CN101526337A - Scanning system and method for three-dimensional images - Google Patents
Scanning system and method for three-dimensional images Download PDFInfo
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Abstract
The invention relates to a scanning system and a method for three-dimensional images, wherein the system comprises a pick-up device, a rotating device, mutually orthogonal panels and a light source; and the method comprises: 1. transversely arranging the mutually orthogonal panels; 2. calibrating the CCD camera according to a second marking point on the mutually orthogonal panels to obtain the internal and external parameters of the CCD camera; 3. obtaining the plane equation of a linear laser scanning surface according to the internal and external parameters of the CCD camera, the linear laser emitted from the light source and the images of the mutually orthogonal panels; and 4. determining the three-dimensional coordinates of the surface points of the tested objects according to the plane equation of the linear laser scanning surface and the equation of straight line of the linear laser images. The invention reduces the cost, overcomes the limits to the surface matching of the scanning curve sheets based on a triangle relation in the prior art, and improves the efficiency, precision and flexibility of the scanning by arranging a rotating table and transversely arranging mutually orthogonal panels.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to a three-dimensional scanning technology, in particular to a three-dimensional image scanning system and a three-dimensional image scanning method.
[ background of the invention ]
The non-contact optical scanning mainly includes an active scanning mode and a passive scanning mode. The active scanning mode based on the trigonometry mainly includes laser scanning and raster scanning methods, etc., and the basic principle is that a beam of laser or a plurality of rasters emitted by a light source is irradiated on the plane of an object to be measured, and the laser or the rasters form an image on a CCD camera after being reflected. When the surface position of the object changes, the displacement of the image formed by the CCD camera on the detector also changes. Referring to fig. 1, a schematic diagram of a three-dimensional scanning based on a trigonometry in the prior art is shown in fig. 1, where the positions of a light source and a CCD camera are previously calibrated; the distance of the object is calculated by utilizing the direct triangular relation among the object, the light source and the CCD camera. The passive scanning based on the Stereo vision method captures a single image or a plurality of images of a measured object through a camera, and then establishes three-dimensional information of the measured object by utilizing information such as illumination (Shading), outlines (Sihouettes), Stereo (Stereo) and the like.
However, the above-mentioned active scanning based on trigonometry and passive scanning based on stereovision require complex hardware systems and algorithms; in addition, during implementation, the positions of the light source and the CCD camera need to be accurately calibrated; moreover, the object curved surface slices obtained each time need to be spliced by means of a curved surface matching algorithm to complete the reconstruction of the three-dimensional model; this results in high implementation costs. For a stereoscopic vision-based method in passive scanning, the algorithm is complex, and the data processing efficiency is low; in addition, the measurement accuracy is also low.
Referring to fig. 2, a schematic diagram of a prior art three-dimensional scanning device is shown. As shown in fig. 2, the apparatus includes an orthogonal flat plate placed vertically, a line laser transmitter whose position can be moved, and a camera. The working process is as follows: the method comprises the following steps that a camera firstly detects laser light bars falling on two sides of an orthogonal flat plate, and then a line laser plane equation is established according to internal and external parameters of the camera; detecting the object laser image to obtain an image of line laser on the object, and establishing a line laser linear equation according to the center of the camera; and finally, acquiring the intersection point of the line laser plane equation and the line laser linear equation, thereby acquiring the three-dimensional coordinate of the surface of the measured object. Moving the handheld light source up and down, and repeating the process until a plurality of curved sheets which can realize the splicing of the three-dimensional model are obtained; and after the scanning is finished, splicing the plurality of curved surface slices to a three-dimensional coordinate system by using a curved surface matching algorithm to finish the establishment of a three-dimensional model.
However, in the above technical solution, different curved surface sheets can be obtained only by moving the line laser emitter up and down, which is difficult to operate; in addition, because the camera faces the object, the light source and the camera have a large enough included angle to obtain the intersection point of the line laser plane equation and the line laser linear equation, and especially when the line laser light bar of the light source obliquely irradiating the object becomes large, the difficulty of accurately extracting the laser line in the image is large; moreover, the laser plane equation is established for each frame of image, and the plurality of curved sheets are fused based on the matching algorithm, which results in low efficiency.
