CN100348949C - Three-dimensional foot type measuring and modeling method based on specific grid pattern - Google Patents
Three-dimensional foot type measuring and modeling method based on specific grid pattern Download PDFInfo
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- CN100348949C CN100348949C CNB2003101088562A CN200310108856A CN100348949C CN 100348949 C CN100348949 C CN 100348949C CN B2003101088562 A CNB2003101088562 A CN B2003101088562A CN 200310108856 A CN200310108856 A CN 200310108856A CN 100348949 C CN100348949 C CN 100348949C
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Abstract
The present invention discloses a three-dimensional foot shape measuring and modeling method based on specific grid patterns. Socks printed with grids are worn on human feet, and then a plurality of digital cameras or video cameras are simultaneously used for photographing to ensure that the corner of each grid is photographed by at least two digital cameras of video cameras; afterwards, three-dimensional positions of the corners of all the grids are recovered on the basis of a stereoscopic vision principle and an optical imaging principle. On the basis, the three-dimensional positions recovered with corners are utilized to regain three-dimensional grids covered on human feet; finally, a specific three-dimensional foot-shaped model is established by a deformation modeling method according to the spatial position constraint of the three-dimensional grids to standard feet, and the parameter of the foot-shaped model is worked out. The present invention has the advantage of low cost of hardware and also organically combines hardware devices with software systems, which avoids high cost of single-hardware realization and low precision of single software-realization. The present invention has the advantages of strong operability, low realization cost and favorableness to popularization and use.
Description
Technical field
The present invention relates to the quick measurement and the modeling method of three-dimension foot type, relate in particular to a kind of based on the three-dimensional foot type measuring of specifiable lattice pattern and the method for modeling.
Background technology
With regard to the obtaining of pin type data, present mainstream technology approach is based on optical system, comprising:
1) based on the triangulation technique of laser.Be present three-dimensional data obtain manner all the fashion, the precision height, applied widely, but the costing an arm and a leg of equipment.Critical piece has the high-speed camera head, generating laser, signal processor, high precision stepper motor etc.
2) based on the measuring technique of structured light.Critical piece has special-purpose projector, and it is first-class to make a video recording.Precision is medium, and price is also medium.
3) based on the measuring technique of computer vision.Main equipment is camera, and its core is a stereo visual system.
At present, because external technical monopoly, these prices based on the specialized equipment of laser are very expensive, price is up to million people people's coin, special input as Vorum company (http://www.vorum.com/) exploitation at the pin type, 0.5 the precision of millimeter, CANFIT-PLUS.Yeti. three-dimension foot type scanner; The FOTOFIT pin type scanning system of Shoemaster company (http://www.shoemaster.co.uk) exploitation.
303 of domestic Aviation Industry Corporation and light industry shoemaking Research Institute the measuring system of one cover based on structured light, comprise 4 cameras and 4 projection light sources, and measure the sole shape by reflective mirror, but the product that does not have follow-up a dropped into practical application comes out.Angle from technology, these three-dimensional foot type measuring systems produce three-dimensional point data at random (geological information) at present, need the construction of strong subsequent treatment ability to go out the shape and the three-dimensional model of pin type.
On the technological approaches of foot shape measurement and modeling, except the method for the three-dimensional information of measuring every bit, measure some crucial pin type profile informations in addition, as the product (http://www.vis.ca/footscan.htm) of Visimage company.
The distortion modeling method is one of common methods of computer-aided geometry moulding, is generally used for the modeling and the moulding of a certain class complex object.Its rudimentary algorithm framework is: on the one or more known three-dimensional model to a certain type objects, the user at first specifies him to want one group of locus constraint of this type objects of modeling, check then whether known three-dimensional model satisfies these constraints, as satisfying, then directly return this object; Otherwise, computer system is automatically according to the style characteristic and the domain knowledge of this type objects, by means such as geometric reasoning and constraint solvings, iteratively the geometry of known models and topology are changed and revise, satisfy up to results model till user's the appointment constraint, and return this results model.
Summary of the invention
The purpose of this invention is to provide a kind of based on the three-dimensional foot type measuring of specifiable lattice pattern and the method for modeling.
