CN109146949A - A kind of 3D measurement and information acquisition device based on video data - Google Patents
A kind of 3D measurement and information acquisition device based on video data Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
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- G06T7/60—Analysis of geometric attributes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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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
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
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- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/18—Eye characteristics, e.g. of the iris
- G06V40/193—Preprocessing; Feature extraction
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Abstract
Wherein, measuring device includes: that video data provides device to the relevant apparatus such as the 3D measuring device that the present invention provides a kind of based on video data and information acquisition device, for providing the video data including object；Video process apparatus, for handling the video data, to obtain multiple images from the video data；Image processing apparatus obtains the 3D information of object, measuring device, according to the geometric dimension of the 3D information measurement object of object for handling described multiple images.It notices for the first time and proposes to synthesize the occasion that 3D is not particularly suited for certain movabilities, easily-deformable object and image capture device have been fixed in such a way that camera shoots picture.And propose to carry out 3D synthesis using video data, acquisition speed is improved, object interior movability and deformation when shooting are avoided.Meanwhile the hardware resource of video acquisition is made full use of, it avoids repeating to install the raising of bring cost.
Description
Technical field
The present invention relates to object 3D field of measuring technique, in particular to carry out object 3D acquisition and length etc. using video
Geometric dimension field of measuring technique.
Background technique
3D acquisition at present/measuring device mainly utilizes camera around object rotation acquisition object multiple pictures, to synthesize
The 3D rendering of object, and the measurement such as object length, profile is carried out using 3D point cloud data.In this process, it is desirable that object appearance
State is relatively fixed.If in shooting process, object is mobile, or deformation occurs, then the multiple pictures that will lead to shooting are difficult to synthesize
3D rendering.This requirement is easier realization in general.
However, for example carrying out the 3D acquisition and measurement of iris, micro-lens shooting is generallyd use, camera is shooting different photographs
Need to shoot around iris in different location when piece, but the variation of position cause micro-lens to change position every time will be right manually
It is burnt.It is elongated to will lead to entire shooting time in this way.But in this process, since the time is longer, eyes are easy to rotate, and cause
The plurality of pictures of shooting is not under the same posture of iris, to influence 3D synthesis.That is, shooting some movabilities,
When easily-deformable object, traditional approach is difficult to accurate 3D synthesis, to affect synthetic effect and measurement accuracy.
In addition, many occasion video cameras are more universal at present, for example, in access control system, in safety check monitoring, in bank ATM
Monitored in automatic teller machine, in traffic offence etc., it is all made of video camera and records object by way of video.Therefore, if it is desired to
3D acquisition, measurement, identification and comparison are carried out in these occasions then to need that camera additionally is installed, and cause larger cost.
Under normal conditions, mainly for fixed still life, the limitation in this application is hindered for 3D acquisition and measuring technique
The discovery of above-mentioned technical problem does not more attempt the motivation for solving the technical problem.
Summary of the invention
In view of the above problems, it proposes on the present invention overcomes the above problem or at least be partially solved in order to provide one kind
The 3D based on video data for stating problem is measured and information acquisition device.
The 3D measuring device based on video data that the present invention provides a kind of, including
Video data provides device, for providing the video data including object；
Video process apparatus, for handling the video data, to obtain multiple images from the video data；
Image processing apparatus obtains the 3D information of object for handling described multiple images；
Measuring device, for the geometric dimension according to the 3D information measurement object of the object.
The present invention also provides a kind of 3D information acquisition device based on video data, including video data provide device,
For providing the video data including object；
Video process apparatus, for handling the video data, to obtain multiple images from the video data；
Image processing apparatus obtains the 3D information of object for handling described multiple images.
Optionally, in described multiple images, the target object area of at least two images partially overlaps.
Optionally, it includes image collecting device that the video data, which provides device,.
Optionally, the video data is generated by the pickup area of image collecting device and the relative motion of object.
Optionally, it includes the direct interception image from video data that multiple images are obtained from the video data, or will
Interception image after compressed video data restores.
Optionally, the video data provides device and provides one or more video datas.
Optionally, when video data, which provides device, provides multiple video datas, for obtaining the more of object 3D information
A image comes from the same video data, or comes from different video data.
