CN211085115U

CN211085115U - Standardized biological three-dimensional information acquisition device

Info

Publication number: CN211085115U
Application number: CN201922224596.4U
Authority: CN
Inventors: 左忠斌; 左达宇
Original assignee: Tianmu Aishi Beijing Technology Co Ltd
Current assignee: Tianmu Aishi Beijing Technology Co Ltd
Priority date: 2019-12-12
Filing date: 2019-12-12
Publication date: 2020-07-24
Anticipated expiration: 2029-12-12

Abstract

The utility model provides a standardized biological three-dimensional information acquisition device, which comprises a bearing device; the preset mark is presented on the bearing device and used for indicating the position of the target area of the bearing human body; and the image acquisition device is used for acquiring a plurality of human body target area images. Put forward for the first time in 3D collection, synthetic field, especially utilize the field of picture synthetic 3D who shoots at the multiposition to carry out the standardization of gathering, need stipulate certain standard promptly and gather and synthesize to make collection, synthetic precision higher, speed faster, and make the data of gathering more neat, the subsequent processing of being convenient for utilizes.

Description

Standardized biological three-dimensional information acquisition device

Technical Field

The utility model relates to a measure technical field, in particular to utilize standardized method to carry out target object length, appearance size measurement technical field.

Background

In performing object measurement, a mechanical method (e.g., a scale), an electromagnetic method (e.g., an electromagnetic encoder), an optical method (e.g., a laser range finder), and an image method are generally used. However, at present, a mode of synthesizing object 3D point cloud data by using a plurality of pictures and then measuring the length and the shape of the object is rarely adopted. Although this method can measure any size of the object after obtaining the 3D information of the object, there is a technical bias in the measurement field: such a measurement method is considered to be complicated, and the measurement speed is not fast and the accuracy is not high, and the main reason is that the synthesis algorithm is not optimized in place. But never mentions that the standard operation is carried out in the whole process of acquisition, synthesis and measurement, so that the accuracy and the speed of the acquisition, synthesis and measurement are improved.

When performing 3D measurements, it is necessary to first acquire 3D information. The currently common method includes using a machine vision mode to collect pictures of an object from different angles, and matching and splicing the pictures to form a 3D model. When pictures at different angles are collected, a plurality of cameras can be arranged at different angles of the object to be detected, and the pictures can be collected from different angles through rotation of a single camera or a plurality of cameras. However, both of these methods involve problems of synthesis speed and synthesis accuracy. The synthesis speed and the synthesis precision are a pair of contradictions to some extent, and the improvement of the synthesis speed can cause the final reduction of the 3D synthesis precision; to improve the 3D synthesis accuracy, the synthesis speed needs to be reduced, and more pictures need to be synthesized.

In the prior art, in order to simultaneously improve the synthesis speed and the synthesis precision, the synthesis is generally realized by a method of optimizing an algorithm. And the art has always considered that the approach to solve the above problems lies in the selection and updating of algorithms, and no method for simultaneously improving the synthesis speed and the synthesis precision from other angles has been proposed so far. However, the optimization of the algorithm has reached a bottleneck at present, and before no more optimal theory appears, the improvement of the synthesis speed and the synthesis precision cannot be considered.

In the prior art, it has also been proposed to use empirical formulas including rotation angle, object size, object distance to define camera position, thereby taking into account the speed and effect of the synthesis. However, in practical applications it is found that: unless a precise angle measuring device is provided, the user is insensitive to the angle and is difficult to accurately determine the angle; the size of the target is difficult to accurately determine, and particularly, the target needs to be frequently replaced in certain application occasions, each measurement brings a large amount of extra workload, and professional equipment is needed to accurately measure irregular targets. The measured error causes the camera position setting error, thereby influencing the acquisition and synthesis speed and effect; accuracy and speed need to be further improved.