[ summary of the invention ]
The invention provides a three-dimensional image scanning system, aiming at solving the defects that in the prior art, the cost is high due to the fact that accurate positions of a light source and a CCD camera need to be calibrated based on a trigonometry, the efficiency is low due to the fact that a curved surface matching algorithm is used for splicing object curved surface slices obtained each time to complete the reconstruction of a three-dimensional model, and the like.
The invention also provides a three-dimensional image scanning method.
The scheme adopted by the invention for solving the problems in the prior art is as follows: there is provided a three-dimensional image scanning system including: the device comprises a camera device, a rotating device, a flat plate and a light source which are orthogonal to each other, wherein the camera device is arranged in a direction aligned with the rotating device; the rotating device is arranged between the camera device and the mutually orthogonal flat plates, and a first mark point position is arranged on the rotating device and used for placing and rotating a measured object; the mutually orthogonal flat plates are transversely arranged and are provided with second mark points; the light source is arranged in the direction forming an included angle with the camera device.
According to a preferred embodiment of the present invention: the central axis of the light source and the central axis of the CCD camera form an included angle of 40-50 degrees.
According to a preferred embodiment of the present invention: the light source is a line laser with an emergence angle of 50-80 degrees.
According to a preferred embodiment of the present invention: the first mark point location is a first mark paste.
According to a preferred embodiment of the present invention: the second mark point position is a second mark paste.
According to a preferred embodiment of the present invention: the camera device is a CCD camera.
According to a preferred embodiment of the present invention: the rotating device is a rotary table.
The invention also provides a three-dimensional image scanning method, which comprises the following steps: the first step is as follows: transversely arranging mutually orthogonal flat plates, wherein the mutually orthogonal flat plates are provided with second mark points; the second step is that: calibrating the camera device according to a second mark point position on the mutually orthogonal flat plates to obtain internal and external parameters of the camera device; the third step: obtaining a plane equation of a line laser scanning surface according to the internal and external parameters of the camera device and the images of the line laser emitted by the light source and the mutually orthogonal flat plates, wherein the light source and the camera device are arranged according to an included angle; the fourth step: and determining the three-dimensional coordinates of the surface of the measured object according to the plane equation of the line laser scanning surface and a line laser image linear equation, wherein the light source linear equation is established according to the image of the deformation curve of the line laser emitted by the light source on the measured object and the central point of the camera device in the process of rotating the measured object by the rotating device provided with the first mark point position.
According to a preferred embodiment of the present invention: before the first step, the method comprises the following steps: and establishing a world coordinate system according to the mutually orthogonal flat plates.
According to a preferred embodiment of the present invention: the second step is preceded by: and obtaining a transformation matrix of the rotating device relative to the world coordinate system according to the second mark point position on the rotating device.
In the invention, a plane equation of a line laser scanning surface is established by the mutually orthogonal flat plates provided with the mark points, so that the defects that in the prior art, a light source and a CCD camera need to be calibrated, and the three-dimensional coordinates of a measured object can be determined only by knowing the precise triangular relation formed among the light source, the CCD camera and the measured object are overcome, and the cost is reduced; in addition, because the positions of the flat plate and the light source which are mutually orthogonal are fixed, only a plane equation is solved for the linear laser scanning surface once when the scanning starts, and then the three-dimensional coordinate of the surface of the measured object is determined according to a linear laser equation, so that the scanning efficiency is effectively improved. In addition, the measured object is placed and rotated by the rotary table, and the calculated three-dimensional coordinate information of the surface of the object is the actual position of the measured object, so that the defects that different curved surface pieces are obtained by the laser transmitters moving up and down, the data processing efficiency is low and the like caused by the fact that the curved surface pieces of the object obtained each time are spliced by means of a curved surface matching algorithm to complete the reconstruction of a three-dimensional model in the prior art are overcome, and the efficiency and the precision are improved. According to the technical scheme, a precise hardware device is not needed, the assembly relation among the hardware is not strict, and the three-dimensional scanning of the measured object can be realized only by the rotating device with certain precision, the camera (or the camera), the light source and the two mutually orthogonal flat plates.