Optionally, the video frequency data frame rate is greater than 5 frames/second.
Optionally, the acquisition position of the two adjacent images in described multiple images at least meets following condition:
H* (1-cosb)=L*sin2b；
A=m*b；
0<m<0.8
Wherein L is distance of the image collecting device to object, and H is object actual size in acquired image, and a is
Two neighboring location drawing picture acquisition device optical axis included angle, m are coefficient.
Optionally, adjacent three positions in described multiple images meet three images acquired on corresponding position at least
There is the part for indicating object the same area.
The present invention also provides a kind of 3D information comparison device, including described in any one based on video data
3D information acquisition device.
The present invention also provides a kind of mating object generating means of object, using described in any one based on view
The 3D information at least one region of the object that the 3D information acquisition device of frequency evidence obtains generates and object corresponding region
The mating object matched.
The present invention also provides a kind of 3D information acquisition method based on video uses above-mentioned any one device to obtain mesh
Mark the 3D information of object.
Inventive point and technical effect
1, it notices for the first time and proposes that synthesizing 3D in such a way that camera shoots picture is not particularly suited for certain movabilities, mutability
The occasion that the object and image capture device of shape have been fixed.And propose to carry out 3D synthesis using video data, improve acquisition
Speed avoids object interior movability and deformation when shooting.Meanwhile the hardware resource of video acquisition is made full use of, avoid weight
Installation bring cost improves again.
2, according to repetition test, the optimized parameter range using video data synthesis 3D information is proposed, to improve
Synthetic effect and measurement accuracy, and the motion conditions of object can be taken into account.
3, the prior art mainly passes through HardwareUpgring and stringent calibration for the promotion of synthetic effect, does not have in the prior art
Angle position when any enlightenment can be taken pictures by changing video camera guarantees the effect and stability of 3D synthesis, more without specific
The condition of optimization.Guarantee the effect and stabilization of 3D synthesis present invention firstly provides angle position when optimization camera photography
Property, and by repetition test, the best practices condition that camera position needs to meet is proposed, 3D synthesis is substantially increased
Effect and composograph stability.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 shows the schematic diagram of the 3D information acquisition device according to an embodiment of the invention based on video data；
A kind of specific reality of Fig. 2 shows the according to an embodiment of the invention 3D information acquisition device based on video data
Apply the schematic diagram of mode；
It is another specific real that Fig. 3 shows the 3D information acquisition device according to an embodiment of the invention based on video data
Apply the schematic diagram of mode；
Fig. 4 shows a kind of specific reality of the 3D information acquisition device based on video data according to another embodiment of the present invention
Apply the schematic diagram of mode；
Fig. 5 shows a kind of specific reality of the 3D information acquisition device based on video data of another embodiment according to the present invention
Apply the schematic diagram of mode；
Description of symbols:
100 video datas provide device,
1000 video cameras,
200 video process apparatus,
300 image processing apparatus,
101 mobile devices,
102 rotating devices,
400 range units,
1011 tracks,
1012 adjustment devices.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
Embodiment 1
It is obtained in order to solve the above technical problems, one embodiment of the invention provides a kind of 3D information based on video data
Take/measuring device.As shown in Figure 1, specifically including: video data provides device 100, video process apparatus 200, image procossing dress
Set 300.
Video data provides device 100, can be video camera, the camera with camera function, mobile phone, plate, monitoring
Device etc. includes the video of object for the shooting of alignment target object, generates video data, and video data is sent at video
Manage device 200.Above-mentioned video data provides device 100 and can arrange in pairs or groups as needed various camera lenses, such as infrared lens, visible light microscopic
Head, remote zoom lens, wide-angle lens, Macro Lens head etc..Above-mentioned video data provide device 100 can also for memory, with depositing
The processor etc. of function is stored up, storage inside has the video data including object.
By taking video camera as an example, in one case, as shown in Fig. 2, video camera 1000 is mounted in mobile device 101, move
Dynamic device 101 can be moved along track 1011, to drive 1000 surrounding target object of video camera to rotate, so that shooting includes mesh
Mark the video of object different angle.Mobile device 101 or mechanical arm drive 1000 surrounding target of video camera by mechanical arm
Object rotation.
