CN102855626A - Methods and devices for light source direction calibration and human information three-dimensional collection - Google Patents
Methods and devices for light source direction calibration and human information three-dimensional collection Download PDFInfo
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Abstract
The invention relates to a device and a method for assisting light source direction calibration by using a mirror surface reflection sphere, and further relates to a device and a method for human information three-dimensional collection. An ordinary camera and a plurality of light-emitting diode (LED) lights are used, so that three-dimensional collection of human information can be rapidly completed; and light source direction calibration and low light source illumination field rectification are used to achieve high-accuracy three-dimensional reconstruction of human information. The methods and the devices have the advantages of being low in cost, convenient to carry, rapid and high in accuracy.
Description
[technical field]
The present invention relates to human body information three-dimensional acquisition technology, be specifically related to a kind of contactless humanbody information three-dimensional acquisition method and device.
[background technology]
The human body information recognition technology, particularly fingerprint identification technology is used widely, such as Fingerprint Lock, fingerprint safe, fingerprint attendance machine, finger print mobile phones etc., be widely used in the multiple industries such as public security, insurance, bank, brought great safety convenient for modern life.Existing human body information identification mostly is based on the two dimensional image collection and analyzes recognition principle, and the problem that the image acquisition mode of this contact is brought is also comparatively obvious: 1) because the distortion of the fingerprint that contact produces can affect discrimination; 2) because the problems such as grease contamination that contact produces can cause recognition failures; 3) because the disease propagation problem that contact produces.
In view of above Contact Two-dimensional fingerprint collecting and the existing problem of recognition technology, three-dimensional fingerprint collecting and recognition technology have appearred in recent years, and namely obtain the three-dimensional model of fingerprint by contactless 3D vision means, and the 3D fingerprint is identified.As, 2009, University of Kentucky and FlashScan 3D company cooperated, and realized contactless 3-D scanning with structured light active reconfiguration technique; Almost meanwhile, Ka Neiji-Mei Long university and TBS Holdings company use 5 cameras, realize three-dimensionalreconstruction by the profile information of many orders stereoscopic technology and finger.
CN200910154154 discloses a kind of live body two dimension fingerprint capturer, according to optical imaging concept, light source is placed the transparent surface below of pentaprism, utilize parallel over against sampling to fingerprint of pentaprism, the light source information that collects is passed to the sampling that image-forming objective lens and imageing sensor are realized two-dimentional fingerprint.
System among the CN200510035628 is according to all reflective light principle, and the collimating optics thin plate that utilizes polylith to superpose is realized the output of two-dimentional fingerprint image.The fingerprint collecting plate bulk is little, and is lightweight, can be used for multiple fingerprint acquisition device, can use in multiple occasion.
US Patent No. 7609865 discloses " three-dimensional fingerprint palmmprint data model and based on the harvester of structured light and camera ", and this system and method utilizes the projection of structured light on finger surface and palm surface to realize biological information identification.The two dimensional image of being thrown the contour of object of upper structured light can provide the three-dimensional information of object, and the three-dimensionalreconstruction precision reaches NIST fingerprint standard.In embodiments, can use the structured light of different colours in order to improve the efficient of software computing, can utilize the two dimensional image model of smooth three-dimensional surface to improve picking rate simultaneously.In this system, the meticulousst structured light feature can reach a millimeter unit.Gather standard although reticulate texture luminous energy reaches present fingerprint palmmprint, in other embodiment, adopt the special structured light based on the initial acquisition result can also provide better three-dimensional result, this is conducive to satisfy other high-precision requirement.
The advantage of contactless 3 D human body information acquiring technology is embodied in: 1) problems that the collection of conventional two-dimensional contact brings have been avoided in contactless collection; 2) 3 D human body information has comprised more quantity of information, can significantly improve the accuracy rate of identification.Yet, existing human body information three-dimensional acquisition and recognition technology have mainly adopted the optical three-dimensional scanning means to come the three-dimensional model of quick obtaining fingerprint, its major defect is embodied in: 1) 3 D scanning system need adopt high precision projector equipment or a plurality of camera, and hardware cost is high; 2) volume is large, is unfavorable for integrated.