It is through on people's the pin with the socks that are printed on grid, take simultaneously by a plurality of digital cameras or video camera then, the angle point (corner) of guaranteeing each grid was photographed by at least two digital cameras or video camera, based on the principle of stereoscopic vision and optical imagery, recover the three-dimensional position of all grid angle points then; On this basis, utilize the three-dimensional position of these grid angle points that recover, again simulate the 3D grid that covers on people's pin, at last according to the locus constraint of 3D grid to the standard pin, by the distortion modeling method, set up the model of three-dimension foot type, and calculate the parameter of pin type, concrete steps are as follows:
1) calibration of digital camera or video camera, by the known object of three-dimensional spatial information is taken, then according to their pixel coordinate position in the two dimensional image that collects, estimate the inside and outside parameter of digital camera or video camera, comprise relative tertiary location between focal length, two cameras with relative towards angle;
2) pixel coordinate position of all angle points from each digital camera or video camera input picture is found out in the detecting of grid angle point automatically or semi-automatically;
3) coupling of grid angle point is found out the corresponding relation between the angle point in two width of cloth images of input automatically or semi-automatically, and promptly the angle point in the piece image is corresponding to which angle point in another width of cloth image;
4), calculate the three-dimensional position of grid angle point according to the inside and outside parameter of how much image-forming principles of optics and camera;
5) according to the three-dimensional position of grid angle point, and and people's standard pin model combine, simulate the 3D grid of people's pin;
6) according to this 3D grid, by the distortion modeling method, set up the three-dimensional model of pin type, and calculate the parameter of pin type, comprise that pin is long, pin is wide, on the outer anklebone center lower edge point height (1), heel bulging point height (2), boat curved some height (3), the prominent point of preceding shank highly (4), first an articulationes metatarsophalangeae height (5), pin thumb heights (6) and the sole of the foot enclose that (7), instep enclose that (8), pocket enclose (9) and ankle encloses the length of enclosing of (10).
The present invention is based on the texture features of principle of stereoscopic vision and grid, its 3D grid that recovers has comprehensively embodied the 3 dimensional coil geometry and the profile of pin type, by the distortion modeling method, just can realize the quick measurement and the modeling of pin type then.Compare with existing foot shape measurement and modeling method, the present invention emphasizes based on the specifiable lattice texture, utilize common digital camera (video camera) and principle of stereoscopic vision, realize the three-dimensional measurement and the modeling of pin type.Its advantage is: hardware cost is low, and hardware unit and software systems organically combined, promptly avoided single hard-wired expensive, the low precision of also having avoided single software to realize, therefore, method of the present invention is not only workable, and realizes that cost is low, is beneficial to and promotes the use of.
Description of drawings
Lattice exemplary plot on Fig. 1 socks;
The exemplary plot of Fig. 2 grid angle point;
The synoptic diagram of the main pin shape parameter of Fig. 3;
Fig. 4 camera of the present invention or camera arrangement synoptic diagram;
Fig. 5 workflow diagram of the present invention.
Embodiment
Hardware components of the present invention is made up of 6 to 8 digital cameras or video camera and a computing machine, and be fixed on a radius and be about on 80 centimetres the circular platform, each digital camera (or video camera) links by usb data transmission interface and computing machine, the digital image that is collected carries out stereoscopic vision by operation software systems on computers to be calculated and handles, and final construction goes out three-dimension foot pattern type.
The concrete steps of measurement of the present invention and modeling:
1) calibration of digital camera or video camera, by the known object of three-dimensional spatial information is taken, then according to their pixel coordinate position in the two dimensional image that collects, estimate the inside and outside parameter of digital camera or video camera, comprise relative tertiary location between focal length, two cameras with relative towards angle;
2) pixel coordinate position of all angle points from each digital camera or video camera input picture is found out in the detecting of grid angle point automatically or semi-automatically;
3) coupling of grid angle point is found out the corresponding relation between the angle point in two width of cloth images of input automatically or semi-automatically, and promptly the angle point in the piece image is corresponding to which angle point in another width of cloth image;
4), calculate the three-dimensional position of grid angle point according to the inside and outside parameter of how much image-forming principles of optics and camera;
5) according to the three-dimensional position of grid angle point, and and people's standard pin model combine, simulate the 3D grid of people's pin;
6) according to this 3D grid, by the distortion modeling method, set up the three-dimensional model of pin type, and calculate the parameter of pin type, comprise that pin is long, pin is wide, on the outer anklebone center lower edge point height (1), heel bulging point height (2), boat curved some height (3), the prominent point of preceding shank highly (4), first an articulationes metatarsophalangeae height (5), pin thumb heights (6) and the sole of the foot enclose that (7), instep enclose that (8), pocket enclose (9) and ankle encloses the length of enclosing of (10).
