CN106910243A - The method and device of automatic data collection and three-dimensional modeling based on turntable - Google Patents
The method and device of automatic data collection and three-dimensional modeling based on turntable Download PDFInfo
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- CN106910243A CN106910243A CN201710071729.1A CN201710071729A CN106910243A CN 106910243 A CN106910243 A CN 106910243A CN 201710071729 A CN201710071729 A CN 201710071729A CN 106910243 A CN106910243 A CN 106910243A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
Abstract
The present invention relates to a kind of automatic data collection based on turntable and the method and device of three-dimensional modeling.Method is used to carry out three-dimensional modeling to the article being placed on turntable by camera array, and method includes：Initial projections matrix of each camera with respect to the center of rotation of turntable in acquisition camera array；Control turntable rotates multiple angles around center of rotation, and shoots picture in the rotation for rotating projection matrix and article that each rotational angle obtains each camera；Three-dimensional modeling is carried out using SIFT feature according to rotating projection matrix and rotating shooting picture, the threedimensional model of article is obtained.It is by by means of accurate turntable corner information, weaken the requirement of image texture, tradition is avoided based on the unstability for estimating camera inside and outside parameter during 3-dimensional reconstruction using characteristics of image, true yardstick is extracted, automatic, the accurate three-dimensional reconstruction of object is realized.With speed is fast, with strong points, low cost, small splicing accumulated error the characteristics of.
Description
Technical field
The present invention relates to technical field of computer vision, more particularly to a kind of automatic data collection and three based on turntable
Tie up the method and device of modeling.
Background technology
Used as point and the data of other information set, threedimensional model can be manually generated, it is also possible to according to certain algorithm
Generation.Now, threedimensional model has been used to a variety of fields.The accurate mould of organ is made using them in medical industry
Type；They are used for film industry personage, object and the real film of activity；Video game business is using them as computer
With the resource in video-game；Scientific domain using they as compound accurate model；Be used for for they to show by construction industry
Building or the landscape performance of proposal；Be used for for they to design new equipment, the vehicles, structure and other application by engineering circles
Field；In nearest decades, field of earth sciences starts to build three-dimensional geological model.
Currently for the modeling method of object, generally there are three kinds：First way is modeled using three-dimensional software.In market
Upper to can see many outstanding modeling softwares, relatively more well-known has 3DMAX, Maya, UG and AutoCAD etc..They are total to
It is such as cube, spheroid using some basic geometric elements with feature, by a series of geometric operations, such as translation, rotation
Turn, stretching and Boolean calculation etc. build the geometric scene of complexity, but the object complicated for shape and structure, it is difficult to accurate extensive
Appear again the threedimensional model of object；The second way is measured by instrument and equipment and modeled.By the spatial digitizer of specialty, quilt is obtained
Survey the 3 d space coordinate of Surface sampling point, certainty of measurement is higher, but its have the disadvantage it is expensive, it is necessary to the technology of specialty
Personnel are operated；The third mode is modeled using image or video.Because image themselves contain abundant scene letter
Breath, by the treatment to image series, can accurately recover the 3D shape of scene, and carry out line true to nature from two dimensional image
Reason mapping.Compared with the method that tradition is modeled using software modeling or spatial digitizer, the method cost based on image modeling
It is cheap, strong sense of reality, high degree of automation, thus be with a wide range of applications.
It is existing based on 3-dimensional reconstruction method, be by the corresponding characteristic point of the same name of different images, using least square
Optimized algorithm, it is counter to release corresponding basis matrix and essential matrix, and then obtain corresponding inside and outside parameter.2004, Lowe was carried
The Image Feature Point Matching algorithm based on SIFT feature is gone out, its full name is Scale Invariant Feature
Transform, i.e. Scale invariant features transform, abbreviation SIFT.SIFT algorithms are a kind of algorithm for extracting local feature, its principle
It is to find extreme point in metric space, extracts position, yardstick, rotational invariants, generates key point feature descriptor, then basis
These invariant features are matched.But the stability of the method is highly dependent on the textural characteristics of imaging surface, works as thing
When body surface face shows weak texture, the method can be caused to fail, it is impossible to effectively to carry out three-dimensional modeling to object.Other three-dimensional reconstruction
Integrality again rely on Duplication of the shooting image the content of shooting between the level of coverage and image of object.
