DE102005043070A1 - Highly accurate three-dimensional measurement and/or reconstruction of objects using digital object recording involves determining 3D camera positions of image recordings from specific 3D coordinates of flat rectangle corner points - Google Patents
Highly accurate three-dimensional measurement and/or reconstruction of objects using digital object recording involves determining 3D camera positions of image recordings from specific 3D coordinates of flat rectangle corner points Download PDFInfo
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- DE102005043070A1 DE102005043070A1 DE102005043070A DE102005043070A DE102005043070A1 DE 102005043070 A1 DE102005043070 A1 DE 102005043070A1 DE 102005043070 A DE102005043070 A DE 102005043070A DE 102005043070 A DE102005043070 A DE 102005043070A DE 102005043070 A1 DE102005043070 A1 DE 102005043070A1
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- image
- camera
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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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/55—Depth or shape recovery from multiple images
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
Die Erfindung betrifft ein Verfahren zur hochgenauen dreidimensionalen Vermessung und/oder Rekonstruktion von Objekten mit Hilfe digitaler Bildaufnahmen unter minimalem Aufwand, beispielsweise zur Bildauswertung von Verkehrsstrecken. Häufig müssen von Szenarien, nicht nur bei Unfallgeschehen, geometrischen Erfassungen etc., Bilder aufgenommen werden, aus denen ein oder mehrere Einzelobjekte bzw. Bildpunkte in ihrer Position (Rekonstruktion) und/oder in ihrer relativen Lage zueinander (Vermessung) bestimmt werden, wobei eine möglichst exakte Koordinatenerfassung von entscheidender Bedeutung für den Zweck der Bildauswertung ist.The The invention relates to a method for highly accurate three-dimensional Surveying and / or reconstruction of objects using digital Image captures with minimal effort, for example for image analysis of traffic routes. Often need of Scenarios, not only in accidents, geometric surveys etc., pictures are taken that make up one or more individual objects or pixels in their position (reconstruction) and / or in their position relative position to each other (survey) are determined, with a preferably exact coordinate acquisition of vital importance for the purpose the image evaluation is.
Die Anwendbarkeit der Erfindung erstreckt sich auf Rekonstruktion und Vermessung beliebiger abgebildeter Raumpunkte in Außen- wie auch Innenbereichen.The Applicability of the invention extends to reconstruction and Measurement of any mapped spatial points in outdoor as well as also inside areas.
Es
existieren Verfahren zur dreidimensionalen Rekonstruktion von Oberflächen, die
sich der Projektion von Lichtmustern auf das zu rekonstruierende Objekt
bedienen (beispielsweise
Weiterhin
sind Verfahren bekannt (z. B.
Es
sind auch Verfahren bekannt (z. B.
Des weiteren lassen einige Verfahren (beispielsweise WO 99/36884) 3D-Vermessung nur sehr eingeschränkt zu. Im konkreten Beispiel muss die zu vermessende Strecke gar kollinear zu einer Strecke bekannter Länge sein, was für allgemeine Vermessungsaufgaben nicht praktikabel ist.Of Further, some methods (for example, WO 99/36884) allow 3D surveying only very limited to. In the concrete example, the track to be measured must be collinear to a route of known length be what for general surveying tasks is impractical.
Andere Verfahren (z. B. Z. Zhang: A flexible new technique for camera calibration – IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 22(11), 2000, S. 1330–1334) verwenden iterative nicht-lineare Optimierung zur Berechnung der externen Kameraparameter und liefern somit Ergebnisse ohne Aussagen über deren Genauigkeit bzw. Güte.Other Method (eg Z. Zhang: A flexible new technique for camera calibration - IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 22 (11), 2000, P. 1330-1334) use iterative nonlinear optimization to calculate the external camera parameters and thus provide results without statements about their Accuracy or quality.