[ description of the drawings ]
FIG. 1 is a schematic diagram of a prior art trigonometric based three-dimensional scanning;
FIG. 2 is a schematic diagram of a prior art three-dimensional scanning device;
FIG. 3 is a schematic diagram of a three-dimensional image scanning system according to the present invention;
FIG. 4 is one of the schematic spatial arrangements of the components of the three-dimensional image scanning system of the present invention;
FIG. 5 is a second schematic diagram of the spatial arrangement of the components of the three-dimensional image scanning system according to the present invention;
FIG. 6 is a graph showing a distribution of the placement of second marker points on a plate orthogonal to each other according to the present invention;
FIG. 7 is a graph showing a distribution of the first index point on the rotating device according to the present invention;
FIG. 8 is a flow chart of a three-dimensional image scanning method based on the three-dimensional image scanning system of the present invention;
FIG. 9 is a diagram of an operating state of a three-dimensional image scanning method of a three-dimensional image scanning system according to the present invention;
FIG. 10 is a second working state diagram of the three-dimensional image scanning method based on the three-dimensional image scanning system of the present invention.
[ detailed description ] embodiments
The invention is described in detail below with reference to the accompanying drawings:
please refer to fig. 3, a schematic structural diagram of a three-dimensional image scanning system of the present invention, fig. 4, a schematic spatial arrangement diagram of components of the three-dimensional image scanning system of the present invention, and fig. 5, a schematic spatial arrangement diagram of components of the three-dimensional image scanning system of the present invention. As shown in fig. 3, 4 and 5, the three-dimensional image scanning system includes: a CCD camera as an imaging device 1, a turntable as a rotating device 2, an orthogonal flat plate as a flat plate 3 orthogonal to each other, and a line laser as a light source 4, wherein the CCD camera is disposed in a direction aligned with the turntable; the rotary table is arranged between the CCD camera and the orthogonal flat plate, and a first mark point is arranged on the rotary table and used for placing and rotating a measured object; the orthogonal flat plate 3 is transversely arranged and is provided with a second mark point; the light source 4 is arranged in a direction forming an angle with the CCD camera, and the light source 4 may be located at any position in front of the orthogonal plate.
To improve the scanning accuracy, the CCD camera is aligned with the center point C of the turntable rotation center a and the center point C of the turntable edge B, which is the closest point to the light source 4, as shown in fig. 4.
Please refer to fig. 6, which is a distribution diagram of the arrangement of the second mark points on the mutually orthogonal flat plate 3 according to the present invention. As shown in fig. 6, the second index points on the plate 3 can be set to different sizes as required, and the diameter can be 20 and 15 unit circles; the second mark point in the first column on the flat plate 3 is arranged 20 units away from the left edge of the flat plate 3, the distance between the second mark point in the adjacent second column and the second mark point in the adjacent second column can be 50 units, the distance between the second mark point in the second column and the second mark point in the third column can be 50 units, and so on; the second index point in the first row is located 20 units from the top edge of the plate 3, the distance from the second index point in the adjacent second row may be 30 units, the distance from the second index point in the second row to the second index point in the third row may be 30 units, and so on.
Please refer to fig. 7, which is a distribution diagram of the first mark points on the rotating device according to the present invention. As shown in fig. 7, the first flag points may be arranged in a staggered manner in a square pattern.
In the preferred technical scheme of the invention: the central axis of the light source 4 and the central axis of the CCD camera form an included angle of 40-50 degrees. The central axis of the light source 4 and the central axis of the CCD camera preferably form an angle of 45 °. The first mark point is a first mark paste; the second mark point is a second mark paste.