In one case, as shown in figure 3, video camera 1000 is mounted on rotating device 102, rotating device 102 is in
Mandrel drives video camera 1000 to rotate, so that shooting includes the video of object different angle.
In one case, video camera 1000 is fixed, and object (such as human body, head) is mobile or rotates, so that camera shooting
Machine 1000 can take the video comprising object different angle.
Video process apparatus 200 can be the processor comprising program, computer, mobile phone, plate etc., for receiving camera shooting
The video data that machine 1000 is sent, and multiple images are obtained from above-mentioned video data.Processing method includes:
Step 1: reading video data；
Step 2: obtaining the frame number of video data.It can use the frame number that software command obtains video data, while can also
Voluntarily to be provided by video data.
Step 3: according to frame number, framing being carried out to video data, circulation extracts every frame data；
Step 4: image data is recovered according to every frame video data.
It can be realized by some program codes by obtaining image in video, such as:
Particularly, the conversion of video-picture can also be carried out with the mode of video interception in some cases.In some feelings
Under condition, image is recovered after video data can also being decompressed.
Image processing apparatus 300 obtains the 3D information of object for handling above-mentioned multiple images, i.e., according to above-mentioned multiple
The overlapped part of image, all or part of by them are stitched together, and realize the synthesis of 3D information.The method of image mosaic
Include:
(1) multiple images are handled, extracts respective characteristic point；The feature of respective characteristic point can in multiple images
To be retouched using SIFT (Scale-Invariant Feature Transform, scale invariant feature conversion) Feature Descriptor
It states.SIFT feature description has 128 feature description vectors, and the 128 of any characteristic point can be described on direction and scale
The feature of a aspect significantly improves the precision to feature description, while Feature Descriptor has independence spatially.
(2) characteristic point of the multiple images based on extraction, feature point cloud data and the iris for generating face characteristic respectively are special
The feature point cloud data of sign.It specifically includes:
(2-1) carries out the spy of plurality of pictures according to the feature of the respective characteristic point of each image in the multiple images of extraction
The matching for levying point, establishes matched facial feature points data set；According to the respective feature of each image in the multiple images of extraction
The feature of point, carries out the matching of the characteristic point of plurality of pictures, establishes matched iris feature point data collection；
(2-2) according to the optical information of camera, obtain multiple images when camera different location, calculate each position phase
Relative position of the machine relative to characteristic point spatially, and the space of the characteristic point in multiple images is calculated depending on the relative position
Depth information.Similarly, the spatial depth information of the characteristic point in multiple images can be calculated.Bundle adjustment can be used in calculating
Method.
The spatial depth information for calculating characteristic point may include: spatial positional information and colouring information, that is, can be feature
Point is in the X axis coordinate of spatial position, characteristic point in the Y axis coordinate of spatial position, characteristic point in the Z axis coordinate of spatial position, spy
Levy the channel B of the colouring information of the value in the channel R of the colouring information of point, the value in the channel G of the colouring information of characteristic point, characteristic point
Value, the value in the channel Alpha of colouring information of characteristic point etc..In this way, containing feature in the feature point cloud data generated
The spatial positional information and colouring information of point, the format of feature point cloud data can be as follows:
X1 Y1 Z1 R1 G1 B1 A1
X2 Y2 Z2 R2 G2 B2 A2
……
Xn Yn Zn Rn Gn Bn An
Wherein, Xn indicates characteristic point in the X axis coordinate of spatial position；Yn indicates characteristic point in the Y axis coordinate of spatial position；
Zn indicates characteristic point in the Z axis coordinate of spatial position；Rn indicates the value in the channel R of the colouring information of characteristic point；Gn indicates feature
The value in the channel G of the colouring information of point；Bn indicates the value of the channel B of the colouring information of characteristic point；The color of An expression characteristic point
The value in the channel Alpha of information.
(2-3) generates object according to the spatial depth information of multiple images matched characteristic point data collection and characteristic point
The feature point cloud data of feature.
(2-4) constructs object 3D model according to feature point cloud data, to realize the acquisition of object point cloud data.
Collected object color, texture are attached on point cloud data by (2-5), form object 3D rendering.
Wherein it is possible to 3D rendering is synthesized using all images in one group of image, it can also be higher from wherein selection quality
Image synthesized.