[summary of the invention]
For the problem that existing human body information three-dimensional acquisition technology exists, the invention provides a kind of low cost, high-speed, high precision and portable human body information three-dimensional acquisition method and apparatus.
The invention provides a kind of light source direction caliberating device, comprising: the mirror-reflection ball, its radius r is known; Light source is used for shining from the side described mirror-reflection ball; Image unit is positioned at described mirror-reflection ball dead ahead, is used for catching the maximum cross-section profile of described mirror-reflection ball, and the hot spot of described light source on described mirror-reflection ball; Computing unit is connected with described image unit, is used for calculating described light source direction.
The present invention also provides and uses this caliberating device to carry out the method that light source direction is demarcated, and comprising:
S101 is take image unit as initial point o, sets up pixel coordinate system, and determines that according to the focal distance f of image unit image unit is on picture plane that pixel coordinate is fastened;
The S102 image unit is caught the coordinate of the picture point s ' of specular reflection point s on the picture plane on the mirror-reflection ball;
The S103 computing unit obtains the picture point c ' coordinate of mirror-reflection centre of sphere c on the picture plane by ellipse fitting;
S104 is according to formula
Calculate the coordinate of mirror-reflection centre of sphere c;
S105 calculates spherical equation according to coordinate and the mirror-reflection radius of a ball r of mirror-reflection centre of sphere c;
S106 calculates the intersecting point coordinate of os ' and spherical equation, is the coordinate of specular reflection point s;
S107 determines normal vector n according to the coordinate of mirror-reflection centre of sphere c and specular reflection point s;
S108 is according to mirror-reflection radius of a ball r and normal vector n, and through type I=2 (nr) n-r calculates light source direction 1.
The present invention provides a kind of human body information three-dimensional acquisition device on the other hand, comprising: gather the chamber; Be positioned at the hole of putting of below, described collection chamber, be used for human body information to be collected is put facing up; Be positioned at the Lamp cup of top, described collection chamber, comprise at least three lamps that are evenly arranged along periphery, the center of described lamp is illuminated and a little is positioned at the described hole of putting; Place the image unit of described Lamp cup top, be used for gathering the image of human body information; The I/O control panel is connected to described Lamp cup and described image unit, is used for controlling the light on and off of described lamp, and the described image unit of synchro control gathers image; Data processing terminal is connected to described image unit, for the treatment of the image of described image unit collection, and calculates the human body information three-dimensional model; The mirror-reflection ball that radius is known is used for before using first the light source direction of demarcating lamp.
In this harvester, described human body information can comprise fingerprint, palmmprint, facial information.
Described collection chamber also can comprise shell, is used for the shielding ambient light and disturbs.
Described data processing terminal can be PC or embedded unit.
Described data processing terminal also can comprise storage unit and/or output unit.
Described image unit can be camera or camera.
Described lamp is LED lamp, infrared LED lamp, ultraviolet LED lamp, optical fiber, incandescent lamp.
Further aspect of the present invention provides uses this harvester to carry out the method for human body information three-dimensional acquisition, comprising:
S201 demarcates the image unit intrinsic parameter, to obtain focal length, the center point coordinate of image unit;
The above-mentioned light source direction scaling method of S202, the light source direction 1 of demarcating each lamp;
S203 corrects the close to sources illumination field by luminance compensation, determines the compensation coefficient of each point in the close to sources illumination field;
S204 uses image unit, takes the image of position to be collected skin under each light irradiation, and according to the compensation coefficient of step S203, determines the brightness I after each pixel is corrected in the image;
S205 utilizes the image of taking among the step S204, adopts Lambertian reflection model specification reflectivity ρ, sets up the three-dimensional model of position to be collected skin, and according to formula I=ρ N1, the tridimensional processes of each pixel is to N, to obtain tridimensional processes to the field in the estimation image;
S206 obtains the three-dimensional model of position to be collected skin by normal direction field integral method.