Please refer to fig. 8, which is a flowchart illustrating a three-dimensional image scanning method based on the three-dimensional image scanning system of the present invention. Please refer to fig. 9, which is a working state diagram of a three-dimensional image scanning method of a three-dimensional image scanning system according to the present invention. Please refer to fig. 10, which is a second working state diagram of the three-dimensional image scanning method based on the three-dimensional image scanning system of the present invention. As shown in fig. 8, 9 and 10, the three-dimensional image scanning method includes the steps of:
the first step is as follows: the mutually orthogonal flat plates 3 are transversely arranged, and second mark points are arranged on the mutually orthogonal flat plates 3;
the second step is that: calibrating the CCD camera according to a second mark point on the flat plate 3 which is orthogonal with each other, and acquiring internal and external parameters of the CCD camera;
obtaining the center point coordinate p of the second mark point image through algorithms such as image threshold segmentation, ellipse fitting based on Hough transform and the likei≡(ui，vi) I is 1, 2, …, n, and the coordinates P of the pattern center point on the flat plate 3 orthogonal to each other are determined based on the second distribution of the index points shown in fig. 6i≡(xi，yi，zi). Here, the projection equation of the light source 4 model is shown in the formula (1)
Wherein the projection matrix
Let m1 T，m2 T，m3 TThree rows for M are:
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projection equation (1) becomes
From equation (2) we can derive:
image coordinates p of the pattern to be calibratediAnd the actual coordinates PiSubstituting equation (3) and writing it in matrix form as shown in (4):
the projection matrix M can be solved by the least squares method. The projection equation is written as ρ (A b) ═ K (r t), where M is (A b), K is the intrinsic parameter, and (R t) is the extrinsic parameter matrix, and the intrinsic and extrinsic parameters of the camera can be calculated by the following equation (5):
in a preferred embodiment of the present invention, the first step further comprises: and establishing a world coordinate system according to the mutually orthogonal flat plates 3.
In the preferred technical scheme of the invention, when the measured object is not placed on the rotating platform, the algorithm, the second mark point on the rotating platform can be calibrated, and the transformation matrix T and the rotating shaft of the rotating platform relative to the world coordinate system can be calculated by the measuring technology.
The third step: according to the internal and external parameters of the CCD camera and the image of the line laser emitted By the light source 4 and the flat plate 3 which is orthogonal to each other, a plane equation Ax + By + Cz-D of a line laser scanning surface is obtained and is recorded as f (x, y, z) 0, the light source 4 and the CCD camera are arranged according to an included angle, and the emergent angle of the light source 4 is about 50-80 degrees; fourthly, determining the three-dimensional coordinates of the surface of the measured object according to a plane equation f (x, y, z) of the line laser scanning surface being 0 and a line laser image linear equation l (x, y, z), wherein the light source 4 image linear equation is a point p on the image of the deformation curve of the line laser emitted by the light source 4 on the measured object in the process of rotating the measured object by the rotating platform provided with the first mark pointiI.e. the image of the deformation curve of the laser line on the object in fig. 10, and the center point O of the CCD camera.
All points p on the deformation curveiThe formed linear equation l (x, y, z) and the plane equation f (x, y, z) of the line laser scanning surface are crossed according to the formula (6) to calculate the three-dimensional coordinate P of the point on the laser linei。
In order to obtain the three-dimensional coordinates of the surface of the measured object, the three-dimensional coordinates P of the points on the laser line are required to be obtainediAccording to Pr＝PT-1And transforming to the coordinate system of the rotating platform. When the rotating table rotates by an angle phi, PrThe three-dimensional coordinate P of the surface of the measured object can be obtained by the formula (7)rot。
Prot＝PriRrot(7) Wherein,
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in the technical scheme, after the rotary table is continuously rotated for 360 degrees, the three-dimensional coordinates capable of determining the surface of the measured object can be obtained.
In a preferred embodiment of the present invention, the second marking points on the mutually orthogonal flat plates 3 in the first step are second marking stickers.
And in the third step, the three-dimensional coordinates of the surface of the measured object are determined according to the plane equation of the line laser scanning surface and the line laser image linear equation, wherein the light source 4 image linear equation is established according to a deformation curve on an image formed by the line laser emitted by the light source 4 and the measured object and the central point of the CCD camera in the process of rotating the measured object by the rotating table provided with the first mark point.
In the third step, the setting of the light source 4 and the CCD camera according to an included angle is specifically as follows: and arranging the light source 4 and the CCD camera according to an included angle of 40-50 degrees between the central axes of the light source and the CCD camera.
In the third step, the setting of the light source 4 and the CCD camera according to an included angle is specifically as follows: and the light source 4 and the CCD camera are arranged at an included angle of 45 degrees according to the central axes of the light source and the CCD camera.