The content of the invention
Based on this, it is necessary to provide regarding to the issue above it is a kind of weak texture object can be carried out three-dimensional modeling based on turn
The automatic data collection of platform and the method and device of three-dimensional modeling.
To realize a kind of automatic data collection based on turntable and the method for three-dimensional modeling that the object of the invention provides, use
In three-dimensional modeling is carried out to the article being placed on turntable by camera array, methods described includes：
The initial projections matrix of the center of rotation of the relatively described turntable of each camera in acquisition machine array；
Control the turntable to rotate multiple angles around center of rotation, and turning for the camera is obtained in each rotational angle
The rotation of dynamic projection matrix and the article shoots picture；
Shoot picture according to the rotation projection matrix and the rotation carries out three-dimensional modeling using SIFT feature, obtains institute
State the threedimensional model of article；And
Two or more camera is included in the camera array.
Wherein in the automatic data collection based on turntable of one embodiment and the method for three-dimensional modeling, methods described
Also include：
Texture image corresponding relation between shooting picture according to modeling gained three-dimensional point cloud and the rotation, to the thing
The threedimensional model of product is processed, and obtains the very color threedimensional model of the article.
Wherein in the automatic data collection based on turntable of one embodiment and the method for three-dimensional modeling, any two
Angle between adjacent rotational angle is equal.
Wherein in the automatic data collection based on turntable of one embodiment and the method for three-dimensional modeling, at described turn
Platform sets pure color shooting background plate away from the side of the camera array.
Wherein in the automatic data collection based on turntable of one embodiment and the method for three-dimensional modeling, the camera
The quantity of camera is more than or equal to 2 in array.
Wherein in the automatic data collection based on turntable of one embodiment and the method for three-dimensional modeling, by turning
At least one demarcation chessboard that is rotated with turntable is set on platform, obtain the relatively described turntable of camera center of rotation it is initial
Projection matrix, comprises the following steps：
Control turntable is rotated, and each camera obtains the bat of the demarcation chessboard from two or more orientation respectively in camera array
Take the photograph picture；
The position between position relationship and camera between each camera and the demarcation chessboard is determined according to the shooting picture
Put relation；
By shooting the three-dimensional world coordinate system that picture and the demarcation chessboard determine described in two or more, it is determined that described turn
The center of rotation of platform；
By turning for the position relationship between position relationship, the camera between camera and the demarcation chessboard and the turntable
Dynamic center determines the initial projections matrix of the center of rotation of the relatively described turntable of camera.
Wherein in the automatic data collection based on turntable of one embodiment and the method for three-dimensional modeling, on turntable
Two demarcation chessboards are set, and a level calibration chessboard and one demarcate chessboard vertically, the level calibration chessboard with described turn
Angle between platform is less than 90 degree, and the level calibration chessboard can be photographed at least by a camera, the vertical demarcation
Chessboard can by camera array in all cameras photograph；And
The level calibration chessboard fits with the turntable table top；Vertical demarcation chessboard and the turntable table top into
An angle of 90 degrees；The shooting picture for demarcating chessboard is obtained from 8 different orientation.
Based on same inventive concept, the device of a kind of automatic data collection based on turntable and three-dimensional modeling is also provided,
For carrying out three-dimensional modeling to the article being placed on turntable by camera array, described device includes：
Initial matrix acquisition module, for obtain the relatively described turntable of each camera in camera array center of rotation it is initial
Projection matrix；
Control module is rotated, for controlling the turntable to rotate multiple angles around center of rotation, and in each angle of rotation
Degree obtains the rotation shooting picture for rotating projection matrix and the article of the camera；
Three-dimensional modeling module, is entered for shooting picture according to the rotation projection matrix and the rotation using SIFT feature
Row three-dimensional modeling, obtains the threedimensional model of the article；
Two or more camera is included in the camera array.
The automatic data collection based on turntable of one of embodiment and the device of three-dimensional modeling, also including texture at
Reason module, for according to the texture image corresponding relation between modeling gained three-dimensional point cloud and rotation shooting picture, to institute
The threedimensional model for stating article is processed, and obtains the very color threedimensional model of the article.