By some lamps and image unit, based on the photometry principle, realize the three-dimensional Fast Reconstruction of human body information, its advantage is embodied in: 1) system architecture is simple, need not 3-D scanning equipment with high costs, only formed by some lamps and image unit and a serial ports I/O plate; 2) low cost; 3) precision is high, can realize the high precision of human body skin small detail is rebuild.Because the factor that affects reconstruction precision relates generally to two aspects: the brightness value of light-illuminating in the image, and the light source direction value at each some place in the image.Demarcate by the light source direction in the method for the present invention, and the close to sources illumination field is corrected and the step of luminance compensation, can greatly improve the precision of human body information three-dimensional reconstruction.
Aspect software, by the demarcation to a plurality of light source direction, and the rectification of brightness, the employing Lambert's model estimates the tridimensional processes of each point of fingerprint surface to information, and then obtains the three-dimensional model of fingerprint.
This invention can be used for the three-dimensional acquisition of the human body informations such as fingerprint, palmmprint, facial characteristics, and the 3D data that gather not only can be used for field of biological recognition, can also be used for the numerous areas such as medical science skin analysis, cosmetics test, has wide market outlook.
[description of drawings]
Fig. 1 is the schematic diagram according to light source direction caliberating device of the present invention.
Fig. 2 is the schematic diagram according to light source direction scaling method of the present invention.
Fig. 3 is the process flow diagram according to light source direction scaling method of the present invention.
Fig. 4 is the schematic diagram according to human body information three-dimensional acquisition device of the present invention, and wherein A is overall diagram; B is the elevational schematic view of light cup.
Fig. 5 is the process flow diagram according to human body information three-dimensional acquisition method of the present invention.
Fig. 6 is according to human body information three-dimensional acquisition method of the present invention, the fingerprint image comparison diagram before and after the close to sources illumination field is corrected, and wherein A is for before correcting; B is for after correcting.
Fig. 7 is according to human body information three-dimensional acquisition method of the present invention, the fingerprint of collection (A); Correct the fingerprint three-dimensional model (B) that obtains without the close to sources illumination field; Correct the fingerprint three-dimensional model (C) that obtains through the close to sources illumination field.
[embodiment]
Below in conjunction with the drawings and specific embodiments the present invention is described in further detail.
Figure 1 shows that the schematic diagram according to light source direction caliberating device of the present invention.The light source direction caliberating device comprises: mirror-reflection ball 11, and its radius r is known; Light source 12 is used for shining from the side mirror-reflection ball 11; Image unit 13 is positioned at mirror-reflection ball 11 dead aheads, is used for catching the maximum cross-section profile of mirror-reflection ball 11, and the hot spot of light source 12 on mirror-reflection ball 11; Computing unit 14 is connected with image unit 13, is used for calculating the direction of described light source 12.
Figure 2 shows that the schematic diagram according to light source direction scaling method of the present invention.Under the prerequisite of known image unit 13 confidential reference items and mirror-reflection ball 11 radius r, utilize bright spot (hot spot) information on the sphere, can calculate the direction of light source.
The position relationship of mirror-reflection ball 11 in image unit 13 coordinate systems as shown in Figure 2, following information is known: radius of sphericity r; Lens focus f obtains by camera calibration; The profile CC of spheroid on the picture plane, detect (referring to Canny by the Canny operator, J., A Computational Approach to Edge Detection, IEEE Trans.Pattern Analysis and Machine Intelligence, 8 (6): 679-698,1986.); The hot spot s of lamp, because spheroid is mirror-reflection, this hot spot can detect in image easily.