Der Erfindung liegt die Aufgabe zu Grunde, ein universell anwendbares und schnelles nicht probabilistisches Verfahren zur 3D-Vermessung und/oder -Rekonstruktion von Objekten zu schaffen, welches mit geringem ökonomischen und verfahrenstechnischen Aufwand, insbesondere einfach zu realisierenden Bildaufnahme- und Auswertebedingungen ohne besondere Anforderungen an die Objekte, verlässliche sowie gegen Störungen bei der Bildaufnahme weitgehend unempfindliche (robuste) Daten hoher und diesbezüglich auch bewertbarer Genauigkeit liefert.Of the Invention is based on the object, a universally applicable and fast non probabilistic 3D measurement and / or -Reconstruction of objects to create, which with low economic and procedural effort, especially easy to implement Image acquisition and evaluation conditions without special requirements to the objects, reliable as well as against interference in the image recording largely insensitive (robust) data higher and in this regard also provides assessable accuracy.
Erfindungsgemäß wird in die durch Kameraaufnahmen zu erfassende Szene (Objektansicht) ein spezielles planares Viereck, beispielsweise ein Quadrat, als Referenzelement mit bekannter Geometrie eingefügt, welches gemeinsam mit dem zu vermessenden bzw. zu rekonstruierenden Objekt zwecks dreidimensionaler Auswertung aus verschiedenen Blickwinkeln (Kamerapositionen) aufgenommen wird.According to the invention is in the scene to be captured by camera shots (object view) is a special one planar quadrilateral, for example a square, as a reference element inserted with known geometry, which together with the one to be measured or reconstructed Object for three-dimensional evaluation from different angles (Camera positions) is recorded.
Bei der Auswertung dieser einzelnen digitalen Bilder werden jeweils die Eckpunkte des besagten planaren Vierecks als Bildkoordinaten sowie in vom jeweiligen Kamerastandpunkt der Bildaufnahme spezifischer 3D-Koordinatendarstellung bestimmt. Aus diesen vom jeweiligen Kamerastandpunkt der einzelnen Bildaufnahme betrachteten 3D-Koordinaten werden unter Berücksichtigung zumindest zweier Bilder vom Objekt die 3D-Kamerapositionen der Bildaufnahmen als Grundlage für die an sich bekannte rechentechnische Auswertung der dreidimensionalen Vermessung bzw. Rekonstruktion des Objekts ermittelt.In the evaluation of these individual digital images, the vertices of the said planar quadrilateral are determined as image coordinates as well as in the specific camera coordinate point of view of the specific 3D coordinate representation. Taking into account at least two images of the object, the 3D camera positions of the image recordings as a basis for the computationally known evaluation of the three-dimensional image are taken from these 3D coordinates considered by the respective camera viewpoint of the individual image acquisition len measurement or reconstruction of the object determined.
Mit dem vorgeschlagenen Verfahren gelingt es, eine metrische 3D-Vermessung mit absolut minimaler Interaktion am Einsatzort und bei der Nachbereitung am Rechner zu realisieren und dabei mathematisch stabile sowie gegen Fehler robuste Ergebnisse zu liefern, die im Hinblick auf Ihre Genauigkeit bewertbar sind. Erreicht wird dies durch eine semantisch zweckmäßige Separierung des Problems (monokulare Rekonstruktion-Euklidische Transformation-Rekonstruktion). Infolge dieser Aufgliederung erhält man mathematisch und vom Verfahrensaufwand jeweils bestmöglich beherrschbare Teilprobleme, kann diese direkt und stabil lösen (jeweils Lösungen im Sinne kleinster Fehlerquadrate) und beherrscht damit das gesamte Verfahren, welches somit hochgenau und unempfindlich gegen Störungen ist. Erforderliche Eingangsgrößen, wie Kameraparameter und Koordinaten des Vierecks, müssen nur einmal, sofern nicht durch Herstellerangaben bekannt, im Labor ermittelt werden (Kalibrierung). Die Interaktion am Vermessungs- bzw. Rekonstruktionsort beschränkt sich auf das Platzieren des besagten Referenzelementes (planares Viereck), so dass neben dem Bedienungsaufwand (Handling) auch der technische Aufwand minimal ist. Das Verfahren ist universell einsetzbar, sowohl im Außen- wie im Innenbereich, und stellt keinerlei Bedingungen an das zu vermessende bzw. zu rekonstruierende Objekt.With the proposed method succeeds, a metric 3D measurement with absolutely minimal interaction at the place of use and during follow-up on the computer to realize while mathematically stable and against Failure to deliver robust results that are evaluable in terms of your accuracy are. This is achieved by a semantically appropriate separation of the problem (monocular reconstruction-Euclidean transformation-reconstruction). As a result of this breakdown receives mathematically and in each case the best possible control of the process costs Subproblems, can solve these directly and stably (each solutions in the Sense least squares) and thus dominates the entire Method, which is thus highly accurate and insensitive to interference. Required input variables, such as Camera parameters and coordinates of the quadrangle, need only once, if not known by manufacturer's instructions, determined in the laboratory (calibration). The interaction at the measurement or reconstruction site is limited on the placement of said reference element (planar quadrilateral), so that in addition to the operating effort (handling) and the technical effort is minimal. The method is universally applicable, both in Outside- like indoors, and does not impose any conditions on it measuring or reconstructing object.