In addition, when 3D acquisition is performed, images acquired by different devices and different environments are different, so that certain differences exist in 3D modeling synthesis. This is disadvantageous for large data collection, and results in substandard data and trouble in use. For example, when a large amount of identity information is collected, it is often desirable that the collected identity information is normative and uniform, which facilitates comparison processing of data in subsequent identity comparison. However, the prior art only proposes a general 3D acquisition method, does not relate to how to perform standardized acquisition, and does not propose from which angles to perform standardization, which brings trouble to large data acquisition and utilization. And the standardized acquisition can also enable the optimal standard to be applied to the acquisition process, so that the acquisition speed and the acquisition effect can be improved.

Therefore, the technical problems that ① can carry out standard data acquisition, ② can improve the synthesis speed and the synthesis precision, ③ is convenient to operate, professional equipment is not needed, excessive measurement is not needed, and the camera position can be quickly obtained are urgently needed to be solved.

SUMMERY OF THE UTILITY MODEL

In view of the above, the present invention has been made to provide a standardized biological three-dimensional information collecting apparatus that overcomes or at least partially solves the above problems.

The utility model provides a standardized biological three-dimensional information acquisition device, include

A carrying device;

the preset mark is presented on the bearing device and used for indicating the position of the target area of the bearing human body;

and the image acquisition device is used for acquiring a plurality of human body target area images.

Optionally, when the target area is a human head or face, the mark is a cross mark, the horizontal line of the cross mark is aligned with the canthi of the human eyes, and the vertical line of the cross mark is aligned with the nose.

Optionally, when the target area is a human eye, the horizontal line of the cross mark is aligned with the canthi of both eyes of the human, the vertical line is aligned with the nose, or the vertical line is aligned with the midpoint of the connecting line of the canthus in both eyes.

Optionally, when the target area is a human hand, the marking line is aligned with a finger midline or with a finger edge.

Optionally, when the target area is a human foot, the marking line is aligned with the edge of the foot; or the marking line is aligned with the middle line of one toe of the foot.

Optionally, there is a light source that provides uniform illumination.

Optionally, the system further comprises a ranging unit.

Optionally, an illumination detection unit is further included.

Optionally, the device further comprises a background plate opposite to the image acquisition device.

Optionally, the position of the image capturing device when capturing the plurality of images at least satisfies the following condition for two adjacent positions:

wherein L is the linear distance of the optical center of the image acquisition device 1 at two adjacent acquisition positions, f is the focal length of the image acquisition device 1, d is the rectangular length or width of the photosensitive element (CCD) of the image acquisition device 1, T is the distance from the photosensitive element of the image acquisition device 1 to the surface of the target along the optical axis, and T is an adjustment coefficient of < 0.603.

Invention and technical effects

1. Put forward for the first time in 3D collection, synthetic field, especially utilize the field of picture synthetic 3D who shoots at the multiposition to carry out the standardization of gathering, need stipulate certain standard promptly and gather and synthesize to make collection, synthetic precision higher, speed faster, and make the data of gathering more neat, the subsequent processing of being convenient for utilizes.

2. The method comprises the steps of setting a mark on a camera or a background, and adjusting the position of a target object to enable the preset feature of the target object to be aligned with the mark, so that the position of an image of the target object in a picture shot by the camera is ensured to be fixed, the arithmetic operation burden is reduced, and the synthesis speed is increased.

3. The plurality of images of the target object are collected at a plurality of fixed positions in a limited mode, so that the relation between the images is fixed during each collection, and a subsequent algorithm can be specially designed according to the fixed relation, so that the arithmetic burden of the algorithm is reduced, and the synthesis speed is increased. When the position is optimized, the angle and the target size do not need to be measured, and the applicability is stronger.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

fig. 1 is a schematic diagram of a standardized human body 3D information acquisition device in an embodiment of the present invention;

fig. 2 is another schematic view of the standardized human body 3D information collecting device according to the embodiment of the present invention;

fig. 3 is a third schematic view of the standardized human body 3D information acquisition device in the embodiment of the present invention;

fig. 4 is a schematic diagram of a mark shot on the head or face of a person in the embodiment of the present invention;

fig. 5 is a schematic diagram of a mark shot by a hand in an embodiment of the present invention;

description of reference numerals:

201 image acquisition device, 300 target object, 500 control device, 600 light source, 400 processor, 700 detection device, 601 sub light source, 602 integrated light source, 800 mark, 101 track, 100 image processing device, 102 mechanical moving device.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

The target object (for example, a person to be collected) is arranged in front of the background plate, and the background plate can be a pure-color background or a regular pattern background, so that the extraction of the edge of a subsequent picture is facilitated, and the operation speed is increased.

