TWM653426U - Matrix 3D scanning positioning system - Google Patents

Abstract

A matrix 3D scanning and positioning system includes a base, a reference module, a matrix image capturing module and a processor module. The base is for positing an object. The reference module is disposed on the base and includes color region. The matrix image capturing module includes a plurality of image capturing member which are arranged in a matrix. The matrix image capturing module scans the object and captures 2D images of the object and the color region of the reference module simultaneously, and transfers an image signal. The processor module receives the image signal, performs an image recognition, an alignment and positioning analysis to the 2D images in accordance with colors of the color region, and combine the 2D images into a 3D image which is corresponding to the real geometric shape and color of the object.

Description

Matrix three-dimensional scanning positioning system

This invention is about a three-dimensional modeling system; more specifically, this invention is about a matrix-type three-dimensional scanning and positioning system that uses two-dimensional image acquisition to construct a three-dimensional model.

Three-dimensional modeling technology has received considerable attention in modern times. Generally, three-dimensional modeling refers to the use of images captured by cameras as the basis, through the reconstruction algorithm, to calculate and restore the three-dimensional spatial information of real scenes or objects. This technology has been widely used in industries such as autonomous driving, 3D printing, intelligent robot vision, medical treatment, virtual reality, e-commerce, game entertainment, and automated manufacturing.

One way to achieve the above three-dimensional modeling is to use special equipment, such as using an imaging device that can calculate depth information to directly generate a three-dimensional image. However, this method relies on complex hardware equipment and professional operations, and the equipment cost is high and is not conducive to popularization. Another way is to use algorithms such as MVS (Multi View Stereo) to align and stitch multiple captured two-dimensional images to synthesize a three-dimensional image. However, this type of algorithm consumes too much resources and is not conducive to using general equipment with limited resources for calculation. Furthermore, the selection of matching positioning parameters between multiple images is still too complicated. There are also other ways to perform three-dimensional modeling through photography, but how to stitch the three-dimensional images still relies on a lot of manual operation or complex calculations, and the cost is still high.

Based on this, it is still necessary to develop a system with simple and efficient calculations that can be used to construct an accurate three-dimensional modeling system using common equipment.

This invention provides a matrix-type three-dimensional scanning positioning system, which can use a matrix camera module, combined with a special imaging method and calculation, to improve the accuracy and efficiency when splicing two-dimensional images for three-dimensional modeling, and can highly restore the real geometry and color of the object to be measured.

In one implementation, the invention discloses a matrix three-dimensional scanning and positioning system, which includes a base, a reference module, a matrix camera module, and a processor module. The base is used to place an object to be tested. The reference module and the base are integrally formed during manufacturing, or are separately arranged on the base, and include multiple color blocks. The matrix camera module is arranged around the base and the reference module, and includes multiple cameras arranged in a matrix. The matrix camera module scans the object to be tested through multiple cameras, and simultaneously captures multiple two-dimensional images including the color blocks of the object to be tested and the reference module, and transmits an image signal. The processor module can be set in the matrix camera module or in an external device connected to the matrix camera module. It is used to receive the image signal transmitted by the matrix camera module, perform image recognition and alignment analysis on multiple two-dimensional images according to the color of the color block, and combine multiple two-dimensional images into a three-dimensional image corresponding to the real geometric shape and color of the object to be tested.

In one embodiment, the camera of the matrix camera module can be installed in a camera, a mobile phone, a laptop or a tablet computer.

In one embodiment, each color block may have the same or different colors.

In one embodiment, each color block includes a gradient color ring.

In one embodiment, multiple cameras may be arranged in a linear array.

In one embodiment, multiple cameras may be arranged in a circular array.

In one embodiment, each camera is at a different angle relative to the object to be tested to capture images of different parts of the object to be tested.

In one embodiment, multiple marking points can be set on the base. Each camera in the matrix camera module corresponds to the position of each marking point to align and position when synthesizing multiple two-dimensional images.

100: Matrix three-dimensional scanning positioning system

110: Base

120: Reference module

120a: Color block

130: Matrix camera module

130a: Camera

O: Object to be tested

M: Mark point

S101, S102, S103, S104, S105: Steps

Figure 1 is a schematic diagram showing the physical structure of a matrix-type three-dimensional scanning and positioning system according to an embodiment of the present invention; Figure 2 is a schematic diagram showing a setting method of the matrix-type camera module in Figure 1; Figure 3 is a schematic diagram showing another setting method of the matrix-type camera module in Figure 1; Figure 4 is a schematic diagram showing image alignment and positioning according to the matrix-type three-dimensional scanning and positioning system in Figure 1; Figure 5 is a schematic diagram showing a flow chart of an imaging method based on the aforementioned matrix-type three-dimensional scanning and positioning system.