As shown in Figure 3, the method step of light source direction demarcation is as follows:
S101 sets up pixel coordinate system (X, Y, Z) take image unit 13 as initial point o, and determines the picture plane P that image unit is fastened at pixel coordinate according to the focal distance f of image unit;
S103 is according to the characteristic of spheroid, and the center c ' of spheroid profile is the projection of centre of sphere c on the plane of delineation in the image, and therefore, computing unit can obtain the picture point c ' coordinate of mirror-reflection centre of sphere c on the picture plane by ellipse fitting;
S104 is by the straight line of the upper any point of photocentre o and contour edge CC, and it is tangent with the mirror-reflection ball in the space; Centre of sphere point one is positioned on the straight line of photocentre o and profile central point c ', and radius of sphericity r camera focus f is known suddenly, thereby according to can be by formula among Fig. 2
The triangle relation that provides is set up the objective function about center of circle c, solves an equation, and can calculate the position coordinates of mirror-reflection centre of sphere c;
S105 calculates spherical equation according to coordinate and the mirror-reflection radius of a ball r of mirror-reflection centre of sphere c;
S106 calculates the intersecting point coordinate of os ' and spherical equation, is the coordinate of specular reflection point s;
S107 determines normal vector n because sphere is smooth according to the coordinate of mirror-reflection centre of sphere c and specular reflection point s, is the direction that centre of sphere c points to s;
S108 is according to the mirror-reflection principle, and reflection ray os ' and incident ray l are symmetrical about normal vector n, thereby can be according to mirror-reflection radius of a ball r and normal vector n, and through type I=2 (nr) n-r calculates light source direction 1.
Each light source in the system is repeated above-mentioned steps, can obtain the light source direction l of all lamps
1L
3, because the lamp position fixes, thereby this calibration process only need to be carried out once when using first.
Fig. 4 is the schematic diagram according to human body information three-dimensional acquisition device of the present invention, and wherein A is overall diagram; B is the elevational schematic view of light cup.As seen from the figure, human body information three-dimensional acquisition device of the present invention comprises:
Gather chamber 21;
Be positioned at gather 21 belows, chamber put hole 22, be used for human body information to be collected is put facing up;
Be positioned at the Lamp cup 23 that gathers 21 tops, chamber, comprise at least three lamps 231,232,233 that are evenly arranged along periphery, the center of lamp is illuminated a little to be positioned at and is put hole 22;
Place the image unit 24 of Lamp cup 23 tops, be used for gathering the image of human body information;
I/O control panel 25 is connected to Lamp cup 23 and image unit 24, be used for control lamp 231,232,233 light on and off, and synchro control image unit 24 gathers images;
Data processing terminal 26 is connected to image unit 24, for the treatment of the image of image unit 24 collections, and calculates the human body information three-dimensional model;
The mirror-reflection ball that radius is known is used for before using first, demarcates lamp 231,232,233 light source direction.
Human body information three-dimensional acquisition device of the present invention only need to be adjusted the device size, can gather the much informations such as fingerprint, palmmprint, facial information.
Gather chamber 21 and also comprise shell, be used for the shielding ambient light and disturb, improve acquisition precision.
Data processing terminal 26 can be PC or embedded unit, and can comprise storage unit and/or output unit, even transmission unit.
Image unit can be camera or camera, in the solution of the present invention, is 640 * 480 pixels even use resolution, and speed is the common camera of 30 frame/seconds, also can reach very high acquisition precision.
Lamp can be LED lamp, infrared LED lamp, or other light sources, or the light source of different-waveband.
In the operation, can adopt the process flow diagram shown in Fig. 5, carry out the human body information three-dimensional acquisition:
At first be step S201, demarcate the image unit intrinsic parameter, to obtain focal length, the center point coordinate of image unit.The demarcation of camera intrinsic parameter adopt in the industry commonly used based on tessellated standardization (referring to, Z.Zhang, " A flexible new technique for camera calibration ", IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol.22, No.11, pages 1330-1334,2000.), for parameters such as the focal length that obtains camera, center point coordinates, the method is common method in the industry, does not do detailed description at this.
Then be step S202, demarcate the light source direction 1 of each lamp, concrete grammar is above having detailed description.
Then at step S203, by luminance compensation, correct the close to sources illumination field, determine the compensation coefficient of each point in the close to sources illumination field.
Because for light source, led light source particularly, its brightness is not uniformly desirable, but along with the lamp pearl decays apart from increase to surface point.In order to guarantee that each surface point in the reconstruct scope can both receive the same light intensity, must carry out luminosity compensation to light source.