And setting light source parameters such as light source illumination intensity, color temperature and the like so that the illumination condition is a standardized condition.

And arranging a plurality of marks on a display, a camera reticle or a background plate, and prompting that the target object is aligned with the marks in a visual or program automatic detection mode. The body may be moved, for example, by a three-dimensional motion platform carrying the body. However, whether a person is standing or sitting, the person may tilt from side to side, for example, with asymmetric left and right shoulders. At this point the acquirer is required to direct the movement of the acquired person to maintain alignment with the mark.

The camera takes pictures at a plurality of positions around the person to be captured, which positions should satisfy predetermined standardized conditions (to be explained in detail below).

The image processing device preprocesses each image acquired by the camera, divides the image, extracts useful information parts in the image, removes useless information parts and forms a preprocessed image with a standardized size. And matching and synthesizing the plurality of preprocessed images by using a matching and synthesizing algorithm to form 3D point cloud information of the target object.

Examples

Standardized light source

A standardized human body 3D information acquisition device comprises an image acquisition device 201, a target object 300, a control device 500, a light source 600, a processor 400 and a detection device 700. Please refer to fig. 1 and fig. 2.

The object 300 may be an iris, a human face, a hand, or other human body organs or regions including biological features, or the entire human body, or may be the entire body or regions of various animals and plants, or may be an inanimate object having a contour (e.g., a watch).

The image capturing device 201 may be a multi-camera matrix, a fixed single camera, a video camera, a rotating single camera, or other devices capable of capturing images. Which is used to acquire an image of the target 300. Two-dimentional face is measured and is discerned collection, measurement, the discernment requirement that can't satisfy present high accuracy, consequently the utility model discloses it realizes three-dimensional iris collection to utilize the virtual camera matrix also to provide. At this time, the image capturing device 201 sends the captured multiple pictures to the processor 400 for image processing and composition (using a known method, such as a beam adjustment method, etc.), so as to form a three-dimensional image and point cloud data.

The light source 600 is used to provide illumination to the target 300, so that the region of the target to be collected is illuminated and the illumination is substantially the same. The light source 600 may include a plurality of sub-light sources 601, or may be an integral light source 602 that provides illumination to different areas of the target from different directions. Due to the concave-convex shape of the contour of the object, the light source 600 needs to provide illumination in different directions, so that the uniformity of the illumination of different areas of the object 300 can be realized. The light source 600 may be provided in various shapes according to the region of the object 300 to be collected. For example, if 3D information of a hand needs to be collected, the sub-light sources 601 of the light source 600 should form a full enclosure around the hand; if the 3D information of the face needs to be collected, the integral light source 602 of the light source forms a semi-surrounding structure around the face. It is understood that both the sub-light source 601 and the integrated light source 602 may exist not only in one section, and both may be used in combination with each other. For example, when acquiring a face in 3D, if only half a circle of light is emitted, the area of the face's chin will be shaded, resulting in different illumination. In this case, an integral light source or a sub-light source is disposed below the existing half-turn light source 602 to illuminate the chin area.

Preferably, for each sub-light source 601, its own light emission should also meet certain uniformity requirements. However, excessive requirements for uniformity of the sub-light sources 601 greatly increase the cost. According to a number of experiments, it is preferable that each of the sub-light sources has uniform illuminance within a half of the light emitting radius.

