CN103017676A - Three-dimensional scanning device and three-dimensional scanning method - Google Patents

Three-dimensional scanning device and three-dimensional scanning method Download PDF

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CN103017676A
CN103017676A CN2011102888470A CN201110288847A CN103017676A CN 103017676 A CN103017676 A CN 103017676A CN 2011102888470 A CN2011102888470 A CN 2011102888470A CN 201110288847 A CN201110288847 A CN 201110288847A CN 103017676 A CN103017676 A CN 103017676A
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image
scanned
sequence
object
dimensional
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CN2011102888470A
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CN103017676B (en
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阳光
杨锦平
邵翔
尚可
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联想(北京)有限公司
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Abstract

The invention provides a three-dimensional scanning device and a three-dimensional scanning method. The three-dimensional scanning device comprises a light beam transmitting module, an image acquiring module, a distance determining module and a three-dimensional modelling module, wherein the light beam transmitting module is used for transmitting a light beam to an object to be scanned, and the light beam forms a light spot on the object to be scanned; the image acquiring module is used for acquiring a scanning image sequence of the object to be scanned; the distance determining module is used for acquiring a first image sequence in the scanning image sequence and determining shooting distance between the three-dimensional scanning device and the object to be scanned when a first image is acquired according to light spot information of each first image in the first image sequence; and the three-dimensional modelling module is used for determining a three-dimensional model of the object to be scanned according to the first image sequence and the shooting distance between the three-dimensional scanning device and the object to be scanned when the first image is acquired. According to the invention, even if a motion trail when the three-dimensional scanning device shoots an image of the object to be scanned is not an ideal circle, accuracy of three-dimensional modelling also can be guaranteed.

Description

三维扫描装置和三维扫描方法技术领域[0001] 本发明涉及三维(3D)扫描技术领域,尤其涉及一种三维扫描装置和三维扫描方法。 Three-dimensional scanning device and scanning method Technical Field [0001] The present invention relates to a three-dimensional (3D) scanning, and in particular relates to a three-dimensional scanning device and a three-dimensional scanning method. 背景技术[0002] 如图1所示,现有技术中利用三维扫描装置(手机、摄像机、照相机等)对待扫描物体进行3D扫描时,通常是将三维扫描装置绕待扫描物体旋转一周,拍摄一组图像序列, 利用该图像序列以及三维扫描装置在拍摄图像时与待扫描物体之间的距离R等参数,计算待扫描物体的3D模型。 [0002] As shown in FIG 1, when the object scanned 3D scanning treatment prior art three-dimensional scanning device (phone, video camera, camera, etc.), the three-dimensional scanning apparatus is generally about one rotation of the object to be scanned, a shooting group image sequence, and a sequence of images using the three-dimensional scanning means when capturing an image parameter distance R between the object to be scanned and the like, is calculated to be a 3D model of the scanned object. [0003] 使用三维扫描装置对待扫描物体进行拍摄时,三维扫描装置须相对待扫描物体保持近乎圆周的运动,即三维扫描装置在运动时需要保持与待扫描物体之间的距离R不变, 才能够保证3D建模的精确。 [0003] When used to treat three-dimensional scanning means for scanning an object for imaging, three-dimensional scanning means for scanning an object to be held is relatively near the circumference to be moving, i.e., three-dimensional scanning device needs to be kept in motion with a scanning distance R between the same objects, it to ensure accurate 3D modeling. [0004] 而事实上,用户拿着三维扫描装置对待扫描物体进行扫描时,很难保证三维扫描装置的运动轨迹是理想的圆周,从而会引起3D建模的不精确。 When [0004] In fact, the user holds the three-dimensional scanning apparatus for scanning a scanned object treated, it is difficult to ensure that the three-dimensional trajectory of the scanning device is desirable circumference, which will cause inaccurate 3D modeling. 发明内容[0005] 有鉴于此,本发明提供一种三维扫描装置和三维扫描方法,即使三维扫描装置拍摄待扫描物体的图像时的运动轨迹不是理想的圆周,也能够保证3D建模的精确性。 