As shown in Figure 1, wherein, Fig. 1 (c) is a socks A pattern, and Fig. 1 (a) is the pattern synoptic diagram after socks A pattern is through on the pin; Fig. 1 (d) is a socks B pattern, and Fig. 1 (b) is the pattern synoptic diagram after socks B pattern is through on the pin.
As shown in Figure 2, wherein, the point of crossing that indicates with square frame among Fig. 2 (a) be Fig. 1 (a) and (c) shown in the angle point of lattice A.The point of crossing that indicates with square frame among Fig. 2 (b) be Fig. 1 (b) and (d) shown in the angle point of lattice B.
As shown in Figure 3, wherein, among Fig. 3 (a) " 1 " indicated for bone center, outer bosom lower edge point highly; " 2 " are heel bulging point height; " 3 " are curved some height on the boat; " 4 " are the prominent point of preceding shank height; " 5 " are the first articulationes metatarsophalangeae height; " 6 " are the thumb heights of pin.
" 7 " among Fig. 3 (b) indicated for the sole of the foot encloses, the pin sole of the foot enclose first articulationes metatarsophalangeae that refers to by pin and the 5th articulationes metatarsophalangeae measured enclose length.Also be called sole of the foot toe and enclose length; " 8 " indicated for instep encloses, the pin instep encloses to refer to by what prominent point of preceding shank and tuberosity of fifth metatarsal bone point were surveyed and encloses length; " 9 " indicated for pocket encloses, the pin pocket encloses to refer to by what curved point on heel and the boat was surveyed and encloses length; " 10 " indicated for ankle encloses, refer to the length of enclosing by the thinnest place of ankle side.
As shown in Figure 4, synoptic diagram for the position configuration of camera of the present invention relation, when measuring, people's pin is placed on the central area of disk, 8 cameras are arranged around it, and guarantee that each angle point of the socks on people's pin to be measured is photographed by two cameras (video camera) at least.
As shown in Figure 5, system at first by pattern special-purpose, known its three-dimensional space position, carries out the calibration and the calibration of camera or video camera when the preparatory stage, estimate their parameter.Pin type to be measured is when the preparatory stage, at first put on the socks shown in the specific pattern, be placed on the central area of disk, then by telepilot or line control machine, controlling 6-8 camera (video camera) takes from all angles once, and be transferred in the computing machine by USB interface, start software systems then, be loaded in the internal memory collecting all images, and in every width of cloth image, find out angle point, and connect into two-dimensional grid.
Automatically mate in system on the basis of angle point, by user interactions the coupling of correcting a mistake, and fill the matching relationship of burst.At this moment, software systems start the stereoscopic vision module, according to calibrating the good camera or the parameter of video camera, and the angle point corresponding relation that matches, calculate the three-dimensional position of each angle point, and, form three-dimensional grid according to its grid annexation on two dimensional image.
At last, system is according to the grid of three-dimensional, standard pin type in the system is out of shape, generate the three-dimensional model of specific people's pin to be measured, and the unique point of the pin type of choosing alternately by the user at this three-dimensional model, then, system is automatically according to this three-dimensional model, calculate the pin shape parameter, comprise that pin is long, pin is wide, outer anklebone center lower edge point height, heel bulging point height, curved some height on the boat, the prominent some height of preceding shank, the first articulationes metatarsophalangeae height, the pin thumb heights and the sole of the foot enclose, instep encloses, pocket encloses with ankle encloses and encloses length.