The detection device 700 is used to detect the illumination reflected by different areas of the object 300, for example, when the face is captured, the illumination is relatively low because the two sides of the nose, which are covered by the nose, receive less light. At this time, the detection device 700 receives the reflected light from the two sides of the nose, measures the illuminance or the intensity of the reflected light, and sends the measured illuminance or intensity to the controller 500, and at the same time, the controller 500 also sends the illuminance or intensity of the reflected light from the other parts of the face to the controller 500, and the controller 500 compares the illuminance or intensity of the multiple regions to distinguish regions with uneven illuminance/intensity (for example, two sides of the nose), and controls the corresponding sub-light sources 601 to increase the light intensity according to the information, for example, the sub-light sources 601 mainly irradiating the two sides of the nose increase the light intensity. Preferably, the sub-light sources 601 include a moving device, and the controller 500 may increase or decrease the light intensity or illumination of the corresponding area by controlling the position and angle of the sub-light sources. The detection device 700 detects the light intensity/illumination reflected by the object 300, so that the light intensity/illumination of the light source received by the approximate object 300 is acceptable through a large amount of experimental verification (the error rate is within 10%) under the condition that the overall material of the object is approximate, and the control is simpler, so that the complexity of a control system is prevented. For example, when human face 3D information is collected, the light intensity received by the human face and the reflected light intensity have a relatively fixed relationship because the skin reflection characteristics are relatively consistent. Therefore, it is appropriate to use the detection device 700 to detect the intensity/illumination of the light reflected by the human face, which is one of the inventions of the present invention.

It is to be understood that the measuring device 700 may be further utilized to detect the intensity of the reflected light, the illuminance of the reflected light, the color temperature of the reflected light, the wavelength of the reflected light, the position of the reflected light, the uniformity of the reflected light, the sharpness of the reflected image, the contrast of the reflected image, and/or any combination thereof of the target 300, so as to control the intensity, the illuminance, the color temperature, the wavelength, the direction, the position, and/or any combination thereof of the emitted light of the light source 600.

Therefore, the detecting device 700 may be a device specially used for measuring the above parameters, and may also be an image capturing device such as a CCD, a CMOS, a camera, a video camera, etc. Therefore, the detection device 700 and the image capturing device 201 may be preferably the same component, that is, the image capturing device 201 realizes the function of the detection device 700 to detect the optical characteristics of the target 300. Before the image of the target 300 is collected, the image collecting device 201 is used to detect whether the illumination condition of the target 300 meets the requirement, and the proper illumination condition is realized by controlling the light source, and then the image collecting device 201 starts to collect the multi-view picture for 3D synthesis.

The processor 400 is configured to synthesize 3D information of the object 300 according to the plurality of photographs acquired by the image acquisition device 201, where the 3D information includes a 3D image, a 3D point cloud, a 3D mesh, local 3D features, 3D dimensions, and all parameters with 3D features of the object. It will be appreciated that the controller 500 and the processor 400 may perform both functions for the same device, or may perform control and image processing separately for different devices. This may depend on the actual chip function, performance.

In the prior art, it is generally considered that the main reasons of the slow and low precision of the 3D acquisition, synthesis and measurement are that the synthesis algorithm is not optimized in place. But never mentioned to improve speed and accuracy by illumination control in 3D acquisition, synthesis, measurement. In fact, the optimization through the algorithm can indeed improve the speed and the precision of the synthesis, but the effect is still not ideal, and particularly, the speed and the quality of the synthesis under different application situations are greatly different. If the algorithm is further optimized, different optimization needs to be carried out on different occasions, and the difficulty is high. The applicant finds out through a large number of experiments that the synthesis speed and quality can be greatly improved by optimizing the illumination condition. This feature is very different from 2D information acquisition. The 2D information acquisition illumination condition only influences the picture quality, but does not influence the acquisition speed, and the picture can also be corrected through the later stage. The applicant finds through experiments that the synthesis speed of the optimized illumination condition can be greatly improved during 3D information acquisition. See the table below for details.

After the light sources are optimized, the position, the luminous intensity, the luminous illuminance, the luminous color temperature, the luminous wavelength, the luminous direction, the luminous position and/or any combination of the positions of the light sources are recorded and used as the parameters of the standardized light sources.

Of course, parameters such as the illumination intensity and the color temperature received by the target object can also be recorded as the standardized light source parameters.