The automatic data collection and the device of three-dimensional modeling based on turntable of one of embodiment, build three-dimensional is carried out
During mould, at least one demarcation chessboard rotated with turntable is set on turntable, it is described first for setting up initial projections matrix
Beginning matrix acquisition module includes：
Picture shooting control submodule, for controlling each camera in camera array to obtain described respectively from two or more orientation
Demarcate the shooting picture of chessboard；
Position relationship determination sub-module, for being determined between each camera and the demarcation chessboard according to the shooting picture
Position relationship between position relationship and camera；
Center of rotation determination sub-module, for by shooting picture and the demarcation chessboard determine three described in two or more
Dimension world coordinate system, determines the center of rotation of the turntable；
Location position submodule, for by the position relationship between camera and the demarcation chessboard, between the camera
Position relationship and the turntable center of rotation determine the relatively described turntable of the camera center of rotation initial projections square
Battle array.
Beneficial effects of the present invention include：A kind of automatic data collection based on turntable that the present invention is provided is built with three-dimensional
The method of mould, by by means of accurate turntable corner information, realizing automatic, the accurate three-dimensional reconstruction of target object.Its is weak
The requirement of image texture is changed, and has avoided tradition and be based on being estimated in camera using characteristics of image during 3-dimensional reconstruction
The unstability of outer parameter, and can simultaneously utilize multiple cameras to model target under gathering multiple difference angles (and difference illumination)
Picture, extract true yardstick, (the characteristics of there is fast, with strong points speed, low cost, high precision, small splicing accumulated error.
Brief description of the drawings
Fig. 1 is the specific embodiment of method one of a kind of automatic data collection based on turntable of the invention and three-dimensional modeling
Flow chart；
Fig. 2 is that the modeling based on turntable combines the system construction drawing that demarcation chessboard is demarcated；
Fig. 3 is the method another specific embodiment of a kind of automatic data collection based on turntable of the invention and three-dimensional modeling
Flow chart；
Fig. 4 is the system construction drawing that the modeling based on turntable is modeled to object；
Fig. 5 is the schematic diagram that Rotation matrix determination is carried out with reference to turntable；
Fig. 6 is the specific embodiment of device one of a kind of automatic data collection based on turntable of the invention and three-dimensional modeling
System construction drawing；
Fig. 7 is the device another specific embodiment of a kind of automatic data collection based on turntable of the invention and three-dimensional modeling
System construction drawing；
Fig. 8 is that a kind of automatic data collection based on turntable of the invention is obtained with initial matrix in the device of three-dimensional modeling
The structural representation of module.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with accompanying drawing to of the invention
Automatic data collection based on turntable is illustrated with the specific embodiment of the method and device of three-dimensional modeling.Should manage
Solution, the specific embodiments described herein are merely illustrative of the present invention, is not intended to limit the present invention.
The method of the present invention carries out three-dimensional modeling by camera array to the article being placed on electrical turntable.By upper
Machine (computer) controls electrical turntable and takes pictures camera to be controlled.And the photo that all cameras in camera array shoot is entered
Row treatment, builds the threedimensional model of the article on turntable.
The automatic data collection based on turntable of one specific embodiment and the method for three-dimensional modeling, as shown in figure 1, method
Comprise the following steps：
S100, initial projections matrix of each camera with respect to the center of rotation of turntable in acquisition camera array.
This step is to carry out follow-up camera to shoot picture processing, and carries out the necessary step of three-dimensional modeling.Determine camera and
Position orientation relation between turntable.But for the position orientation relation in camera array between camera and turntable.Camera array with turn
When platform does not occur position relationship variation, camera array and turret systems only need to once be demarcated.And store calibration result
To in host computer, when the three-dimensional modeling of object is carried out, each camera and turntable in stored camera array need to be only read
The initial projections matrix of center of rotation.And two or more camera can be included in general camera array, namely in camera array
The quantity of camera can be more than or equal to 2.
Certainly, need to be adjusted camera array system position etc. if carrying out object dimensional modeling every time, it is best
It is that camera is demarcated with turntable every time, determines initial projections matrix of the camera to the center of rotation of turntable.Such as in order to more
Three-dimensional modeling accurately is carried out to object, the object to be carried out three-dimensional modeling can be placed on turntable, and adjust camera battle array
The distance and each camera focus of the relative turntable of row, it is ensured that the article for carrying out three-dimensional modeling can be clear in each camera of camera array
Clear complete imaging.