The foundation of luminance compensation is: when lamp and target object position all fixedly the time, the light intensity ratio of bright spot is constant on the light intensity that receives on the target object surface point and its surface point, is inversely proportional to this distance of 2.
Concrete grammar is: put a blank sheet of paper in the position that human body parts to be collected is put, use same light irradiation, take photo, calculate the ratio of the light intensity of the light intensity of each pixel on the photo and bright spot again.By this ratio, the human body information photo of taking is carried out pre-service.
At step S204, use image unit, take the image of position to be collected skin under each light irradiation, and according to the compensation coefficient of step S203, determine the brightness I after each pixel is corrected in the image.
Fig. 6 illustrates the fingerprint image comparison diagram that the close to sources illumination field is corrected front and back, and wherein A is for before correcting; B is for after correcting.As seen, correct through the close to sources illumination field, the brightness uniformity of fingerprint image is improved, and the I after the rectification will be beneficial to the estimation of later stage tridimensional processes to N.
At step S205, utilize the image of taking among the step S204, adopt Lambertian reflection model specification reflectivity ρ, set up the three-dimensional model of position to be collected skin, and according to formula I=ρ N1, the tridimensional processes of each pixel is to N, to obtain tridimensional processes to the field in the estimation image.
Although there is certain semi-transparency property in skin itself, its main reflecting component is still take diffuse reflection as main, thereby adopted Lambertian reflection model commonly used that fingerprint skin is carried out modeling among the present invention.In brief, for Lambert's model, its hypothesis body surface reflectivity is constant, namely sees that from all direction of observations it all is same bright, and reflects all incident lights fully.Suppose that certain some brightness is I in the image, its surperficial unit normal vector is N, light source direction is L, and reflectivity is ρ (for Lambert's model, this parameter can be considered constant), then there is following relation: I=ρ N1, wherein I, ρ, 1 are known, and N has three known variables for the situation of three lamps, thereby only need image under three width of cloth Different Light irradiations, both can calculate the tridimensional processes of each point in the image to N.
At step S206, obtain tridimensional processes behind the field, by traditional normal direction field integral method, obtain the three-dimensional model of position to be collected skin.Method by traditional normal direction field integration is (referring to R.T.Frankot, R.Chellappa.A method for enforcing integrability in shape from shading algorithms.IEEE Transactions on Pattern Analysis and Machine Intelligence, Volume 10 Issue4, July 1988, Pages439-451), can obtain the three-dimensional model of fingerprint.The method is common method, does not do detailed description at this.
Figure 7 shows that according to human body information three-dimensional acquisition method of the present invention, the fingerprint of collection (A); Correct the fingerprint three-dimensional model (B) that obtains without the close to sources illumination field; Correct the fingerprint three-dimensional model (C) that obtains through the close to sources illumination field.As seen, through the close to sources illumination field correct can greatly improve tridimensional processes to the 3D reconstruction precision of fingerprint.
As fully visible, human body information 3-D scanning technology of the present invention has the following advantages:
Low-cost: as to need not to use complicated 3-D scanning equipment, only need a common camera and several lamps can finish the Quick Acquisition of three-dimensional fingerprint;
Portable: volume is small and exquisite, does not comprise the motion assembly;
Speed is fast: use 3 photos can finish the three-dimensional reconstruction of human body information, and the 30FPS speed of pressing camera, namely the fastest acquisition time only is 0.1 second;
Precision is high: by rectification and light source direction demarcating steps that close to sources illumination is become, the tridimensional processes that can calculate accurately each point in the image has improved the precision of three-dimensional reconstruction greatly to information.
Should be understood that in this instructions that description for the orientation is relative meaning.For example, the Lamp cup of stating in the instructions is positioned at and gathers the top, chamber, and when whole device was inverted or is laterally placed, Lamp cup then was positioned at and gathers the below, chamber, or the side.And the above the specific embodiment of the present invention does not consist of the restriction to protection domain of the present invention.Various other corresponding changes and distortion that any technical conceive according to the present invention has been done all should be included in the protection domain of claim of the present invention.