After the standardized light source parameters are determined, light source setting can be carried out according to the standardized light source parameters during subsequent product design and production or during subsequent collection and synthesis, and picture collection and 3D synthesis are carried out after the light source is set, so that illumination standardization in the collection and synthesis process is realized.

Camera position normalization

In order to solve the technical problem, an embodiment of the utility model provides another kind of standardized human 3D information acquisition device. As shown in fig. 3, the method specifically includes: the system comprises a track 101, an image acquisition device 201, an image processing device 100 and a mechanical moving device 102, wherein the image acquisition device 201 is installed on the mechanical moving device 102, and the mechanical moving device 102 can move along the track 101, so that the acquisition area of the image acquisition device 201 is continuously changed, a plurality of acquisition areas at different positions in space are formed on a scale of a period of time to form an acquisition matrix, but only one acquisition area exists at a certain moment, and therefore the acquisition matrix is virtual. Since the image capturing device 201 is typically constituted by a camera, it is also referred to as a virtual camera matrix. The image capturing device 201 may be a camera, a CCD, a CMOS, a camera, a mobile phone with an image capturing function, a tablet, or other electronic devices.

The matrix point of the virtual matrix is determined by the position of the image acquisition device 201 when the target object image is acquired, and the adjacent two positions at least satisfy the following conditions:

When the two positions are along the length direction of the photosensitive element of the image acquisition device 1, d is a rectangular length; when the two positions are along the width direction of the photosensitive element of the image pickup device 1, d takes a rectangular width.

The distance of the photosensitive element to the surface of the object along the optical axis when the image pickup device 1 is in any one of the two positions is taken as T in another case L is A in addition to this method_n、A_n+1Linear distance between optical centers of two image capturing devices 1 and A_n、A_n+1Two image capturing devices 1 adjacent to each other A_n-1、A_n+2Two image capturing devices 1 and A_n、A_n+1The distances from the respective photosensitive elements of the two image acquisition devices 1 to the surface of the target along the optical axis are respectively T_n-1、T_n、T_n+1、T_n+2，T＝(T_n-1+T_n+T_n+1+T_n+2)/4. Of course, the average value may be calculated by using more positions than the adjacent 4 positions.

L should be a straight line distance between the optical centers of the two image capturing devices 1, but since the optical center positions of the image capturing devices are not easily determined in some cases, the centers of the photosensitive elements of the image capturing devices 1, the geometric centers of the image capturing devices 1, the axial centers of the image capturing devices 1 connected to the pan/tilt head (or platform, support), and the centers of the lens proximal or distal surfaces may be used instead in some cases, and the errors caused by these are found to be within an acceptable range through experiments.

In general, parameters such as object size and angle of view are used as means for estimating the position of a camera in the prior art, and the positional relationship between two cameras is also expressed in terms of angle. Because the angle is not well measured in the actual use process, it is inconvenient in the actual use. Also, the size of the object may vary with the variation of the measurement object. For example, when the head of a child is collected after 3D information on the head of an adult is collected, the head size needs to be measured again and calculated again. The inconvenient measurement and the repeated measurement bring errors in measurement, thereby causing errors in camera position estimation. According to the scheme, the experience conditions required to be met by the position of the camera are given according to a large amount of experimental data, so that the problem that the measurement is difficult to accurately measure the angle is solved, and the size of an object does not need to be directly measured. In the empirical condition, d and f are both fixed parameters of the camera, and corresponding parameters can be given by a manufacturer when the camera and the lens are purchased without measurement. And T is only a straight line distance, and can be conveniently measured by using a traditional measuring method, such as a ruler and a laser range finder. Therefore, the utility model discloses an empirical formula makes the preparation process become convenient and fast, has also improved the degree of accuracy of arranging of camera position simultaneously for the camera can set up in the position of optimizing, thereby has compromise 3D synthetic precision and speed simultaneously, and concrete experimental data is seen below.

Utilize the utility model discloses the device is tested, has obtained following experimental result.

The camera lens is replaced, and the experiment is carried out again, so that the following experiment results are obtained.