The technical scheme of the invention has important application in the fields of three-dimensional design, game development, animation production, virtual reality, virtual cultural relics and the like, and can reconstruct the movie data of a digital object into a three-dimensional model. The plane equation of the line laser scanning surface is established through the mutually orthogonal flat plate 3 with the mark points, so that the defects that in the prior art, both the light source 4 and the CCD camera need to be calibrated, and the three-dimensional coordinates of the measured object can be determined only by knowing the precise triangular relation formed among the light source 4, the CCD camera and the measured object are overcome, and the cost is reduced; in addition, because the positions of the flat plate 3 and the light source 4 which are mutually orthogonal are fixed, only a plane equation is solved for the linear laser scanning surface at the beginning of scanning, and then the three-dimensional coordinate of the surface of the measured object is determined according to a linear laser linear equation, so that the scanning efficiency is effectively improved. In addition, the measured object is placed and rotated by the rotary table, and the calculated three-dimensional coordinate information of the surface of the object is the actual position of the measured object, so that the defects that different curved surface pieces are obtained by the laser transmitters moving up and down, the data processing efficiency is low and the like caused by the fact that the curved surface pieces of the object obtained each time are spliced by means of a curved surface matching algorithm to complete the reconstruction of a three-dimensional model in the prior art are overcome, and the efficiency and the precision are improved. According to the technical scheme, a precise hardware device is not needed, the assembly relation among the hardware is not strict, and the three-dimensional scanning of the measured object can be realized only by the camera or the camera with certain precision, the light source 4 and the two mutually orthogonal flat plates 3.
The foregoing is a more detailed description of the present invention in connection with specific preferred embodiments and is not intended to limit the practice of the invention to these embodiments. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (10)
1. A three-dimensional image scanning system, characterized by: the three-dimensional image scanning system includes: the device comprises an image pickup device (1), a rotating device (2), a flat plate (3) and a light source (4) which are orthogonal to each other, wherein the image pickup device (1) is arranged in a direction aligned with the rotating device (2); the rotating device (2) is arranged between the camera device (1) and the mutually orthogonal flat plates (3), and a first mark point position is arranged on the rotating device (2) and used for placing and rotating a measured object; the rotating shafts of the mutually orthogonal flat plates (3) are transversely arranged, and second mark points are arranged on the mutually orthogonal flat plates (3); the light source (4) is arranged in the direction forming an included angle with the camera device (1).
2. The three-dimensional image scanning system of claim 1, wherein: the central axis of the light source (4) and the central axis of the camera device (1) form an included angle of 40-50 degrees.
3. The three-dimensional image scanning system of claim 1, wherein: the light source (4) is a line laser with an emergence angle of 50-80 degrees.
4. The three-dimensional image scanning system of claim 1, wherein: the first mark point location is a first mark paste.
5. The three-dimensional image scanning system of claim 1, wherein: the second mark point position is a second mark paste.
6. The three-dimensional image scanning system according to claim 1, characterized in that the camera device (1) is a CCD camera.
7. The three-dimensional image scanning system according to claim 1, characterized in that the rotating means (2) is a turntable.
8. A three-dimensional image scanning method is characterized in that: the three-dimensional image scanning method includes the steps of:
a: the rotating shafts of the mutually orthogonal flat plates (3) are transversely arranged, and second mark points are arranged on the mutually orthogonal flat plates (3);
b: calibrating the camera device (1) according to a second mark point position on the mutually orthogonal flat plate (3) to obtain internal and external parameters of the camera device (1);
c: according to the internal and external parameters of the camera device (1) and the images of the line laser emitted by the light source (4) and the mutually orthogonal flat plate (3), a plane equation of a line laser scanning surface is obtained, and the light source (4) and the camera device (1) are arranged according to an included angle;
d: and determining the three-dimensional coordinate of the surface of the measured object according to the plane equation of the line laser scanning surface and a line laser image linear equation, wherein the light source (4) linear equation is established according to the image of the deformation curve of the line laser emitted by the light source (4) on the measured object and the central point of the camera device (1) in the process of rotating the measured object by the rotating device (2) provided with the first mark point.
9. The three-dimensional image scanning method according to claim 8, characterized by comprising, before said step a: and establishing a world coordinate system according to the mutually orthogonal flat plates (3).
10. The three-dimensional image scanning method according to claim 8, wherein the step B is preceded by: and obtaining a transformation matrix of the rotating device (2) relative to the world coordinate system according to the second mark point position on the rotating device (2).
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