For the determination of initial projections matrix, at least one demarcation chessboard rotated with turntable is set on turntable,
And carried out by following steps：
S110, control turntable is rotated, and each camera is obtained and demarcates chessboard respectively from two or more orientation in camera array
Shoot picture.It is to determine position orientation relation between camera and turntable by demarcating chessboard, it is necessary to from many in the method for the present embodiment
Individual angle shot multiple demarcate chessboards shooting picture.Control wherein to electrical turntable can be with the same stepping of control to camera
OK, also rotation control individually can be carried out to electrical turntable.And can be recorded for the rotational angle of electrical turntable, for
Demarcation chessboard according to shooting in picture carries out the position relationship between camera and chessboard and camera and electrical turntable and is demarcated
When, play auxiliary.But the rotational angle of electrical turntable can not also be recorded, only according to the multiple angles for shooting
The position relationship that carries out between camera and electrical turntable of shooting picture demarcated.
It also should be noted that, in order to be determined between camera and electrical turntable according to the demarcation chessboard shot in picture
Position relationship, at least provided with a demarcation chessboard not vertical with the table top of electrical turntable in the present embodiment.And can also
One demarcation chessboard that can be photographed by all cameras is only set, and the demarcation chessboard does not hang down with the table top of electrical turntable
Directly.Position between only determining multiple cameras according to the position for shooting the demarcation chessboard in picture in follow-up pose calibration process
Relation between relation and camera and electrical turntable.And in other embodiments, it is also possible to two or more is set and demarcates chessboard, its
In at least one can by camera array in all cameras photograph, for determining the position relationship between camera.And at least
One be not orthogonal to the demarcation chessboard of electrical turntable table top can by camera array in a camera photograph, for determining this
Position relationship between camera and electrical turntable.
And the quantity and the orientation of shooting of the shooting picture specifically to be shot, can be configured as needed, in order to reach
The demarcation of more accurate turntable and camera, can carry out as far as possible multi-faceted picture shooting, can such as carry out 8 orientation or more multi-party
The shooting picture of position.It is of course also possible to only carry out two shootings of orientation picture.
S120, determines that the position between position relationship and camera between each camera and demarcation chessboard is closed according to picture is shot
System.
With reference to description above, in this step, if demarcating chessboard only one of which, according to the bat shot from multiple orientation
Picture is taken the photograph, camera and the position relationship demarcated between chessboard is determined, and according to the position between every camera and the demarcation chessboard
Relation determines the position relationship between multiple cameras.
And demarcate chessboard for for the moment, may be selected one of camera as initial position camera, determine the camera and certain
Position relationship between one demarcation chessboard.And further can combine it is another demarcation chessboard determine other cameras and foregoing camera it
Between position relationship.Can be subsequently that these position relationships for determining are further analyzed, finally demarcate each camera and electric rotating
Position orientation relation between platform.
S130, shoots picture and demarcates the three-dimensional world coordinate system that chessboard determines by two or more, determines turning for turntable
Dynamic center.
In this step, the center of rotation of identified turntable is the three-dimensional world coordinate system based on demarcation chessboard, wherein,
When only a demarcation chessboard is set on electrical turntable, the center of rotation is based on unique demarcation chessboard and determines, and when electricity
When two or more demarcation chessboard is set on dynamic turntable, the chessboard of demarcating being based in this step is the initial bit selected in step S200
Put the camera corresponding to camera and the demarcation chessboard demarcated in chessboard position relationship.And this step finally determine turntable turn
Dynamic center is the center of rotation based on world coordinate system.
S140, by the rotation of position relationship and turntable between camera and position relationship, the camera demarcated between chessboard
Center determines the position orientation relation between camera and turntable.
Turntable center is finally determined with reference to chessboard is demarcated, thus also can determine that turntable center and demarcate chessboard determines three
Tie up world coordinate system position relationship, in conjunction with camera and demarcate chessboard between position relationship, can finally determine camera with
Position relationship between the center of rotation of turntable, that is, determine the position orientation relation between camera and turntable.Further, because
Position relationship in camera array between each camera is determined by shooting picture, may thereby determine that between each camera and turntable
Position relationship.Implementation process it is simple, it is necessary to hardware device low cost, and simple installation.And clapped by multi-faceted picture
Secondary computer high-precision image processing is taken the photograph, can realize that high accuracy camera is demarcated with electrical turntable position orientation relation.