Claims (10)
1. light source direction caliberating device comprises:
The mirror-reflection ball, its radius r is known;
Light source is used for shining from the side described mirror-reflection ball;
Image unit is positioned at described mirror-reflection ball dead ahead, is used for catching the maximum cross-section profile of described mirror-reflection ball, and the hot spot of described light source on described mirror-reflection ball;
Computing unit is connected with described image unit, is used for calculating described light source direction.
2. right to use requires 1 described caliberating device to carry out the method that light source direction is demarcated, and comprising:
S101 is take image unit as initial point o, sets up pixel coordinate system, and determines that according to the focal distance f of image unit image unit is on picture plane that pixel coordinate is fastened;
The S102 image unit is caught the coordinate of the picture point s ' of specular reflection point s on the picture plane on the mirror-reflection ball;
The S103 computing unit obtains the picture point c ' coordinate of mirror-reflection centre of sphere c on the picture plane by ellipse fitting;
S104 is according to formula
Calculate the coordinate of mirror-reflection centre of sphere c;
S105 calculates spherical equation according to coordinate and the mirror-reflection radius of a ball r of mirror-reflection centre of sphere c;
S106 calculates the intersecting point coordinate of os ' and spherical equation, is the coordinate of specular reflection point s;
S107 determines normal vector n according to the coordinate of mirror-reflection centre of sphere c and specular reflection point s;
S108 is according to mirror-reflection radius of a ball r and normal vector n, and through type I=2 (nr) n-r calculates light source direction 1.
3. human body information three-dimensional acquisition device comprises:
Gather the chamber;
Be positioned at the hole of putting of below, described collection chamber, be used for human body information to be collected is put facing up;
Be positioned at the Lamp cup of top, described collection chamber, comprise at least three lamps that are evenly arranged along periphery, the center of described lamp is illuminated and a little is positioned at the described hole of putting;
Place the image unit of described Lamp cup top, be used for gathering the image of human body information;
The I/O control panel is connected to described Lamp cup and described image unit, is used for controlling the light on and off of described lamp, and the described image unit of synchro control gathers image;
Data processing terminal is connected to described image unit, for the treatment of the image of described image unit collection, and calculates the human body information three-dimensional model;
The mirror-reflection ball that radius is known is used for before using first the light source direction of demarcating lamp.
4. harvester according to claim 3, wherein, described human body information comprises fingerprint, palmmprint, facial information.
5. harvester according to claim 3, wherein, described collection chamber comprises shell, is used for the shielding ambient light and disturbs.
6. harvester according to claim 3, wherein, described data processing terminal is PC or embedded unit.
7. harvester according to claim 3, wherein, described data processing terminal also can comprise storage unit and/or output unit.
8. harvester according to claim 3, wherein, described image unit is camera or camera.
9. harvester according to claim 3, wherein, described lamp is LED lamp, infrared LED lamp, ultraviolet LED lamp, optical fiber, incandescent lamp.
10. right to use requires 3 described harvesters to carry out the method for human body information three-dimensional acquisition, comprising:
S201 demarcates the image unit intrinsic parameter, to obtain focal length, the center point coordinate of image unit;
S202 method according to claim 1, the light source direction 1 of demarcating each LED lamp;
S203 corrects the close to sources illumination field by luminance compensation, determines the compensation coefficient of each point in the close to sources illumination field;
S204 uses image unit, takes the image of position to be collected skin under each LED light irradiation, and according to the compensation coefficient of step S203, determines the brightness I after each pixel is corrected in the image;
S205 utilizes the image of taking among the step S204, adopts Lambertian reflection model specification reflectivity ρ, sets up the three-dimensional model of position to be collected skin, and according to formula I=ρ N1, the tridimensional processes of each pixel is to N, to obtain tridimensional processes to the field in the estimation image;
S206 obtains the three-dimensional model of position to be collected skin by normal direction field integral method.
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