From the above experimental results and a lot of experimental experiences, it can be derived that the value should satisfy <0.603, and at this time, a part of the 3D model can be synthesized, although a part cannot be automatically synthesized, it is acceptable in the case of low requirements, and the part which cannot be synthesized can be compensated manually or by replacing the algorithm. Particularly, when the value satisfies <0.410, the balance between the synthesis effect and the synthesis time can be optimally taken into consideration; to obtain better synthesis results, <0.356 can be chosen, where the synthesis time will increase, but the synthesis quality is better. Of course, <0.311 may be selected to further improve the effect of the synthesis. And 0.681, the synthesis is not possible. It should be noted that the above ranges are only preferred embodiments and should not be construed as limiting the scope of protection.

Moreover, as can be seen from the above experiment, for the determination of the photographing position of the camera, only the camera parameters (focal length f, CCD size) and the distance T between the camera CCD and the object surface need to be obtained according to the above formula, which makes it easy to design and debug the device. Since the camera parameters (focal length f, CCD size) are determined at the time of purchase of the camera and are indicated in the product description, they are readily available. Therefore, the camera position can be easily calculated according to the formula without carrying out complicated view angle measurement and object size measurement. Especially in some occasions, the lens of the camera needs to be replaced, so the method of the utility model can directly replace the conventional parameter f of the lens to calculate and obtain the position of the camera; similarly, when different objects are collected, the measurement of the size of the object is complicated due to the different sizes of the objects. And use the utility model discloses a method need not to carry out object size measurement, can confirm the camera position more conveniently. And use the utility model discloses definite camera position can compromise composition time and synthetic effect. Therefore, the above-mentioned empirical condition is one of the points of the present invention.

The above data are obtained by experiments for verifying the conditions of the formula, and do not limit the invention. Without these data, the objectivity of the formula is not affected. Those skilled in the art can adjust the equipment parameters and the step details as required to perform experiments, and obtain other data which also meet the formula conditions.

In the embodiment, a processor is used for 3D synthesis, wherein the synthesis method uses a known method, such as a beam adjustment method, for example, a synthesis algorithm disclosed in CN 107655459A.

Object position normalization

Generally, when taking a picture, the position and direction of the target object in the picture depend on the pose of the target object under the condition that the camera is fixed. If the position of the object is not standardized, the position and direction of the object appearing on the picture are different every time the picture is taken, and although the synthesis can be performed by the synthesis method, a large amount of calculation is brought to the algorithm. Especially in extreme cases, useful information of the object does not appear in the image, and the efficiency is very low when the image composition is used.

The system also has a display connected to the camera capable of displaying the object captured by the camera. Meanwhile, some markers 800 are displayed on the display, and the markers 800 are cross lines, marker points, circles, straight lines, rectangles, irregular patterns and/or combinations thereof. The image of the target object captured by the camera and the marks are superimposed on the display, and by viewing the display, the position of the target object can be adjusted so that a particular region of the target object is aligned with the marks. As shown in fig. 4, for example, when the photographic subject is a human head or face, the horizontal line of the cross mark is aligned with the corners of the eyes of the human eyes, and the vertical line is aligned with the nose; when the shooting target object is the eyes of a person, the transverse line of the cross mark is aligned with the canthi of the eyes of the person, the longitudinal line of the cross mark is aligned with the nose, or the longitudinal line of the cross mark is aligned with the midpoint of the connecting line of the canthus in the eyes; when the shooting target object is a human hand, the marking line is aligned with the middle line of the finger or the edge of the finger.

Therefore, before each acquisition, when the camera is positioned at the initial position, the position of the target object is adjusted according to the mark, so that the positions of the target objects are consistent every time, and the synthesis complexity is reduced.

The display can be an independent display, and can also be a display carried by a camera or a processor.