Wherein in one embodiment, as shown in Fig. 2 setting two demarcation chessboards, a level calibration on turntable 200
Chessboard 002 and a vertical demarcation chessboard 001.Angle between level calibration chessboard 002 and turntable is less than 90 degree, preferably pastes
Nearly 0 degree.In time installation process, level calibration chessboard 002 can be made to be fitted with the table top of electrical turntable.And level calibration
Chessboard can be photographed by least one camera, for determining that the position between the initial position camera and level calibration chessboard is closed
System.Demarcate vertically chessboard 3-1 can by camera array in all cameras photograph, for determining that the position between each camera is closed
System, is especially to determine in camera array the position relationship between other cameras and the initial position camera.
And in an instantiation, it is provided for demarcating the vertical demarcation chessboard 001 and electricity of position relationship between each camera
The table top of dynamic turntable is perpendicular, i.e., demarcate chessboard 001 vertically with turntable table top into an angle of 90 degrees.The setting can be substantially reduced subsequently
The difficulty of image procossing, is easy to determine the position relationship between camera by picture, and it is that position relationship determines to improve image procossing
Efficiency.
When demarcation chessboard is set, the photocentre direction of camera is adjusted with just to rotation chessboard.Appropriate regulation camera is corresponding
Focal length, enables turntable equal energy blur-free imaging under each camera, and sufficiently cover whole image plane as far as possible.By stereo calibration plate
(demarcation chessboard) is placed on turntable, and chessboard in-plane is tried one's best towards direction where array camera, manually adjusts its corresponding
Position, it is ensured that camera 3-1 can simultaneously be clearly apparent level calibration chessboard surface and demarcate chessboard surface vertically, and camera 3-1 is relative
Level calibration chessboard visual angle inclines can not be too big, to ensure accurately identifying and extracting for follow-up chessboard angle point.To ensure phase simultaneously
Other phase functions in machine array are clearly apparent demarcates chessboard surface vertically.Then the rotation of turntable and the candid photograph work(of camera are utilized
Can, when turntable often turns an angle, two cameras synchronize candid photograph uncalibrated image.
More specifically, as a kind of embodiment, when picture shooting is carried out, control turntable is rotated, respectively from turntable
8 different angles synchronously capture and obtain shooting images, and ensure all 8 width images for obtaining, camera 3-1 can clearly see
To chessboard angle point is horizontally and vertically demarcated, other phase functions are clearly apparent demarcates chessboard angle point vertically.So as to calibration for cameras battle array
Position orientation relation in row between all cameras and turntable, determines initial projections matrix of the camera with respect to the center of rotation of turntable
After getting the initial projections matrix of camera, then the object of modeling will be needed to be put on the table top of electrical turntable, made
Object is rotated with turntable, and continues executing with step S200.
S200, control turntable rotates multiple angles around center of rotation, and obtains the rotation of camera in each rotational angle
The rotation of projection matrix and article shoots picture.
When carrying out object modeling, control turntable is rotated, and is often rotated an angle and is all controlled camera to be taken pictures, and obtains the angle
The rotation for rotating article in projection matrix and the angle on degree shoots picture.And, in order to carry out the accurate three-dimensional of article
Modeling, preferably obtains corresponding rotation projection matrix and rotation shoots picture from more than 3 rotational angles.And captured rotation
Shooting picture should be able to cover all directions of modeled article.
The quantity of specific shooting angle can according to demand and the treatment effeciency of host computer (computer) is determined.Preferably
, 8 rotations of rotational angle can be carried out and shoot picture, and be rotated projection matrix determination accordingly.
Specifically, each rotational angle is recorded when carrying out and rotating control to turntable, with reference to initial projections matrix
And the angle for rotating rotate the calculating of projection matrix, and camera is controlled to obtain the shooting picture of the rotation under the angle.
S300, three-dimensional modeling is carried out according to rotating projection matrix and rotating shooting picture using SIFT feature, obtains article
Threedimensional model.
After the rotation that all angles obtain the article to be modeled shoots picture, according to the picture and correspondence of all shootings
The rotation projection matrix of picture carries out three-dimensional modeling to article.
The method of the three-dimensional modeling based on turntable of the present embodiment, under determining the angle with reference to accurate turntable rotational angle
Camera and carries out three-dimensional modeling relative to the rotation projection matrix of turntable pivot for each angle item pictures, due to accurate
The utilization of rotational angle, reduces dependence of the SIFT feature extraction to article textural characteristics.Can be using the method to weak texture
The article of characteristic carries out effective three-dimensional modeling.