Die Erfindung soll nachstehend anhand eines in der Zeichnung dargestellten Ausführungsbeispiels näher erläutert werden.The Invention will be described below with reference to an illustrated in the drawing embodiment be explained in more detail.
Die
Figur zeigt die Bildaufnahme einer auszuwertenden Szene, insbesondere
eines in dieser zu vermessenden bzw. zu rekonstruierenden Objekts
In
diesen durch die Strahlengänge
Nach
Aufnahme des Szenenbereiches einschließlich des Referenzelements
in mindestens zwei digitalen Bildaufnahmen erfolgt die Auswertung derselben
am Rechner. Dazu werden in den Bildaufnahmen die Bildpunkte der
Eckpunkte des planaren Vierecks
Die eingesetzten mathematischen Verfahren (Lösung linearer Gleichungssysteme, Lösung eines Eigenwertproblems einer Matrix, Singulärwertzerlegung einer Matrix) sind voll beherrschbar, direkt zu lösen und stabil. Es wird, wie beschrieben, jeweils die beste Lösung im Sinne kleinster Fehlerquadrate berechnet.The used mathematical methods (solution of linear systems of equations, solution an eigenvalue problem of a matrix, singular value decomposition of a matrix) are fully manageable, directly solvable and stable. It will, like described, each the best solution calculated in terms of least squares.
Sind die 3D-Koordinaten des oder der gesuchten Raumpunkte ermittelt, können auf einfache Weise bei Vermessung zwischen zwei Raumpunkten der Euklidische Abstand berechnet oder im Fall einer Rekonstruktion die 3D-Koordinaten erhalten werden.are determines the 3D coordinates of the searched or desired point in space, can in a simple way when measuring between two points in space Euclidean distance is calculated or in the case of a reconstruction the 3D coordinates are obtained.
- 11
- Objektobject
- 2, 32, 3
- Kamerapositioncamera position
- 4, 54, 5
- Strahlengang beam path
- 66
- planares Viereckplanar square
Claims (5)
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DE102005043070.8A DE102005043070B4 (en) | 2005-09-07 | 2005-09-07 | Method for high-precision three-dimensional measurement and / or reconstruction of objects with the aid of digital image recordings, for example for image evaluation of traffic routes |
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DE102005043070.8A DE102005043070B4 (en) | 2005-09-07 | 2005-09-07 | Method for high-precision three-dimensional measurement and / or reconstruction of objects with the aid of digital image recordings, for example for image evaluation of traffic routes |
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Cited By (2)
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WO2009030813A1 (en) * | 2007-09-03 | 2009-03-12 | Oy Mapvision Ltd | Recording machine vision system |
DE102019123458B4 (en) | 2019-05-29 | 2022-05-12 | eekual bionic GmbH | Method for measuring a three-dimensional object, in particular a body part |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2009030813A1 (en) * | 2007-09-03 | 2009-03-12 | Oy Mapvision Ltd | Recording machine vision system |
US10012500B2 (en) | 2007-09-03 | 2018-07-03 | Oy Mapvision Ltd. | Storing data for re-measurement of objects using a recording machine vision system |
DE102019123458B4 (en) | 2019-05-29 | 2022-05-12 | eekual bionic GmbH | Method for measuring a three-dimensional object, in particular a body part |
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