In addition to marking on the display, a reticle may also be provided in the camera lens, with alignment marks provided on the reticle. And, a background may be provided around the object, and a mark may be provided on the background, so that the object is directly aligned with the mark. For example, as shown in fig. 5, when shooting a hand, it is usually necessary to provide a transparent plate (e.g., a glass plate) and place the hand on the transparent plate to perform multi-angle shooting. An indication line can be drawn on the transparent plate, and the photographer is required to adjust the hand position and the finger opening degree before each shooting, so that the indication line is aligned with the finger middle line.

Object background normalization

The image acquisition device is provided with an image acquisition device, and the image acquisition device is provided with a background plate which is arranged opposite to the image acquisition device and provides a pure background pattern for a target object. The background plate is all solid or mostly (body) solid. In particular, the color plate can be a white plate or a black plate, and the specific color can be selected according to the color of the object body. The background plate is usually a flat plate, and preferably a curved plate, such as a concave plate, a convex plate, a spherical plate, and even in some application scenarios, the background plate may have a wavy surface; the plate can also be made into various shapes, for example, three sections of planes can be spliced to form a concave shape as a whole, or a plane and a curved surface can be spliced. In addition to the surface shape of the background plate being variable, the edge shape may be selected as desired. Typically rectilinear, to form a rectangular plate. But in some applications the edges may be curved.

In some cases, the camera performs the photographing by rotating, and the background plate should be rotated in synchronization with the camera. In some cases, multiple cameras are used for shooting, and the background plate may be fixed.

Camera adjustment

In some cases, it is also necessary to ensure that the camera takes a picture with a proper ratio of the size of the object in the picture at the point of the matrix and that the picture is clear. Then the camera needs to zoom and focus at the matrix point in the process of forming the matrix.

(1) Zoom lens

After the camera shoots the target object, the proportion of the target object in the camera picture is estimated and compared with a preset value. Zooming is required to be either too large or too small. The zooming method may be: the image acquisition device 201 is moved by an additional displacement device in the radial direction of the image acquisition device 201, so that the image acquisition device 201 can be close to or far away from the target object, thereby ensuring that the occupation ratio of the target object in the picture is kept basically unchanged at each matrix point.

A distance measuring device is also included that can measure the real-time distance (object distance) from the image acquisition device 201 to the object. The relation data of the object distance, the ratio of the target object in the picture and the focal distance can be listed into a table, and the size of the object distance is determined according to the focal distance and the ratio of the target object in the picture, so that the matrix point is determined.

In some cases, the ratio of the target object in the picture can be kept constant by adjusting the focal length when the target object or the area of the target object changes relative to the camera at different matrix points.

(2) Automatic focusing

In the process of forming the virtual matrix, the distance measuring device measures the distance (object distance) h (x) from the camera to the object in real time, sends the measurement result to the image processing device 100, the image processing device 100 looks up the object distance-focal length table to find the corresponding focal length value, sends a focusing signal to the camera 201, and controls the camera ultrasonic motor to drive the lens to move for rapid focusing. Therefore, under the condition that the position of the image acquisition device 201 is not adjusted and the focal length of the lens is not adjusted greatly, the rapid focusing can be realized, and the clear picture shot by the image acquisition device 201 is ensured. This is one of the inventions of the present invention. Of course, focusing may be performed by using an image contrast comparison method, in addition to the distance measurement method.

The utility model discloses in rotary motion, for gathering in-process preceding position collection plane and back position collection plane and taking place alternately but not parallel, or preceding position image acquisition device optical axis and back position image acquisition position optical axis take place alternately but not parallel. That is, the capture area of the image capture device moves around or partially around the target, both of which can be considered as relative rotation. Although the embodiment of the present invention exemplifies more orbital rotation, it should be understood that the limitation of the present invention can be used as long as the non-parallel motion between the acquisition region of the image acquisition device and the target object is rotation. The scope of the invention is not limited to the embodiment with track rotation.

The adjacent collecting positions in the utility model are two adjacent positions of collecting action on the moving track when the image collecting device moves relative to the target object. This is generally easily understood for the image acquisition device movements. However, when the target object moves to cause relative movement between the two, the movement of the target object should be converted into the movement of the target object, which is still, and the image capturing device moves according to the relativity of the movement. And then measuring two adjacent positions of the image acquisition device in the converted movement track.