The following will refer to the drawings to illustrate multiple embodiments of the present invention. For the sake of clarity, many practical details will be described together in the following description. However, it should be understood that these practical details should not be used to limit the present invention. In other words, in some embodiments of the present invention, these practical details are not necessary. In addition, in order to simplify the drawings and focus on the main technical features of the present case, some commonly used, non-essential structures and components will be shown or omitted in the drawings in a simple schematic manner.

Please refer to Figure 1. Figure 1 is a schematic diagram of the physical structure of a matrix-type three-dimensional scanning and positioning system 100 according to an embodiment of the present invention.

The matrix three-dimensional scanning positioning system 100 includes a base 110, a reference module 120, a matrix camera module 130 and a processor module 140. The base 110 is used to place an object to be measured O. The reference module 140 is arranged on the base 110.

The reference module 120 is not particularly limited in the type of arrangement on the base 110. It can be arranged integrally when the base 110 is manufactured, or can be arranged separately on the base 110. The reference module 120 includes a plurality of color blocks 120a. Each color block 120a can have the same or different colors, or each color block 120a can include a gradient color ring.

The matrix camera module 130 is disposed around the base 110 and the reference module 120, and includes a plurality of cameras 130a arranged in a matrix. Each camera 130a can be mounted on a camera, a mobile phone, a laptop or a tablet computer. In other words, any camera device with a camera function can be used to form the matrix camera module 130. The matrix camera module 130 scans the object O to be tested through the plurality of cameras 130a arranged in a matrix to capture images corresponding to different parts of the object O to be tested. At the same time, during the shooting, a plurality of two-dimensional images including the object O to be tested and the color block 120a of the reference module 120 are captured simultaneously. In other words, the two-dimensional image captured by each camera 130a includes a partial image of the object to be measured O and a partial image of the color block 120a of the reference module 120. After the two-dimensional image is captured, it is converted into an image signal and the image signal is transmitted.

The processor module 140 is used to receive the image signal transmitted by the matrix camera module 130. At the same time, the processor module 140 is loaded with relevant software programs, and according to the color of the color block 120a, it performs image recognition and alignment analysis on multiple two-dimensional images of different parts of the object under test O taken by different cameras 130a, and combines multiple two-dimensional images into a three-dimensional image corresponding to the complete real geometric shape and color of the object under test O.

The processor module 140 can be set in the matrix camera module 130 or in an external device connected to the matrix camera module 130. For example, if the camera 130a in the matrix camera module 130 is installed in a mobile phone, a laptop or a tablet computer, it itself has a microprocessor and software with computing functions. If the camera 130a is installed in a camera or a video recorder, the two-dimensional image captured by it can be converted into an image signal by wireless or wired connection, and transmitted to an external device for image recognition and computing analysis.

Generally, when synthesizing multiple two-dimensional images for three-dimensional image modeling, whether the real geometry and color of the original object to be tested can be completely and truly restored is an important issue. In this creation, the image of the reference module 120 is introduced into the image synthesis modeling process. When performing the image recognition analysis and synthesis calculation program, the color of the color block 120a of the reference module 120 is calculated together. This method is beneficial to the accuracy of the two-dimensional image splicing of each part of the object to be tested O. At the same time, by introducing reference colors, unnecessary color consumption is reduced and the image synthesis efficiency can be increased. Each color block 120a can have the same or different colors, or each color block 120a can include a gradient color ring. By using multiple layers of transition colors or different colors, the accuracy of two-dimensional image stitching is increased, and the realism of three-dimensional image modeling is improved.

Please refer to Figure 2 and Figure 3. Figure 2 is a schematic diagram showing a setting method of the matrix camera module 130 in Figure 1. Figure 3 is a schematic diagram showing another setting method of the matrix camera module 130 in Figure 1.

In order to capture various angles of each part of the object to be tested, a more accurate three-dimensional image synthesis effect can be obtained. The multiple cameras 130a in the matrix camera module 130 can be arranged in a variety of ways. In Figure 2, the multiple cameras 130a are arranged in a linear array. In other words, the multiple cameras 130a are coaxially arranged along a straight line. There is no special limit on the number of cameras 130a, but selecting a larger number of cameras 130a can capture a larger number of two-dimensional images of various parts of the object to be tested O and the color blocks 120a of the reference module 120, and a three-dimensional image that is closer to the real geometry and color of the object to be tested O can be synthesized. In Figure 3, the multiple cameras 130a are arranged in a ring array. In other words, multiple cameras 130a surround the object to be tested O in a ring shape to capture two-dimensional images of various parts of the object to be tested O and the color block 120a of the reference module 120. In addition, the one-dimensional linear array can be expanded into a two-dimensional array according to the number of different cameras.