Above-mentioned joining method is limited citing, however it is not limited to which this, several with good grounds multi-angle two dimensional images of institute generate three
The method of dimension image can be used.
According to experiment, the frame rate of the video can take into account synthesis quality in 5-500 frame/second, and can be to movement
Object accurately synthesized.Such as when shooting iris, human eye can rotate in spite of oneself, if frame per second is too low, repeatedly clap
The iris position arrived is not consistent, influences synthetic effect, therefore test of many times of the present invention is explored according to human eye movement's feature
The zone of reasonableness of the parameter, this is also one of inventive point of the invention.
Embodiment 2
In one case, as shown in figure 4, video data provide device 100 include multiple video camera 100A, 100B,
100C ... 100N, each video camera distinguish the video A of photographic subjects object, video B, video C ... video N from different directions.
Video process apparatus 200 extracts image A1, A2 ... An from video A respectively；From video B extract image B1,
B2…Bn；Image C1, C2 ... Cn are extracted from video C；... extracts image N1, N2 ... Nn from video N；Wherein N and n all generations
Table can according to need the number constantly increased.
Image processing apparatus 300 utilizes any some progress 3D figures in An, Bn, Cn ... .Nn in above-mentioned n group image
Piece synthesis.Any one picture that can choose in each video is synthesized, and also can choose the part figure in partial video
Piece is synthesized, that is to say, that from above-mentioned picture set, all or part of any image from different video of selection into
Row synthesis.Certainly, these pictures of selection should meet the coincidence of Partial Feature point.
Under special circumstances, object can deformation or movement, then multiple video camera 100A, 100B, 100C ...
100N respectively the video A of photographic subjects object, video B, video C ... video N from different directions when, should also records photographing start
The information such as time, frame per second.Video process apparatus 200 is extracting image A1, A2 ... An from video A respectively；It is mentioned from video B
Take image B1, B2 ... Bn；Image C1, C2 ... Cn are extracted from video C；... extracts the same of image N1, N2 ... Nn from video N
When, timestamp is stamped for every image, i.e., absolute time when video camera collects the image content you that.Image procossing dress
300 are set, 3D synthesis is carried out using the consistent image of timestamp in above-mentioned n group image, that is, guarantees multiple pictures for 3D synthesis
Information is absolute synchronization shooting.That is, even if the object of which movement in entire shooting process, each video camera can also be
Synchronization acquires the image information of the object moment all directions, to guarantee that synthesis is accurate.
Particularly, in this case, image processing apparatus 300 can synthesize the 3D rendering or 3D of multiple moment objects
Model, that is to say, that available object when shooting grow in a series of 3D renderings or 3D point cloud model.If continuously broadcast
It puts available object 3D rendering or 3D point cloud model changes with time.In this way, mesh can be recovered in security protection application
The movement posture of object 3D rendering or 3D point cloud model is marked, such as the posture of monitored someone's walking can be recovered, and this
Kind posture, can be shown with 3D, it can watch the posture that the people walks from any angle.In this way, for monitoring objective
Matching identification is not limited only to the information such as profile, characteristic point, surface texture, can also according to the 3D motion posture of monitoring objective into
Row.This is also one of inventive point of the invention.Certainly, such processing can bring increasing considerably for data processing amount, but simultaneously
Hardware computing capability can be improved in the modes such as row calculating, cloud computing, realizes above-mentioned target.
Embodiment 3
In above-mentioned multiple embodiments, video camera 1000 can using video camera it is general focus in real time by the way of shoot.
Meanwhile as shown in figure 5, in a certain position Location1, the measurement of range unit 400 is imaged in order to improve focusing speed
The a certain face region distance of machine 1000 and object is H1, and lens focus is F1 at this time；When video camera 1000 is located at another one
When setting Location12 or object and having rotated certain angle relative to video camera 1000, the measurement of range unit 400 is imaged
Another face region distance of machine 1000 and object is H2, and controller receives the data that range unit 400 is sent, and according to object
Away from-lens focus table (measurement obtains in advance) judgement focal length F2 that camera lens should have at this time, lens motor is controlled, so as to adjust
Lens focus is to F2.
Wherein range unit 400 can be the various types such as laser range finder, image rangefinder.It can individually become one
A module is also possible to a part of video camera 1000.