SUMMARY OF THE INVENTION [0005] Accordingly, the present invention provides a three-dimensional scanning apparatus and a three-dimensional scanning method, even when the three-dimensional trajectory scanning device captures an image of the object to be scanned is not the ideal circumference, it is possible to ensure the accuracy of 3D modeling . [0006] 为解决上述问题,本发明提供一种三维扫描装置,包括:光束发射模块,用于向待扫描物体发射光束,所述光束在所述待扫描物体上形成光斑;图像采集模块,用于采集所述待扫描物体的扫描图像序列;距离确定模块,用于获取所述扫描图像序列中的第一图像序列,并根据所述第一图像序列中每一第一图像的光斑信息,确定采集所述第一图像时所述三维扫描装置与所述待扫描物体之间的拍摄距离;三维建模模块,用于根据所述第一图像序列以及采集所述第一图像时所述三维扫描装置与所述待扫描物体之间的拍摄距离,确定所述待扫描物体的三维模型。 [0006] In order to solve the above problems, the present invention provides a three-dimensional scanning apparatus, comprising: a beam emitting means for emitting a light beam to the object to be scanned, the beam spot formed on the object to be scanned; image acquisition module, with acquisition scan in a sequence of images of said object to be scanned; distance determining module, configured to obtain a first sequence of images of said scanned image in the sequence, and the spot information of the first image according to each of the first image sequence is determined acquiring the first image when the three-dimensional scanning device to be photographed with the distance between the scanned object; three-dimensional modeling means for said three-dimensional scanning in accordance with said first sequence of images and acquiring the first image means the distance between the scanning to be photographed object, determining the three-dimensional model to be scanned object. [0007] 可选的,所述距离确定模块包括:重力传感模块,用于测量采集所述扫描图像序列中的每一扫描图像时的加速度的变化;轮廓区域估计模块,用于根据采集所述扫描图像时的加速度的变化,估计所述待扫描物体在所述扫描图像中的轮廓区域;第一图像提取模块, 用于根据所述待扫描物体在所述扫描图像中的轮廓区域,从所述扫描图像序列中提取出所述第一图像序列。 [0007] Optionally, said distance determining means comprises: gravity sensing module configured to change in acceleration during each scan of the image scanned image measurement acquisition sequence; outline region estimation module for the acquisition of the a change in acceleration when scanning said image, estimating the contour of the object to be scanned in the scanning region image; a first image extraction module, a contour region of the scanned image according to the object to be scanned, from scanning said sequence of images to extract the first sequence of images. [0008] 可选的,所述距离确定模块还包括:角度测量模块,用于测量采集所述扫描图像时的偏转角度;所述第一图像提取模块,还用于根据采集所述扫描图像时的偏转角度、所述待扫描物体在所述扫描图像中的轮廓区域,从所述扫描图像序列中提取出所述第一图像序列。 [0008] Optionally, the distance determination module further comprises: angle measuring means for measuring the deflection angle when the acquired scan image; said first image extraction module is further configured to scan the image according to the collected the deflection angle, the contour of the object to be scanned in the scanning area of ​​the image, the first image sequence is extracted from the scanned image sequence. [0009] 可选的,所述距离确定模块包括:第二图像提取模块,用于对所述扫描图像序列中的每一扫描图像中的光斑信息进行分析,根据分析结果从所述扫描图像序列提取出所述第一图像序列,其中,所述第一图像序列中每一第一图像的光斑信息能够满足计算所述与所述待扫描物体之间的所述拍摄距离的需求。 [0009] Optionally, said distance determining means comprises: a second image extraction module, configured to analyze the scanned image of the spot information of each scanned image in the sequence, from the scanned image sequence based on the analysis extracting said first sequence of images, wherein each of the first image sequence a first speckle image information to meet with the calculation of the object to be scanned between the shooting distance requirements. [0010] 可选的,所述三维建模模块包括:图像处理模块,用于对所述第一图像序列进行处理,得到不含所述光斑的第二图像序列;执行模块,用于根据所述第二图像序列以及采集所述第二图像序列中的第二图像时所述三维扫描装置与所述待扫描物体之间的拍摄距离,确定所述待扫描物体的三维模型。 [0010] Alternatively, the three-dimensional modeling module comprising: an image processing module for processing the first image sequence, the second sequence of images to obtain the free spot; execution module according to the the three-dimensional scanning means when said second sequence and a second image acquired in the second sequence of images to be captured with the distance between the scanned object, determining the three-dimensional model to be scanned object. [0011] 本发明还提供一种三维扫描方法,包括:向待扫描物体发射光束,所述光束在所述待扫描物体上形成光斑;采集所述待扫描物体的扫描图像序列;获取所述扫描图像序列中的第一图像序列,并根据所述第一图像序列中每一第一图像的光斑信息,确定采集所述第一图像时所述三维扫描装置与所述待扫描物体之间的拍摄距离;根据所述第一图像序列以及采集所述第一图像时所述三维扫描装置与所述待扫描物体之间的拍摄距离,确定所述待扫描物体的三维模型。 [0011] The present invention also provides a three-dimensional scanning method, comprising: transmitting to the object to be scanned light beam which forms a spot on the object to be scanned; acquiring the sequence of images of the scanned object to be scanned; obtaining the scanning a first sequence of images in an image sequence, image information of the first light spot and the first image of each sequence, determining a photographing time between the acquisition of the first three-dimensional image scanning device and the object to be scanned distance; a distance between the photographing according to said first sequence of images and three-dimensional scanning image acquisition of said first means and said object to be scanned, is determined to be three-dimensional model of the scanned object. [0012] 可选的,所述获取所述扫描图像序列中的第一图像序列的步骤包括:测量采集所述扫描图像序列中的每一扫描图像时的加速度的变化;根据采集所述扫描图像时的加速度的变化,估计所述待扫描物体在所述扫描图像中的轮廓区域;根据所述待扫描物体在所述扫描图像中的轮廓区域,从所述扫描图像序列中提取出所述第一图像序列。 [0012] Optionally, the first step of acquiring the sequence of images scanned image sequence comprising: measuring the change in acceleration during each scan of the image acquisition scan of the image sequence; according to the acquired scan image change in acceleration when estimating the contour of the object to be scanned in the scanning region image; based on the contour region of the scanned image of the object to be scanned, said first extracted from the scanned image sequence a sequence of images. [0013] 可选的,所述获取所述扫描图像序列中的第一图像序列的步骤包括:测量采集所述扫描图像时的偏转角度;测量采集所述扫描图像序列中的每一扫描图像时的加速度的变化;根据采集所述扫描图像时的加速度的变化,估计所述待扫描物体在所述扫描图像中的轮廓区域;根据采集所述扫描图像时的偏转角度、所述待扫描物体在所述扫描图像中的轮廓区域,从所述扫描图像序列中提取出所述第一图像序列。 When the scanned image of each measurement acquisition scan of the image sequence; measuring a deflection angle when the scanned image acquisition: [0013] Optionally, the step of scanning the first image sequence includes a sequence of images acquired acceleration change; a change of acceleration when the acquired scan image, estimating the contour of the object to be scanned in the scanning region image; when the deflection angle in accordance with the acquired scan image, the object to be scanned outline region of the scanned image, is extracted from the first sequence of images of the scanned image sequence. [0014] 可选的,所述获取所述扫描图像序列中的第一图像序列的步骤包括:对所述扫描图像序列中的每一扫描图像中的光斑信息进行分析,根据分析结果从所述扫描图像序列提取出所述第一图像序列,其中,所述第一图像序列中每一第一图像的光斑信息能够满足计算所述与所述待扫描物体之间的所述拍摄距离的需求。 [0014] Optionally, the sequence of acquiring a first image of the scanned image sequence comprises: scanning the image information of each spot on the scanned image in the sequence is analyzed according to the analysis result from the scanning said sequence of images extracted first sequence of images, wherein each of the first image sequence a first speckle image information can satisfy the calculated and the object to be scanned between the photographing distance requirements. [0015] 可选的,所述根据所述第一图像序列以及采集所述第一图像时所述三维扫描装置与所述待扫描物体之间的拍摄距离,确定所述待扫描物体的三维模型的步骤包括:对所述第一图像序列进行处理,得到不含所述光斑的第二图像序列;根据所述第二图像序列以及采集所述第二图像序列中的第二图像时所述三维扫描装置与所述待扫描物体之间的拍摄距离,确定所述待扫描物体的三维模型。 [0015] Alternatively, according to the said first sequence of images and three-dimensional scanning image acquisition of said first means and said three-dimensional model to be photographed distance between the scanned object, said object to be scanned is determined comprising the step of: the first image processing sequence, the second sequence of images to obtain the free spot; according to the second three-dimensional image of the second image sequence and the second sequence of images acquired of shooting distance between the scanning device and the object to be scanned, is determined to be three-dimensional model of the scanned object. [0016] 本发明具有以下有益效果:[0017] 能够计算出三维扫描装置与待扫描物体之间的拍摄距离,利用实际计算出的三维扫描装置与待扫描物体之间的拍摄距离,确定待扫描物体的三维模型,即使三维扫描装置拍摄待扫描物体的图像时的运动轨迹不是理想的圆周,也能够保证3D建模的精确性。 [0016] The present invention has the following advantages: [0017] possible to calculate three-dimensional scanning device to be scanned photographing distance between objects, the distance between the three-dimensional imaging using a scanning device calculated by the actual object to be scanned, is determined to be scanned a three-dimensional model of the object, even when the three-dimensional trajectory scanning device captures an image of the scanned object to be not ideal circumference, it is possible to ensure the accuracy of 3D modeling. [0018] 从三维扫描装置拍摄的待扫描物体的图像序列中,选取三维扫描装置正对待扫描物体时拍摄的图像,确定待扫描物体的三维模型,能够提高3D建模的精确性。 Pictures taken with the [0018] three-dimensional images taken from the sequence of the scanning device in the object to be scanned, selected three-dimensional scanning means for scanning an object to treat positive, determining three-dimensional model of the object to be scanned, it is possible to improve the accuracy of 3D modeling. [0019] 在三维扫描装置中设置光束发射装置,向待扫描物体发射光束,通过光束在待扫描物体上形成的光斑,计算三维扫描装置与待扫描物体之间的拍摄距离,实现简单,成本较低。 [0019] In the three-dimensional scanning apparatus disposed beam emitting device which emits a light beam to the object to be scanned by the beam spot formed on the object to be scanned, calculates the distance between the imaging device and the three-dimensional scanning of the object to be scanned, simple, cost more low. 另外,还可以通过光束在待扫描物体上形成的光斑,判断三维扫描装置是否正对待扫描物体,从而纠正三维扫描装置拍摄待扫描物体的图像时的偏转角度。 Further, the beam spot can be formed on the object to be scanned, the scanning device is determined whether the three-dimensional scanning of the object treated, thereby correcting the deflection angle of the image when three-dimensional scanning apparatus for scanning an object to be photographed. 附图说明[0020] 图1为现有技术中的三维扫描装置对待扫描物体进行3D扫描时的理想的运动轨迹示意图;[0021] 图2为本发明实施例的三维扫描装置的一结构示意图;[0022]图3为本发明实施例的三维扫描装置对待扫描物体进行3D扫描时的实际的运动轨迹示意图;[0023] 图4为本发明实施例的三维扫描方法的一流程示意图。 BRIEF DESCRIPTION ideal trajectory [0020] FIG. 1 is a prior art three-dimensional scanning means for scanning an object to treat a schematic 3D scan; [0021] FIG. 2 is a schematic view of a structure of three-dimensional scanning apparatus according to the embodiment of the invention; [0022] FIG. 3 is a schematic view of the actual trajectory in three-dimensional scanning apparatus for scanning an object to be treated 3D scanning embodiment of the invention; [0023] Fig 4 a schematic flow diagram of a three-dimensional scanning method according to an embodiment of the present invention. 具体实施方式[0024] 本发明实施例中,在进行三维扫描时,三维扫描装置向待扫描物体发射光束,该光束在待扫描物体上形成光斑,依据拍摄到的图像中的光斑,可以计算出拍摄图像时三维扫描装置与待扫描物体之间的拍摄距离,从而利用拍摄到的图像以及该些图像对应的拍摄距离,确定待扫描物体的三维模型,由于拍摄距离是实际计算得到的,因而即使三维扫描装置的运动轨迹不是理想的圆周,也能够保证3D建模的精确性。 DETAILED DESCRIPTION [0024] embodiment of the present invention, when performing three-dimensional scanning, three-dimensional scanning device emits a light beam to the object to be scanned, the beam spot formed on the object to be scanned, the captured image based on the spot can be calculated the distance between the imaging device and the three-dimensional scanning of the object to be scanned, so that the use of the captured image and an image corresponding to the plurality of the captured image photographing distance, determining three-dimensional model of the object to be scanned, since the actual shooting distance is calculated, even if the three-dimensional motion trajectory of the scanning device is not ideal circumference, it is possible to ensure the accuracy of 3D modeling. [0025] 下面结合附图和实施例,对本发明的具体实施方式作进一步详细描述。 [0025] The following embodiments and the accompanying drawings, specific embodiments of the present invention will be further described in detail. [0026] 如图2所示为本发明实施例的三维扫描装置的一结构示意图,该三维扫描装置可以是手机、摄像机、照相机等,包括:[0027] 光束发射模块201,用于向待扫描物体发射光束,该光束为可见光,能够在待扫描物体上形成光斑。 Is a structure of three-dimensional scanning apparatus according to embodiment [0026] As shown in FIG. 2 of the present invention, the three-dimensional scanning device may be a mobile phone, video camera, camera, etc., comprising: [0027] The light beam emission module 201 is configured to be scanned object emitting a beam of light is visible light, the light spot can be formed on the object to be scanned. 该光束发射模块201可以向待扫描物体发射一束光束,此时,发射的光束可以在待扫描物体上形成一个光斑,该光束发射模块201也可以同时向待扫描物体发射多束光束,此时,发射的光束可以在待扫描物体上可以形成多个光斑。 