Please refer to Figure 4. Figure 4 is a schematic diagram showing the image alignment and positioning of the matrix-type three-dimensional scanning and positioning system 100 according to Figure 1. In the matrix-type three-dimensional scanning and positioning system 100, a plurality of marking points M can be set on the base 110. Each camera 130a in the matrix-type camera module 130 corresponds to the position of each marking point M, and the triangulation positioning method can be used to position multiple two-dimensional images when synthesizing them.

Please refer to FIG. 5. FIG. 5 is a schematic diagram showing a method for capturing images using the aforementioned matrix-type three-dimensional scanning and positioning system. The method for capturing images in FIG. 5 includes: step S101 is to place the object to be tested on a base; step S102 is to place a reference module on the base; step S103 is to set up a matrix camera module and arrange multiple cameras in a matrix; step S104 is to scan the object to be tested using multiple cameras and capture multiple images of the object to be tested and the reference module at the same time. The processor module receives the image signal transmitted by the matrix camera module, and performs image recognition and alignment analysis on the multiple two-dimensional images according to the colors of the multiple color blocks, and combines the multiple two-dimensional images into a three-dimensional image corresponding to the real geometric shape and color of the object to be tested.

In the above step S103, in addition to using multiple cameras 130a in the matrix camera module 130 to capture two-dimensional images of various parts of the object to be tested O as in the above-mentioned embodiments of Figures 2 and 3, each camera 130a can also be set at different angles relative to the object to be tested O to capture images of different parts of the object to be tested O. In other words, the tilt angle of each camera 130a relative to the object to be tested is adjusted to capture two-dimensional images of various parts of the object to be tested O and at various different angles.

In the above step S104, the object to be tested O or the matrix camera module 130 can be designed to be rotatable. In this way, it is not necessary to set up a large number of cameras 130a. A small number of cameras 130a can be used to capture multiple two-dimensional images relative to each part of the object to be tested O and each part of the color block 120a of the reference module 120, which can reduce the use of the camera 130a and improve the shooting efficiency. When the object to be tested O or the matrix camera module 130 is rotated, it can be rotated 360 degrees at intervals of a certain angle. When the number of captured two-dimensional images is more, the more detailed three-dimensional images can be synthesized.

Therefore, the matrix-type three-dimensional scanning positioning system 100 and its imaging method disclosed in this invention can achieve accurate three-dimensional modeling using the matrix-type camera module 130, which can reduce equipment costs. Furthermore, through the setting of the reference module 120, it helps to improve the accuracy of two-dimensional image stitching, simplify the calculation process, and improve the authenticity of three-dimensional modeling.

Although this creation has been disclosed in the form of implementation as above, it is not used to limit this creation. Anyone familiar with this technology can make various changes and embellishments within the spirit and scope of this creation. Therefore, the scope of protection of this creation shall be based on the scope of the patent application attached below.

100: Matrix three-dimensional scanning positioning system

110: Base

120: Reference module

120a: Color block

130: Matrix camera module

130a: Camera

O: Object to be tested

M: Mark point

Claims (8)

A matrix three-dimensional scanning and positioning system comprises: a base for placing an object to be tested; a reference module, which is integrally formed with the base during manufacturing, or is separately arranged on the base, and the reference module comprises a plurality of color blocks; a matrix camera module, which is arranged around the base and the reference module, and comprises a plurality of cameras arranged in a matrix, and the matrix camera module scans the object to be tested through the cameras and simultaneously captures images of the object to be tested and the reference module. A plurality of two-dimensional images of the color blocks of the test module and transmit an image signal; and a processor module, which can be set in the matrix camera module or in an external device connected to the matrix camera module, which is used to receive the image signal transmitted by the matrix camera module, perform image recognition and alignment and positioning analysis on the two-dimensional images according to the colors of the color blocks, and combine the two-dimensional images into a three-dimensional image corresponding to the real geometric shape and color of the object to be tested. A matrix three-dimensional scanning positioning system as described in claim 1, wherein the cameras of the matrix camera module can be installed in a camera, a mobile phone, a laptop or a tablet computer. A matrix-type three-dimensional scanning and positioning system as described in claim 1, wherein each color block may have the same or different colors. A matrix-type three-dimensional scanning and positioning system as described in claim 1, wherein each of the color blocks may include a gradient color ring. A matrix-type three-dimensional scanning and positioning system as described in claim 1, wherein the multiple cameras are arranged in a linear array. A matrix-type three-dimensional scanning and positioning system as described in claim 1, wherein the multiple cameras are arranged in a circular array. A matrix-type three-dimensional scanning and positioning system as described in claim 1, wherein each camera is at a different angle relative to the object to be measured to capture images of different parts of the object to be measured. As described in claim 1, a matrix-type three-dimensional scanning and positioning system, wherein a plurality of marking points can be set on the base, and each camera in the matrix-type camera module corresponds to the position of each marking point to perform alignment and positioning when synthesizing the two-dimensional images.

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