such a diameter fully covers the area to 
be measured, the position of the probe head 5 can be visualized by means 
of the color image sensor 22 in order to ensure that the dentist knows 
where exactly the apparatus will perform the measurement. 
In order to visualize the object under test 7, the concave mirror 11 is 
swiveled in its operating position 11a, with the result that the light 
emitted by the bulb 13 present at the input gap is projected onto the 
bundle of light conducting fibers 14 at the output gap. In practice, the 
concave mirror 11 will be in its operating position most of the time such 
that the object under test 7 can be visualized by means of the color 
sensor 22. Only during performing a measurement, the mirror 11 is swiveled 
into its rest position, then the real determining of the color stimulus 
specification is performed by means of the B/W sensor 23, and then, the 
mirror is swiveled back into its operating position. 
The two image sensors 22, 23 are located on a common support plate 24. The 
support plate 24 is operatively connected to an actuating system 25 by 
means of a spindle 26. By the provision of two image sensors 22, 23, an 
autofocus function can be realized very easily by means of which the image 
sensors 22, 23 are displaced automatically into the image plane of the 
lens assembly 21. Due to the parallax present between the two image 
sensors 22, 23, the distance of the object under test 7 can be calculated 
and the image sensors 22, 23 can be displaced into the image plane of the 
lens assembly 21. The result is that the object under test 7 is in focus 
on the two image sensors 22, 23. 
The measuring rate of scanning the light intensity information delivered by 
the B/W sensor 23, i.e. the intensity of the gray value, by the video 
circuitry 3a is synchronized with the rotation speed of the concave mirror 
10. For the sake of simplicity, only one simple wire connection is shown 
as representing the data cable 30 running between the probe head 5 and the 
analyzer assembly 3; however, it is understood that in fact a multi-strand 
cable is used by means of which the different elements 22, 23, 25 in the 
probe head 5 are electrically and, if appropriate, optically connected to 
the analyzer assembly. 
In order to eliminate the surface glare of the object under test 7, it has 
proven to be extremely advantageous to provide a polarizer filter 
combination 18 in front of the object under test 7. A polarizer filter 
combination 18 is particularly important in determining the color stimulus 
specification of teeth, since the teeth glitter at their uneven surface 
portions with the result that the measuring values obtained by a number of 
consecutive measurements differ in an unpredictable manner. The polarizer 
filter combination 18 preferably is arranged such that both the light rays 
16 emitted by the bulb 13 as well as the light rays 29 reflected by the 
object under test have to pass that polarizer filter combination 18. 
Two different kinds of polarizer filter combinations capable of fulfilling 
that task are known: On the one hand, the polarizer filter combination can 
be designed comprising two linear polarizers, whereby the light of the 
bulb 13 passes the polarizer and the reflected light passes the analyzer. 
In this design, the polarizer and the analyzer have to comprise polarizing 
directions that are offset to each other by 90.degree. (.fwdarw. variant 
a). 
On the other hand, the polarizer filter combination 18 can be designed 
comprising a linear polarizer and a circular polarizer. The two polarizers 
are to be arranged one behind the other one whereby the circular polarizer 
has to face the object under test 7. In this design, both the light of the 
bulb 13 as well as the reflected light has to pass both polarizers 
(.fwdarw. variant b). 
In the present embodiment, the variant a is preferred because a more 
effective suppression of glitter can be achieved with the polarizers 
available nowadays. 
Since it is sufficient in determining the color stimulus specification even 
of a tooth with inhomogeneous coloration to make use of a measuring 
resolution of 20.times.20 points both in horizontal as well as in vertical 
direction, the measurement values of several pixels of the CCD chip 23 can 
be combined and averaged. If, for example, a conventional CCD chip is used 
having a resolution of 480.times.640 pixels, it is possible to combine 
(480/20).times.(640/20)=24.times.32 pixels to a single image point by 
averaging. By that averaging, the noise is reduced by a factor of 
.sqroot.768 =28; the result is that the noise is 28 times lower by the 
averaging. Moreover, by that averaging, the signal-to-noise ratio is 
increased by a factor of 28 to a value which is absolutely sufficient for 
a reliable analysis. 
In order to reduce the amount of data, the number of image points can be 
further reduced, depending on the particular application. 
In order to be in a position to distinguish whether the received signals 
come from the tooth 7 itself or from the adjacent areas of the object 
under test 7, the tooth 7 is scanned as far as his position an his 
geometry is concerned. For this purpose, an edge detection is performed. 
Thereby, the light/dark transitions (gap between the teeth as well as 
blade of the tooth) and the light/red transitions (transitions between 
tooth and gum) are arithmetically determined, whereby it is assumed that 
the position of the teeth is more or less known. The position and the 
shape of the tooth being known, it remains to further process only the 
lightness information that comes from the tooth itself. 
Now, in the pictures captured in this way, the dither is removed. This is 
accomplished by creating a cross correlation between the lines of the 
individual images of the different wavelengths and by shifting the 
individual images with regard to each other until the cross correlation 
achieves a maximum. That cross correlation is performed for both axes of 
the image as well as for all captured wavelengths. 