Claims (1)
1. three-dimensional foot type measuring and modeling method based on a lattice, it is characterized in that: be through on people's the pin with the socks that are printed on grid, take simultaneously by a plurality of digital cameras or video camera then, the angle point of guaranteeing each grid was photographed by at least two digital cameras or video camera, based on the principle of stereoscopic vision and optical imagery, recover the three-dimensional position of all grid angle points then; On this basis, utilize the three-dimensional position of these grid angle points that recover, again simulate the 3D grid that covers on people's pin, at last according to the locus constraint of 3D grid to the standard pin, by the distortion modeling method, set up the model of three-dimension foot type, and calculate the parameter of pin type, concrete steps are as follows:
1) calibration of digital camera or video camera, by the known object of three-dimensional spatial information is taken, then according to their pixel coordinate position in the two dimensional image that collects, estimate the inside and outside parameter of digital camera or video camera, comprise relative tertiary location between focal length, two cameras with relative towards angle;
2) pixel coordinate position of all angle points from each digital camera or video camera input picture is found out in the detecting of grid angle point automatically or semi-automatically;
3) coupling of grid angle point is found out the corresponding relation between the angle point in two width of cloth images of input automatically or semi-automatically, and promptly the angle point in the piece image is corresponding to which angle point in another width of cloth image;
4), calculate the three-dimensional position of grid angle point according to the inside and outside parameter of how much image-forming principles of optics and camera;
5) according to the three-dimensional position of grid angle point, and and people's standard pin model combine, simulate the 3D grid of people's pin;
6) according to this 3D grid, by the distortion modeling method, set up the three-dimensional model of pin type, and calculate the parameter of pin type, comprise that pin is long, pin is wide, on the outer anklebone center lower edge point height (1), heel bulging point height (2), boat curved some height (3), the prominent point of preceding shank highly (4), first an articulationes metatarsophalangeae height (5), pin thumb heights (6) and the sole of the foot enclose that (7), instep enclose that (8), pocket enclose (9) and ankle encloses the length of enclosing of (10).
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| CNB2003101088562A CN100348949C (en) | 2003-11-25 | 2003-11-25 | Three-dimensional foot type measuring and modeling method based on specific grid pattern |
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| CN100348949C true CN100348949C (en) | 2007-11-14 |
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| CN100349189C (en) * | 2005-10-26 | 2007-11-14 | 浙江大学 | Sparse grid-oriented three-dimensional foot type fast acquiring method based on standard foot deformation |
| CN100388905C (en) * | 2005-10-26 | 2008-05-21 | 浙江大学 | Three-dimensional feet data measuring method to sparse grid based on curve subdivision |
| CA2811132C (en) * | 2006-09-21 | 2019-04-09 | Msd Consumer Care, Inc. | Foot measurement apparatus |
| CN101658347B (en) * | 2009-09-24 | 2011-11-30 | 浙江大学 | Method for obtaining dynamic shape of foot model |
| CN101666621B (en) * | 2009-09-24 | 2011-01-05 | 浙江大学 | Gauge point extracting method without reference to illumination |
| CN103099389A (en) * | 2011-11-09 | 2013-05-15 | 李勇 | System and method for selection of most fitting foot article through three-dimensional measurement of feet |
| CN103126681A (en) * | 2011-12-01 | 2013-06-05 | 原相科技股份有限公司 | Object appearance measuring system |
| CN102763938B (en) * | 2012-04-28 | 2014-08-27 | 青岛大学 | Digital camera-based three-dimensional measurement method of shoe tree and prepared shoe tree |
| CN103054590A (en) * | 2012-12-26 | 2013-04-24 | 南昌大学 | Foot style and pressure detection floor mat device |
| CN103971409B (en) * | 2014-05-22 | 2017-01-11 | 福州大学 | Measuring method for foot three-dimensional foot-type information and three-dimensional reconstruction model by means of RGB-D camera |
| CN104820735A (en) * | 2015-04-17 | 2015-08-05 | 大族激光科技产业集团股份有限公司 | Method and device for making shoes based on three-dimensional reconstruction of feet |
| CN105844701A (en) * | 2016-03-18 | 2016-08-10 | 吴志龙 | Sequential-image three-dimensional modeling method |
| JP6123010B1 (en) * | 2016-09-14 | 2017-04-26 | 株式会社ミリメーター | Data acquisition device for wooden design |
| CN106510098A (en) * | 2016-12-27 | 2017-03-22 | 广东工业大学 | Foot three-dimensional information acquisition device |
| CN107136649B (en) * | 2017-04-20 | 2020-07-31 | 深圳市云智数据服务有限公司 | Three-dimensional foot shape measuring device based on automatic track seeking mode and implementation method |
| CN108305286B (en) * | 2018-01-25 | 2021-09-07 | 哈尔滨工业大学深圳研究生院 | Color coding-based multi-view stereoscopic vision foot type three-dimensional measurement method, system and medium |
| CN110553630B (en) * | 2019-09-09 | 2021-07-06 | 南昌工程学院 | Image processing-based real-time monitoring method for pit-rushing terrain evolution of jet flow |
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