Other than distance measuring method, in position A2, it is Q1 that video camera 1000, which collects picture contrast, at this time processing unit
100 control lens motors rotations, adjustment lens focus becomes larger or becomes smaller so that after reaching a certain contrast Q2, no matter focal length again
Secondary increase or reduction, Q2 reduce, that is to say, that the contrast of Q2 is best.Focal length F2 is pinpointed focus at this time, with the focal length
Shoot this region apparent.
It is of course also possible to judge to readjust focal length by the collected object size variation of video camera 1000, make
Ratio of the object in 1000 visual field of video camera is obtained to remain unchanged.
The acquisition position of two adjacent images in above-mentioned multiple images at least meets following condition:
H* (1-cosb)=L*sin2b；
A=m*b；
0<m<0.8
Wherein L is distance of the image collecting device to object, and H is object actual size in acquired image, and a is
Two neighboring location drawing picture acquisition device optical axis included angle, m are coefficient.
For one video camera, H is object actual size in acquired image, and image is usually video camera at first
The picture shot when setting, the object in the picture have true geometric dimension (not being the size in picture), measure the ruler
Along the orientation measurement of first position to the second position when very little.Such as first position and the second position are the relationships moved horizontally,
So the size is measured along the horizontal cross of object.Such as the object left end that can show that in picture is A, it is most right
End is B, then measures the linear distance of A to B on object, is H.The measurement method can according to A, B distance in picture, in conjunction with
Camera lens focal length carries out actual distance calculation, and A, B can also be identified on object, direct using other measurement means
Measure AB linear distance.
A is two neighboring location drawing picture acquisition device optical axis included angle.
M is coefficient
Since article size, concave-convex situation are different, the value of a can not be limited with strict formula, needs rule of thumb to carry out
It limits.According to many experiments, the value of m preferably can be within 0.8 within 1.5.Specific experiment data are referring to such as
Lower table:
| Object | M value | Synthetic effect | Synthetic ratio |
| Human body head | 0.1、0.2、0.3、0.4 | It is very good | > 90% |
| Human body head | 0.5、0.6 | It is good | > 85% |
| Human body head | 0.7、0.8 | It is relatively good | > 80% |
| Human body head | 0.9、1.0 | Generally | > 70% |
| Human body head | 1.0、1.1、1.2 | Generally | > 60% |
| Human body head | 1.2、1.3、1.4、1.5 | Synthesis reluctantly | > 50% |
| Human body head | 1.6、1.7 | It is difficult to synthesize | < 40% |
After object and video camera determine, the value of a can be calculated according to above-mentioned empirical equation, it can be true according to a value
Determine the parameter of virtual matrix, i.e. positional relationship between matrix dot.
In general, virtual matrix is one-dimensional matrix, such as along the multiple matrix dots of horizontal direction arrangement (acquisition position
It sets).But when some target objects are larger, two-dimensional matrix is needed, then two adjacent in vertical direction positions equally meet
Above-mentioned a value condition.
Under some cases, even from above-mentioned empirical equation, also it is not easy to determine a value under some occasions, needs basis at this time
Experiment adjustment matrix parameter, experimental method are as follows: calculating prediction matrix parameter a according to above-mentioned formula, and according to matrix parameter control
Video camera processed is moved to corresponding matrix dot, such as video camera shoots picture P1 in position W1, is moved to shooting figure after the W2 of position
Piece P2, compare at this time whether have in picture P1 and picture P2 indicate object the same area part, i.e., P1 ∩ P2 non-empty (such as
Simultaneously include human eye angle part, but photograph taking angle is different), if readjusting a value without if, re-move to position
W2 ' repeats above-mentioned comparison step.If P1 ∩ P2 non-empty, video camera is continued to move to extremely according to a value (adjustment or unadjusted)
The position W3 shoots picture P3, and whether compare again has the portion for indicating object the same area in picture P1, picture P2 and picture P3
Divide, i.e. P1 ∩ P2 ∩ P3 non-empty.It recycles plurality of pictures to synthesize 3D, tests 3D synthetic effect, meet 3D information collection and measurement
It is required that.That is, the structure of matrix is determined by the position of video camera when acquisition multiple images, adjacent three positions
Meet three images acquired on corresponding position and at least there is the part for indicating object the same area.