On the basis of these measured values, finally, the color specific data of 
the object under test can be determined on all 400 image points. 
Out of the 400 captured image points, it is possible to arithmetically 
combine to color zones those adjacent image points whose color deviation 
does not exceed a predetermined value. In this way, the object under test 
can be subdivided into several color zones having different color stimulus 
specification. The maximum number of such color zones is particularly 
limited by practical points of view, because a dentist usually subdivides 
a denture only into a limited number of color zones. 
Of course, it is also possible to assign a uniform color stimulus 
specification to the tooth that has been measured as far as its coloration 
is concerned. Thereby, it is preferred to calculate the mean value of the 
captured image points on the tooth; that mean value can be used as a 
relevant value for determining a uniform color. 
By subdividing the object under test into a plurality of measuring points, 
a plurality of new possibilities are presented which play an important 
role particularly in determining the color stimulus specification of 
teeth. For example, in this way, for the first time a tooth can be 
subdivided into several zones having different color stimulus 
specifications. Thereby, for the first time an incisor having a plurality 
of hues can be exactly reproduced, as far as its color is concerned. 
In the following, a list is presented that shows some of the possibilities 
resulting from the method of the invention. It is understood that this 
list is not complete. 
1. Display of the video picture on the monitor for positioning the probe 
head and functionality of the system as an intro oral camera, 
respectively. 
2. White and dark correction of the video images. 
3. Color correction of the video images. 
4. Autofocus function. 
5. Storing the video images in a data base. 
6. Recalling the video images from the data base. 
7. Superimposing a scale in the video image. 
8. White and dark correction of the spectral data. 
9. Assignment of the color code of the colors of the dentures at every 
point of the video image. 
10. Calculation of a uniform, mean color code for the entire object under 
test (tooth). 
11. Determining of several zones with a uniform color selection. 
12. Simulation of color selections in the video image. 
13. Comparing corresponding images taken on different dates; superimposing 
the images. 
14. Calculation of color changes in function of the time at certain points 
on the tooth and on the gum, respectively. 
15. Calculation of the degeneration of the gum. 
16. Transmission of the date to the dental technician. 
Most of the above mentioned characteristics are useful, first and foremost, 
in measuring teeth. However, some of the above characteristics may also be 
important in connection with other applications, for instance 
characteristics 1 to 3: In some applications, the absolute color of the 
video image is of interest; for example, in the field of endoscope 
observations, the doctor can determine the oxygen content according to the 
color of the blood. With video endoscopes known in the art, such 
information is not visible in the video image. 
In order to be able to calibrate the entire measuring chain, reference 
measurements are periodically performed with the help of a reference 
object. Such a reference object can be, for example, a light object of 
homogenous coloration. The measurement values thus obtained are stored in 
a memory as reference values and used to calibrate the measuring chain. In 
practice, it is suggested to perform such a reference measurement daily. 
However, it is understood that the reference probe is not shown in the 
drawing. 
Besides the real determination of the colorimetric data, the object under 
test is additionally visualized. Thereby, the positioning of the probe 
head is substantially simplified. The visualization is preferably 
performed on the computer monitor. Such a visualization is particularly 
important insofar as the probe head covers a relatively large area and, 
thus, the dentist does not know where exactly he has placed the probe head 
and where he has to place the probe head, respectively. However, with a 
visualization, the probe head can be positioned very exactly to the 
desired location and the position of the 400 measuring points with the 
colorimetric data is exactly known. 
Besides the embodiment described herein before, a plurality of further 
embodiments are possible within the scope of the method steps defined in 
the appended claims. For example, the spectral resolution of the 
illumination could be dramatically reduced. Thereby, it would be 
sufficient to illuminate the object under test with light having at least 
three different wavelengths and wavelength portions, respectively, or the 
light reflected by the object under test could be separated, prior to 
reaching the detection assembly, into three different wavelengths and 
wavelength portions, respectively. This corresponds to a calorimeter 
assembly. It is understood that the wavelength portions and the intensity 
of the wavelength portions, respectively, are chosen according to the 
definition such that a calculation of the colorimetric data of the object 
under test is ensured. 
As an example, a rotating filter wheel, a rotating circular variable filter 
member or an acoustically adjustable optical filter could be used as color 
separator member instead of a monochromator. Moreover, it is not 
imperative to arrange such a color separator in the illumination assembly; 
instead, with the same result, it could be arranged in front of the image 
sensor. 
The embodiment explained herein before with the help of the accompanying 
drawing has proven particularly reliable due to practical reasons, because 
a location of the color separator outside of the probe head enables the 
probe head to be designed much smaller than in the case where the color 
separator had to be arranged in the interior of the probe head. Finally, 
it is to be noted that it would be possible to calculate the colorimetric 
data of each pixel on the basis of the measurement values delivered by the 
image sensor. Instead of the measurement values, it would be possible to 
directly store the colorimetric data of the individual pixels. 
An alternative embodiment of the method and the apparatus, respectively, 
could be seen in a design in which only one image sensor is used instead 
of two sensors. The data delivered by the image sensor then could be used 
both for determining the colorimetric data as well as for positioning the 
probe head.