As shown in figure 3, the method for the three-dimensional modeling based on turntable in another embodiment, except comprising abovementioned steps S100~
It is further comprising the steps of outside S300.
S400, the texture image corresponding relation between shooting picture according to modeling gained three-dimensional point cloud and rotation, to article
Threedimensional model processed, obtain the very color threedimensional model of article.
After the rotation projection matrix for obtaining camera under different angle positions, with reference to the projection shooting figure obtained under the position
Piece, you can find match point using SIFT feature detection, realize the three-dimensional reconstruction of class SFM, and carry out accurate texture mapping, most
Come true color threedimensional model throughout one's life.
In an instantiation, for three-dimensional modeling effect more preferably, as shown in figure 4,3 cameras are included in camera array,
Respectively 3-1,3-2 and 3-3, and the shooting background plate 400 of pure color is set away from the side of camera array in turntable 200.And
When the rotation for carrying out turntable 200 is controlled, turntable 200 around center of rotation in the range of 360 degree of turning circumference with a fixed angles
Spend for step-length is rotated, i.e., the angle between the adjacent rotational angle of any two is equal, consequently facilitating subsequent rotation is projected
The calculating of matrix.
When carrying out initial projections matrix and rotating projection matrix calculating, a demarcation chessboard vertically is set on turntable table top
With a level calibration chessboard, process as shown in figure 5, being obtained by above-mentioned three camera (camera 3-1, camera 3-2 and camera 3-3)
Chessboard vertical calibrating image, with the plane checkerboard calibration method of Zhang Zhengyou, while calibrating the intrinsic parameter K of three cameras3-1,
K3-2, K3-3, and the mutual position orientation relation [R between upper camera 3-1 relatively middle camera 3-2 and lower camera 3-312 T12], [R13
T13]。
Using upper camera 3-1 to the visuality of horizontal chessboard plane, the position between horizontal chessboard and upper camera 3-1 is calibrated
Relation, then obtains the pivot O of chessboard precise rotating platform rotation by horizontal chessboard with the rotation of turntablec.And finally give
Projection matrix [Rs of the upper camera 3-1 with respect to turntable center1' T1'].Then three cameras position relationship [R to each other is utilized12
T12], [R13 T13], and then the transformation relation [R of middle camera 3-2 and lower camera 3-3 with respect to turntable center can be obtained2' T2'] and
[R3' T3']。
By known intrinsic parameter and outer parameter, three cameras are to the first of turntable center world coordinate system under can obtaining the position
Beginning projection matrix is respectively and is：Camera 3-1 projection matrixes：P3-1 0=K3-1[R1' T1']；Camera 3-2 projection matrixes P3-2 0=K3-2
[R2' T2']；Camera 3-3 projection matrixes P3-3 0=K3-3[R3' T3']。
When precise rotating platform is around its center coordinate system WcZ axis with when θ angles rotate, from relative motion
Angle, it is believed that be that camera is rotated centered on turntable rotating shaft, obtaining rotational transformation matrix by rotational angle theta is
When turntable carries out 360 ° of rotations with rotational angle theta as step-length, a series of different corner positions can be obtained
θ is put, 2 θ ..., n θ, n are the quantity of rotational angle.And then corresponding rotational transformation matrix under all positions can be obtainedR2θ=Rθ·Rθ, R3θ=Rθ·Rθ·Rθ,
When camera does around turntable center and rotates, corresponding throwing under camera difference corner can be obtained by above-mentioned spin matrix
Shadow matrix.As above a series of projection matrixes of camera 3-1 are：P3-1 0=K3-1[R1' T1'], P3-1 1=K3-1[R1'·Rθ T1'],
P3-1 2=K3-1[R1'·R2θ T1'] ..., P3-1 n=K3-1[R1'·Rnθ T1']。
The sequence of projections matrix of camera 3-2 in diverse location can similarly be obtainedP3-2 1=
K3-2[R2'·Rθ T2'], P3-2 2=K3-2[R2'·R2θ T2']…P3-2 n=K3-3[R2'·Rnθ T2']；And lower camera 3-3
Sequence of projections matrix P3-3 0=K3-3[R3' T3'], P3-3 1=K3-3[R3'·Rθ T3'], P3-3 2=K3-3[R3'·R2θ T3']…
P3-3 n=K3-3[R3'·Rnθ T3']。
Camera is controlled to take pictures object in each rotational angle.As a kind of embodiment, control camera battle array
Each 50 width that shot to modeled object of every camera in row rotate shooting picture.