Embodiment 4
In some cases, after 1000 run-home object of video camera, size accounting is lower in the picture for object, needs
Further camera lens, the resolution ratio of object when just can guarantee 3D synthesis in this way.
Therefore, it please refers to shown in Fig. 5, further includes adjustment device 1012, size accounting drives in the picture according to object
Device 1012 is adjusted, so that it drives video camera 1000 to the direction movement close to object or separate object.Adjust device
1012 between mobile device 101 and video camera 1000.Adjusting device 1012 can be flat for an axis motion platform, two axle movement
Platform, triaxial movement platform, four axes motion platform, 5-axis movement platform or six axis motion platforms.
Video camera 1000 includes lens driving motor, according to object size accounting drive motor in the picture, band index glass
Head is mobile, so that object size accounting in the picture is increased or reduced, so that ratio is appropriate.It is above and of the invention
Inventive point.
Object can be a physical objects in the present invention, or multiple objects constituent.
The 3D information of the object includes 3D rendering, 3D point cloud, 3D grid, part 3D feature, 3D size and all bands
There is the parameter of object 3D feature.
So-called 3D, three-dimensional refer to tri- directional informations of XYZ in the present invention, especially have depth information, and only
There is two-dimensional surface information that there is essential distinction.Also it is known as 3D, panorama, holography, three-dimensional with some, but actually only includes two-dimentional letter
Breath, does not especially include that the definition of depth information has essential distinction.
Pickup area described in the present invention refers to the range that image collecting device (such as camera) can be shot.
Image collecting device in the present invention can be CCD, CMOS, camera, video camera, industrial camera, monitor, camera shooting
Head, mobile phone, plate, notebook, mobile terminal, wearable device, smart glasses, smart watches, Intelligent bracelet and with figure
As acquisition function all devices.
The 3D information for the object multiple regions that above embodiments obtain can be used for being compared, such as identity
Identification.The 3D information of human body face and iris is obtained first with the solution of the present invention, and is stored it in server, as
Normal data.When in use, operating such as needing to carry out authentication and paid, opened the door, 3D acquisition device can be used
It is compared the 3D information for acquiring and obtaining human body face and iris again with normal data, compare successfully then allow into
Row acts in next step.It is appreciated that this compare the identification that can be used for the fixtures such as antique, the art work, i.e., first obtain
Antique, art work multiple regions 3D information as normal data, when needing to identify, again obtain multiple regions 3D letter
Breath, and be compared with normal data, it discerns the false from the genuine.
The 3D information for the object multiple regions that above embodiments obtain can be used for designing for the object, production, make
Make mating object.For example, obtaining human body head 3D data, it can be human design, manufacture more particularly suitable cap；Obtain human body head
Portion's data and eyes 3D data can be human design, the suitable glasses of manufacture.
Above embodiments obtain object 3D information can be used for the geometric dimension to the object, appearance profile into
Row measurement.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be practiced without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this specification.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of the various inventive aspects,
Above in the description of exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the disclosed method should not be interpreted as reflecting the following intention: i.e. required to protect
Shield the present invention claims features more more than feature expressly recited in each claim.More precisely, as following
Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following specific embodiment are expressly incorporated in the specific embodiment, wherein each claim itself
All as a separate embodiment of the present invention.
Those skilled in the art will understand that can be carried out adaptively to the module in the equipment in embodiment
Change and they are arranged in one or more devices different from this embodiment.It can be the module or list in embodiment
Member or component are combined into a module or unit or component, and furthermore they can be divided into multiple submodule or subelement or
Sub-component.Other than such feature and/or at least some of process or unit exclude each other, it can use any
Combination is to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosed
All process or units of what method or apparatus are combined.Unless expressly stated otherwise, this specification is (including adjoint power
Benefit require, abstract and attached drawing) disclosed in each feature can carry out generation with an alternative feature that provides the same, equivalent, or similar purpose
It replaces.
In addition, it will be appreciated by those of skill in the art that although some embodiments in this include institute in other embodiments
Including certain features rather than other feature, but the combination of the feature of different embodiment means in the scope of the present invention
Within and form different embodiments.For example, in detail in the claims, the one of any of embodiment claimed all may be used
Come in a manner of in any combination using.