The utility model discloses in the target object can be an entity object, also can be a plurality of object components.

The 3D information of the target object comprises a 3D image, a 3D point cloud, a 3D grid, local 3D features, 3D dimensions and all parameters with the 3D features of the target object.

The utility model discloses the so-called 3D, three-dimensional mean have XYZ three direction information, especially have degree of depth information, and only two-dimensional plane information has essential difference. It is also fundamentally different from some definitions, called 3D, panoramic, holographic, three-dimensional, but actually only comprising two-dimensional information, in particular not depth information.

The collection area of the present invention is the range that the image collection device (e.g., camera) can take.

The utility model provides an image acquisition device can be CCD, CMOS, camera, industry camera, monitor, camera, cell-phone, flat board, notebook, mobile terminal, wearable equipment, intelligent glasses, intelligent wrist-watch, intelligent bracelet and have all equipment of image acquisition function.

The 3D information of multiple regions of the target obtained in the above embodiments can be used for comparison, for example, for identification of identity. Utilize at first the utility model discloses a scheme acquires the 3D information of human face and iris to with its storage in the server, as standard data. When the system is used, for example, when the system needs to perform identity authentication to perform operations such as payment and door opening, the 3D acquisition device can be used for acquiring and acquiring the 3D information of the face and the iris of the human body again, the acquired information is compared with standard data, and if the comparison is successful, the next action is allowed.

The 3D information of multiple regions of the target object obtained in the above embodiments can be used to design, produce, and manufacture a kit for the target object. For example, 3D data of the head of a human body is obtained, and a more suitable hat can be designed and manufactured for the human body; the human head data and the 3D eye data are obtained, and suitable glasses can be designed and manufactured for the human body.

The 3D information of the object obtained in the above embodiment can be used to measure the geometric size and contour of the object.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: rather, the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Moreover, those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

Various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some or all of the components according to embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such a program implementing the invention may be stored on a computer readable medium or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.

Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been shown and described in detail herein, many other variations and modifications can be made, consistent with the principles of the invention, which are directly determined or derived from the disclosure herein, without departing from the spirit and scope of the invention. Accordingly, the scope of the present invention should be understood and interpreted to cover all such other variations or modifications.

Claims

1. The utility model provides a standardized biological three-dimensional information acquisition device which characterized in that: comprises that

A carrying device;

2. The apparatus of claim 1, wherein: when the target area is the head or the face of a person, the mark is a cross mark, the transverse line of the cross mark is aligned with the canthi of the eyes of the person, and the longitudinal line of the cross mark is aligned with the nose.

3. The apparatus of claim 1, wherein: when the target area is the eyes of the human, the horizontal line of the cross mark is aligned with the canthi of the eyes of the human, the vertical line is aligned with the nose, or the vertical line is aligned with the midpoint of the connecting line of the canthus in the eyes.

4. The apparatus of claim 1, wherein: when the target area is a human hand, the marking line is aligned with the middle line of the finger or aligned with the edge of the finger.

5. The apparatus of claim 1, wherein: when the target area is a human foot, the marking line is aligned with the edge of the foot; or the marking line is aligned with the middle line of one toe of the foot.

6. The apparatus of claim 1, wherein: with a light source providing uniform illumination.

7. The apparatus of claim 1, wherein: also includes a ranging unit.

8. The apparatus of claim 1, wherein: also included is an illumination detection unit.

9. The apparatus of claim 1, wherein: the device also comprises a background plate which is opposite to the image acquisition device.

10. The apparatus of claim 1, wherein: when a plurality of images are acquired, the positions of the image acquisition devices at least meet the following conditions that two adjacent positions meet at least:

wherein L is the straight-line distance of the optical center of the image acquisition device when the two acquisition positions are adjacent, f is the focal length of the image acquisition device, d is the rectangular length or width of the photosensitive element of the image acquisition device, T is the distance from the photosensitive element of the image acquisition device to the surface of the target along the optical axis, and T is an adjustment coefficient of < 0.603.