It is follow-up that thing is carried out in the rotation projection matrix of different rotational angles and corresponding rotation shooting picture according to each camera
The three-dimensional modeling of body.
It is further to note that in the initial position of turntable, it is also possible to carry out the picture shooting of object, and as rotation
Shoot one of picture.
Based on same inventive concept, a kind of device of the three-dimensional modeling based on turntable is also provided, because this device solves to ask
The principle of topic is similar to a kind of foregoing method of the three-dimensional modeling based on turntable, therefore, the implementation of the device can be according to foregoing
The specific steps of method are realized, repeat part and repeat no more.
The device is used to carry out three-dimensional modeling to the article being placed on turntable by camera array, as shown in fig. 6, wherein
The device of the three-dimensional modeling based on turntable of one embodiment includes：Initial matrix acquisition module 100, rotation control module 200
And three-dimensional modeling module 300.Wherein, the initial matrix acquisition module 100, for obtaining, each camera in camera array is relative to be turned
The initial projections matrix of the center of rotation of platform；The rotation control module 200, for controlling turntable to rotate many around center of rotation
Individual angle, and shoot picture in the rotation for rotating projection matrix and article that each rotational angle obtains camera；The three-dimensional is built
Mould module 300, three-dimensional modeling is carried out for shooting picture according to rotation projection matrix and rotation using SIFT feature, obtains article
Threedimensional model.And comprising more than two cameras in the camera array for carrying out used during three-dimensional modeling system.
And preferably, 3 cameras are set in camera array.
The device is by by means of accurate turntable corner information, realizing automatic, the accurate three-dimensional reconstruction of target object.
It weakens the requirement of image texture, and avoids tradition based on estimating phase using characteristics of image during 3-dimensional reconstruction
The unstability of machine inside and outside parameter, and the picture of modeling target under multiple difference angles can be collected using three cameras simultaneously, carry
Take true yardstick, with speed is fast, with strong points, low cost, high precision, small splicing accumulated error the characteristics of.
As shown in fig. 7, the device of the three-dimensional modeling based on turntable of one of embodiment, except comprising preceding embodiment institute
Outside initial matrix acquisition module 100, rotation control module 200 and the three-dimensional modeling module 300 stated, also including texture processing module
400, for according to the texture image corresponding relation between modeling gained three-dimensional point cloud and rotation shooting picture, to the three-dimensional of article
Model is processed, and obtains the very color threedimensional model of article.The automatic mapping for carrying out surface texture color character.
Wherein in one embodiment, when three-dimensional modeling is carried out, setting at least one turns with turntable on turntable
Dynamic demarcation chessboard, for setting up initial projections matrix, specifically, as shown in figure 8, initial matrix acquisition module 100 includes figure
Piece shoots control submodule 110, position relationship determination sub-module 120, center of rotation determination sub-module 130 and location position submodule
Block 140.Wherein, the picture shooting control submodule 110, for controlling camera to obtain demarcation chess respectively from two or more orientation
The shooting picture of disk；The position relationship determination sub-module 120, for determining camera according to shooting picture and demarcating between chessboard
Position relationship and camera between position relationship；The center of rotation determination sub-module 130, for being shot by two or more
The three-dimensional world coordinate system of picture and demarcation chessboard, determines the center of rotation of turntable；The location position submodule 140, is used for
Camera phase is determined by the position relationship and the center of rotation of turntable between camera and position relationship, the camera demarcated between chessboard
To the initial projections matrix of the center of rotation of the turntable.
The position relationship scaling method of this camera and turntable using minimum hardware cost realize to camera-turntable it
Between Accurate Calibration.
It will appreciated by the skilled person that all or part of flow in realizing above-described embodiment method can lead to
Computer program is crossed to instruct the hardware of correlation to complete, described program can be stored in a computer read/write memory medium
In, the program is upon execution, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, described storage medium can be magnetic
Dish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access
Memory, RAM) etc..