Various component embodiments of the invention can be implemented in hardware, or to run on one or more processors
Software module realize, or be implemented in a combination thereof.It will be understood by those of skill in the art that can be used in practice
Microprocessor or digital signal processor (DSP) realize some or all portions in device according to an embodiment of the present invention
The some or all functions of part.The present invention is also implemented as a part or complete for executing method as described herein
The device or device program (for example, computer program and computer program product) in portion.It is such to realize program of the invention
It can store on a computer-readable medium, or may be in the form of one or more signals.Such signal can be with
It downloads from internet website, is perhaps provided on the carrier signal or is provided in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and ability
Field technique personnel can be designed alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference symbol between parentheses should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" located in front of the element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of several different elements and being come by means of properly programmed computer real
It is existing.In the unit claims listing several devices, several in these devices can be through the same hardware branch
To embody.The use of word first, second, and third does not indicate any sequence.These words can be explained and be run after fame
Claim.
So far, although those skilled in the art will appreciate that present invention has been shown and described in detail herein multiple shows
Example property embodiment still without departing from the spirit and scope of the present invention, still can according to the present disclosure directly
Determine or deduce out many other variations or modifications consistent with the principles of the invention.Therefore, the scope of the present invention is understood that and recognizes
It is set to and covers all such other variations or modifications.
Claims (14)
1. a kind of 3D measuring device based on video data, it is characterised in that: including
Video data provides device, for providing the video data including object；
Video process apparatus, for handling the video data, to obtain multiple images from the video data；
Image processing apparatus obtains the 3D information of object for handling described multiple images；
Measuring device, for the geometric dimension according to the 3D information measurement object of the object.
2. a kind of 3D information acquisition device based on video data, it is characterised in that: including
Video data provides device, for providing the video data including object；
Video process apparatus, for handling the video data, to obtain multiple images from the video data；
Image processing apparatus obtains the 3D information of object for handling described multiple images.
3. the 3D information acquisition device based on video data as claimed in claim 2, it is characterised in that: in described multiple images
In, the target object area of at least two images partially overlaps.
4. the 3D information acquisition device based on video data as claimed in claim 2, it is characterised in that: the video data mentions
It include image collecting device for device.
5. the 3D information acquisition device based on video data as claimed in claim 4, it is characterised in that: the video data by
The pickup area of image collecting device and the relative motion of object generate.
6. the 3D information acquisition device based on video data as claimed in claim 2, it is characterised in that: from the video data
Middle acquisition multiple images include the direct interception image from video data, or interception image after compressed video data is restored.
7. the 3D information acquisition device based on video data as claimed in claim 2, it is characterised in that: the video data mentions
One or more video datas are provided for device.
8. the 3D information acquisition device based on video data as claimed in claim 7, it is characterised in that: when video data provides
When device provides multiple video datas, the multiple images for obtaining object 3D information come from the same video data, or come
From different video data.
9. the 3D information acquisition device based on video data as claimed in claim 2, it is characterised in that: the video data frame
Rate is greater than 5 frames/second.
10. the 3D information acquisition device based on video as claimed in claim 4, it is characterised in that: in described multiple images
The acquisition position of two adjacent images at least meets following condition:
H* (1-cosb)=L*sin2b；
A=m*b；
0<m<0.8
Wherein L is distance of the image collecting device to object, and H is object actual size in acquired image, and a is adjacent
Two location drawing picture acquisition device optical axis included angles, m is coefficient.
11. the 3D information acquisition device based on video as claimed in claim 2, it is characterised in that: in described multiple images
Adjacent three positions meet three images acquired on corresponding position and at least there is the part for indicating object the same area.
12. a kind of 3D information comparison device, it is characterised in that: including described in the claim 1-11 any one based on view
The 3D information acquisition device of frequency evidence.
13. a kind of mating object generating means of object, it is characterised in that: using described in the claim 1-11 any one
The 3D information at least one region of object that obtains of 3D information acquisition device based on video data generate and object
The mating object that corresponding region matches.
14. a kind of 3D information acquisition method based on video, which is characterized in that using such as claim 1-11 any one device
Obtain the 3D information of object.
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