Embodiment described above only expresses several embodiments of the invention, and its description is more specific and detailed, but simultaneously
Therefore the limitation to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Shield scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of method of automatic data collection based on turntable and three-dimensional modeling, for being turned to being placed on by camera array
Article on platform carries out three-dimensional modeling, it is characterised in that methods described includes：
Obtain the initial projections matrix of the center of rotation of the relatively described turntable of each camera in camera array；
Control the turntable to rotate multiple angles around center of rotation, and thrown in the rotation that each rotational angle obtains the camera
The rotation of shadow matrix and the article shoots picture；
Shoot picture according to the rotation projection matrix and the rotation carries out three-dimensional modeling using SIFT feature, obtains the thing
The threedimensional model of product；And two or more camera is included in the camera array.
2. method according to claim 1, it is characterised in that methods described also includes：
Texture image corresponding relation between shooting picture according to modeling gained three-dimensional point cloud and the rotation, to the article
Threedimensional model is processed, and obtains the very color threedimensional model of the article.
3. method according to claim 1, it is characterised in that the angle phase between the adjacent rotational angle of any two
Deng.
4. method according to claim 1, it is characterised in that set away from the side of the camera array in the turntable
Pure color shooting background plate.
5. method according to claim 1, it is characterised in that the quantity of camera is more than or equal to 2 in the camera array.
6. method according to claim 1, it is characterised in that turned with turntable by setting at least one on turntable
Dynamic demarcation chessboard, the initial projections matrix of the center of rotation of the relatively described turntable of each camera in acquisition camera array, including with
Lower step：
Control turntable is rotated, and each camera obtains the shooting figure of the demarcation chessboard from two or more orientation respectively in camera array
Piece；
Determine that the position between position relationship and camera between each camera and the demarcation chessboard is closed according to the shooting picture
System；
By shooting the three-dimensional world coordinate system that picture and the demarcation chessboard determine described in two or more, the turntable is determined
Center of rotation；
In rotation by position relationship and the turntable between position relationship, the camera between camera and the demarcation chessboard
The heart determines the initial projections matrix of the center of rotation of the relatively described turntable of each camera.
7. method according to claim 6, it is characterised in that two demarcation chessboards, a level mark are set on turntable
Determine chessboard and one is demarcated chessboard vertically, the angle between the level calibration chessboard and the turntable is less than 90 degree, and described
Level calibration chessboard can be photographed at least by a camera, it is described it is vertical demarcate chessboard can by camera array in all phases
Machine is photographed；And
The level calibration chessboard fits with the turntable table top；The vertical demarcation chessboard is with the turntable table top into 90 degree
Angle；The shooting picture for demarcating chessboard is obtained from 8 different orientation.
8. a kind of device of the three-dimensional modeling based on turntable, for carrying out three to the article being placed on turntable by camera array
Dimension modeling, it is characterised in that described device includes：
Initial matrix acquisition module, the initial projections of the center of rotation for obtaining the relatively described turntable of each camera in camera array
Matrix；
Control module is rotated, for controlling the turntable to rotate multiple angles around center of rotation, and is obtained in each rotational angle
Take the rotation shooting picture for rotating projection matrix and the article of the camera；
Three-dimensional modeling module, three are carried out for shooting picture according to the rotation projection matrix and the rotation using SIFT feature
Dimension modeling, obtains the threedimensional model of the article；
Two or more camera is included in the camera array.
9. device according to claim 8, it is characterised in that also including texture processing module, for according to modeling gained
Texture image corresponding relation between three-dimensional point cloud and rotation shooting picture, at the threedimensional model of the article
Reason, obtains the very color threedimensional model of the article.
10. device according to claim 8, it is characterised in that when three-dimensional modeling is carried out, at least is set on turntable
The individual demarcation chessboard rotated with turntable, for setting up initial projections matrix, the initial matrix acquisition module includes：
Picture shooting control submodule, for controlling camera array in each camera obtain the demarcation respectively from two or more orientation
The shooting picture of chessboard；
Position relationship determination sub-module, for determining the position between each camera and the demarcation chessboard according to the shooting picture
Position relationship between relation and camera；
Center of rotation determination sub-module, for by shooting the three-dimensional generation that picture and the demarcation chessboard determine described in two or more
Boundary's coordinate system, determines the center of rotation of the turntable；
Location position submodule, for by the position relationship between camera and the demarcation chessboard, the position between the camera
Put relation and the turntable center of rotation determine the relatively described turntable of the camera center of rotation initial projections matrix.
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