The light emitting module 201 may transmit one beam to the object to be scanned, at this time, the light beam emitted form a light spot on the object to be scanned, the light emitting module 201 may be simultaneously emit multiple light beams to the object to be scanned, at this time , the light beam emitted may be formed in a plurality of spots on the object to be scanned. [0028]图像采集模块202,用于采集待扫描物体的扫描图像序列。 [0028] The image acquisition module 202, scanning for acquiring a sequence of images of the object to be scanned. 该三维扫描装置在进行三维扫描时,需要绕待扫描物体旋转一周,拍摄一组待扫描物体的扫描图像序列。 The three-dimensional scanning apparatus when performing three-dimensional scanning, requires rotation around the object to be scanned, the scanned image sequence capturing a set of object to be scanned. [0029] 距离确定模块203,用于获取该扫描图像序列中的第一图像序列,并根据第一图像序列中每一第一图像的光斑信息,确定采集第一图像时三维扫描装置与待扫描物体之间的拍摄距离。 [0029] The distance determination module 203, configured to obtain a first sequence of images of the scanned image sequence, and three-dimensional scanning device to be scanned when the spot information of the first image in the first sequence of images each, image acquisition is determined in accordance with a first shooting distance between objects. 该第一图像序列可以是该扫描图像序列中的全部图像,也可以是该扫描图像序列中的部分图像。 The first image sequence may be the entire image of the scanned image sequence may be a partial image of the scanned image sequence. [0030] 三维建模模块204,用于根据第一图像序列以及采集第一图像时三维扫描装置与待扫描物体之间的拍摄距离,确定待扫描物体的三维模型。 [0030] The three-dimensional modeling module 204, according to a distance between the photographing apparatus and the three-dimensional scanning of the object to be scanned first image sequence and a first capture image, determining three-dimensional model of the object to be scanned. [0031] 如图3所示,三维扫描装置302绕待扫描物体301旋转时的运动轨迹不是理想的圆周,由于利用实际计算出的三维扫描装置302与待扫描物体301之间的拍摄距离d(三维扫描装置302的中心02至与待扫描物体301的中心01之间的距离),确定待扫描物体的三维模型,即使三维扫描装置302拍摄待扫描物体301的图像时的运动轨迹不是理想的圆周, 也能够保证3D建模的精确性。 [0031] As shown in FIG. 3, three-dimensional scanning device 302 about the object to be scanned during rotation trajectory 301 is not an ideal circumference where the distance d between the actually calculated using the three-dimensional scanning device 302 and the object to be scanned 301 ( circumferential distance between the center of the three-dimensional scanning device 302 and the object to be scanned 02 to the center of the 01301) is determined to be three-dimensional model of the scanned object, the movement trajectory of the three-dimensional scanning apparatus 302 even when a captured image 301 of the object to be scanned is not desirable , but also to ensure the accuracy of 3D modeling. [0032] 上述实施例中提到,三维扫描装置采集的扫描图像序列是其绕待扫描物体旋转一周拍摄的图像序列,下面对如何确定三维扫描装置已绕待扫描物体旋转一周的方法进行说明。 [0032] The above-mentioned embodiment, the three-dimensional scanning apparatus scanning image sequence is acquired about which rotation of the object to be scanned image sequence captured one week, how to determine the following three-dimensional scanning means is a method of scanning an object to be subjected to rotation around described . [0033] 第一种确定方法是:利用图像匹配技术,确定三维扫描装置当前拍摄到的图像与其拍摄的第一张图像是否匹配对准,如果当前拍摄到的图像与其拍摄的第一张图像匹配对准,则表明三维扫描装置已绕待扫描物体旋转一周,此时,可以将第一张图像、第一张图像的匹配对准图像以及两者之间拍摄的其他图像作为上述实施例中所述的扫描图像序列。 [0033] The first determination method are: the use of image matching technique to determine the three-dimensional scanning apparatus currently captured image of the first image captured therewith matches aligned, if the first matching image to the currently captured image captured therewith aligned, already showed that three-dimensional scanning apparatus about the object to be scanned one rotation, this time, the other between the first image capturing images, the first image and the matching alignment of the two may be used as the above-described embodiment scanned image sequence described below. [0034] 第二种确定方法是:预先估计三维扫描装置绕待扫描物体旋转一周所需的时间, 并在三维扫描装置拍摄第一张图像时开始计时,到达预先估计的旋转一周所需的时间后计时结束,将计时结束时拍摄到的图像序列,作为上述实施例中所述的扫描图像序列。 [0034] The second determination method is: estimated in advance about the three-dimensional scanning means for scanning an object to be necessary for one rotation time, and when the three-dimensional scanning means starts counting the first shot, the time required to reach the predetermined estimated rotation after the expiry of the timing when the timer expires the captured image sequence as a sequence of image scanning according to the above-described embodiments. [0035] 上述实施例中已经提到,在确定待扫描物体的三维模型时采用的第一图像序列, 可以是三维扫描装置绕待扫描物体旋转一周拍摄到的全部图像,也可以是部分图像。 [0035] In the above embodiment has been mentioned, the first image sequence used in determining the three-dimensional model of the object to be scanned, the scanning device may be a three-dimensional rotation about the object to be scanned to the entire image taking one week, it may be a part of the image. 可以了解的是,为了使得三维建模更加精确,三维扫描装置在绕待扫描物体旋转拍摄时,三维扫描装置需正对待扫描物体。 It is appreciated that, in order to make more precise three-dimensional modeling, three-dimensional scanning means during rotation about the object to be scanned imaging, for an n-dimensional scanning means for scanning an object treated. 然而,在具体实施过程中,很难保证拍摄每一张图像时三维扫描装置都正对待扫描物体,从而如果选择三维扫描装置绕待扫描物体旋转一周拍摄到的全部图像进行三维建模,会造成三维建模的不精确。 However, the specific implementation process, it is difficult to ensure that all three-dimensional scanning means for scanning an object when taking the positive treat each image, so that if the three-dimensional scanning means about a selected object to be scanned one rotation of all the captured images to three-dimensional modeling, can cause inaccurate three-dimensional modeling. [0036] 因此,在难以保证拍摄每一张图像时三维扫描装置都正对待扫描物体的情况下, 本发明实施例中,可以从三维扫描装置绕待扫描物体旋转一周拍摄到的全部图像中,选择出三维扫描装置正对待扫描物体拍摄的图像,利用选择出的图像进行三维建模,以提高三维建模的精确性。 [0036] Thus, it is difficult to ensure in the case of three-dimensional scanning apparatus for scanning an object to treat both positive when taking each image, in the embodiment of the present invention, the object can be scanned from about three-dimensional scanning device rotates the photographed image in the entire one week, three-dimensional scanning device is selected to treat an image of the scanned object photographed image using the selected three-dimensional modeling, to improve the precision of three-dimensional modeling. [0037] 下面举例对如何从三维扫描装置拍摄的全部图像中选择符合建模要求的第一图像的方法进行详细说明。 [0037] The following are examples of how to select a first image that conforms to the requirements of the model from three-dimensional scanning apparatus all the image captured method described in detail. [0038] 第一实施例:[0039] 本发明实施例中,可以在三维扫描装置中设置一重力传感模块,如G-sensor (重力传感器),测量三维扫描装置采集扫描图像时的加速度的变化(即三维扫描装置的运动方向),根据测量到的三维扫描装置的加速度的变化,估计待扫描物体在扫描图像中的轮廓区域,然后将扫描图像中的待扫描物体的轮廓区域与估计的轮廓区域进行对比,如果扫描图像中的待扫描物体的轮廓区域与估计的轮廓区域区别较小,则表明拍摄该扫描图像时三维扫描装置正对待扫描物体,可以选取该扫描图像作为第一图像,如果扫描图像中的待扫描物体的轮廓区域与估计的轮廓区域区别较大,则表明拍摄该扫描图像时三维扫描装置未正对待扫描物体,则丢弃该扫描图像。 [0038] First Embodiment: [0039] embodiment of the present invention may be provided with a gravity sensor module in the 3D scanning devices, such as a G-sensor (G-sensor), the acceleration measuring device when three-dimensional scanning image acquisition scan changes (i.e., moving direction of the three-dimensional scanning means), a change in acceleration three-dimensional scanning apparatus according to the measured, estimated to be scanned contour of the object region in the scanned image, and the outline of the area to be scanned object scanned image and the estimated comparing the contour region, if the contour region for the contour region of the object to be scanned and the scanned image estimate is small, it indicates a positive three-dimensional scanning apparatus for scanning an object when taking the treated scanned image, the scanned image may be selected as a first image, If the contour of the object region to be scanned scan image and the difference between the estimated contour area is large, it indicates that the three-dimensional scanning means for scanning an object is not being treated when the captured image is scanned, the scanned image is discarded. [0040] 基于上述描述,上述实施例中的距离确定模块可以包括:[0041] 重力传感模块,用于测量采集所述扫描图像序列中的每一扫描图像时的加速度的变化;[0042] 轮廓区域估计模块,用于根据采集所述扫描图像时的加速度的变化,估计所述待扫描物体在所述扫描图像中的轮廓区域;[0043] 第一图像提取模块,用于根据所述待扫描物体在所述扫描图像中的轮廓区域,从所述扫描图像序列中提取出所述第一图像序列。 [0040] Based on the above description, the above-described embodiment, the distance determination module may include: [0041] gravity sensing means for measuring the change in acceleration of the scan acquired at each scan image sequence; [0042] outline region estimation module, according to the change in acceleration when the acquired scan image, estimating the contour of the object to be scanned in the scanning region image; [0043] a first image extraction module, to be used according to the scanning an object in the contour of the scanning area of ​​the image, the first image sequence is extracted from the scanned image sequence. [0044] 第二实施例:[0045] 上述实施例中,还可以在三维扫描装置中设置一角度测量模块,如陀螺仪,测量采集扫描图像时的偏转角度,当将扫描图像中的待扫描物体的轮廓区域与估计的轮廓区域进行对比,考虑采集该扫描图像时的偏转角度,如果扫描图像中的待扫描物体的轮廓区域与估计的轮廓区域区别较小,则表明拍摄该扫描图像时三维扫描装置正对待扫描物体,可以选取该扫描图像作为第一图像,如果扫描图像中的待扫描物体的轮廓区域与估计的轮廓区域区别较大,则表明拍摄该扫描图像时三维扫描装置未正对待扫描物体,则丢弃该扫描图像。 [0044] Second embodiment: [0045] The above-described embodiments, may also be provided at an angle measurement module, such as a gyroscope, the deflection angle at the time of image acquisition scan measuring three-dimensional scanning apparatus, when the scanned image to be scanned in contour region of the object are compared with the estimated contour area, when considering the deflection angle of the scan image acquisition, if the contour region for the contour region of the object to be scanned and the scanned image estimate is small, it indicates that the three-dimensional scanned image shooting scanning means for scanning an object to treat positive, the scanned image may be selected as a first image, if the contour region of the object to be scanned and the scanned image area larger difference between the estimated profile, indicates that three-dimensional scanning apparatus is not being treated when taking the scanned image scanning an object, the scanned image is discarded. [0046] 基于上述描述,上述实施例中的距离确定模块还可以包括:[0047] 角度测量模块,用于测量采集所述扫描图像时的偏转角度;[0048] 所述第一图像提取模块,还用于根据采集所述扫描图像时的偏转角度、所述待扫描物体在所述扫描图像中的轮廓区域,从所述扫描图像序列中提取出所述第一图像序列。 [0046] Based on the above description, the above-described embodiment, the distance determination module may further comprise: [0047] an angle measurement module for measuring the deflection angle when the acquired scan image; [0048] The first image extraction module, the deflection angle is also used when acquiring the scanned image of the contour of the object to be scanned in the scanning region image extracted from the first sequence of images of the scanned image sequence. [0049] 第三实施例:[0050] 当三维扫描装置正对待扫描物体时,三维扫描装置发射的光束在待扫描物体上形成的光斑,通常是规则的圆形,本发明实施例中,可以对扫描图像中的光斑信息进行分析, 判断该光斑信息是否能够满足计算与待扫描物体之间的拍摄距离的需求,例如,图像中是否存在光斑或者光斑是否为规则的圆形等,如果图像中不存在光斑或者光斑是不规则的圆形,则有可能表明三维扫描装置拍摄该扫描图像时未正对待扫描物体,则可以丢弃该扫描图像,如果图像中存在光斑且光斑是规则的圆形,则有可能表明三维扫描装置拍摄该扫描图像时正对待扫描物体,则可以选取该扫描图像作为第一图像。 [0049] Third embodiment: [0050] When treating three-dimensional scanning device is scanning the object, the beam spot emitted from the three-dimensional scanning means is formed on the object to be scanned, generally circular rule, embodiment of the present invention, spot information on the scanned image is analyzed to determine whether the imaging spot information can meet the needs of calculating the distance between the object to be scanned, e.g., if present in the image spot a spot or whether a regular circle, etc., if the image spots absent or irregular circular spot, it is possible to show a three-dimensional imaging is not being treated the scanning device scans the object when the image is scanned, the scanned image can be discarded, if there is the image spot and the circular spots rules, indicates that it is possible to treat the positive three-dimensional scanning apparatus for scanning an object, you can select the scanned image as the first image captured when the image is scanned. [0051] 基于上述描述,上述实施例中的距离确定模块可以包括:[0052] 第二图像提取模块,用于对所述扫描图像序列中的每一扫描图像中的光斑信息进行分析,根据分析结果从所述扫描图像序列提取出所述第一图像序列,其中,所述第一图像序列中每一第一图像的光斑信息能够满足计算所述与所述待扫描物体之间的所述拍摄距离的需求。 [0051] Based on the above description, the above-described embodiment, the distance determination module may include: [0052] a second image extraction module, configured to analyze the scanned image of the spot information of each scanned image in the sequence, the analysis results extracted from the scanned image sequence that the first sequence of images, wherein each of the first image sequence a first speckle image information of the captured and calculated can satisfy the object to be scanned between demand distance. [0053] 上述实施例中,三维扫描装置采集的第一图像中包含光斑,在三维建模之前,还需要去除第一图像中的光斑。 [0053] The above-described embodiment, the first three-dimensional scanning image acquisition apparatus contains spot, before the three-dimensional modeling is also necessary to remove the first image spot. 本发明实施例中,可以采用对多幅第一图像进行图像融合的方法,去除第一图像中的光斑。 Embodiments of the present invention, the method of the first plurality of image fusion image can be employed, removing the first image spot. [0054] 基于上述描述,上述实施例中的三维建模模块可以包括:[0055] 图像处理模块,用于对所述第一图像序列进行处理,得到不含所述光斑的第二图像序列;[0056] 执行模块,用于根据所述第二图像序列以及采集所述第二图像序列中的第二图像时所述三维扫描装置与所述待扫描物体之间的拍摄距离,确定所述待扫描物体的三维模型。 [0054] Based on the above description, the above-described embodiments of the three-dimensional modeling module may include: [0055] The image processing module for processing the first image sequence to obtain the second sequence of images free of the spot; [0056] the executing module for photographing a three-dimensional scanning means a distance between the object to be scanned and a second image of the second image sequence and the second sequence of images acquired in accordance with, the to-be scanning three-dimensional model of the object. [0057] 对应于上述实施例中的三维扫描装置,如图4所示,本发明实施例还提供一种三维扫描方法,该三维扫描方法包括以下步骤:[0058] 步骤401,向待扫描物体发射光束,该光束在待扫描物体上形成光斑;[0059] 步骤402,采集待扫描物体的扫描图像序列;[0060] 步骤403,获取扫描图像序列中的第一图像序列;[0061] 步骤404,根据第一图像序列中每一第一图像的光斑信息,确定采集第一图像时三维扫描装置与待扫描物体之间的拍摄距离;[0062] 步骤405,根据第一图像序列以及采集第一图像时三维扫描装置与待扫描物体之间的拍摄距离,确定待扫描物体的三维模型。 [0057] correspond to the above-described embodiment of the three-dimensional scanning apparatus shown in Figure 4, embodiments of the present invention further provides a three-dimensional scanning method, the three-dimensional scanning method comprising the steps of: [0058] Step 401, the object to be scanned emitting a light beam is formed on the object to be scanned spot; [0059] step 402, the image acquisition scan sequence object to be scanned; [0060] step 403, acquiring a first sequence of images scanned image sequence; [0061] step 404 the first sequence of images in each of the spot information of the first image, determining the distance between the imaging device and the three-dimensional scanning of the object to be scanned when acquiring a first image; [0062] step 405, and a first sequence of images acquired in accordance with a first the distance between the imaging device and the three-dimensional scanning of the object to be scanned, is determined to be three-dimensional model of the scanned object image. [0063] 在确定待扫描物体的三维模型时采用的第一图像序列,可以是三维扫描装置绕待扫描物体旋转一周拍摄到的全部图像,也可以是部分图像。 [0063] The first sequence of images used in determining the three-dimensional model of the object to be scanned, the scanning device may be a three-dimensional rotation about the object to be scanned to the entire image taking one week, it may be a part of the image. 可以了解的是,为了使得三维建模更加精确,三维扫描装置在绕待扫描物体旋转拍摄时,三维扫描装置需正对待扫描物体。 It is appreciated that, in order to make more precise three-dimensional modeling, three-dimensional scanning means during rotation about the object to be scanned imaging, for an n-dimensional scanning means for scanning an object treated. 然而,在具体实施过程中,很难保证拍摄每一张图像时三维扫描装置都正对待扫描物体,从而如果选择三维扫描装置绕待扫描物体旋转一周拍摄到的全部图像进行三维建模,会造成三维建模的不精确。 However, the specific implementation process, it is difficult to ensure that all three-dimensional scanning means for scanning an object when taking the positive treat each image, so that if the three-dimensional scanning means about a selected object to be scanned one rotation of all the captured images to three-dimensional modeling, can cause inaccurate three-dimensional modeling. [0064] 因此,在难以保证拍摄每一张图像时三维扫描装置都正对待扫描物体的情况下, 本发明实施例中,可以从三维扫描装置绕待扫描物体旋转一周拍摄到的全部图像中,选择出三维扫描装置正对待扫描物体拍摄的图像,利用选择出的图像进行三维建模,以提高三维建模的精确性。 [0064] Thus, it is difficult to ensure in the case of three-dimensional scanning apparatus for scanning an object to treat both positive when taking each image, in the embodiment of the present invention, the object can be scanned from about three-dimensional scanning device rotates the photographed image in the entire one week, three-dimensional scanning device is selected to treat an image of the scanned object photographed image using the selected three-dimensional modeling, to improve the precision of three-dimensional modeling. [0065] 本发明实施例中,可以测量三维扫描装置采集扫描图像时的加速度的变化(即三维扫描装置的运动方向),根据测量到的三维扫描装置的加速度的变化,估计待扫描物体在扫描图像中的轮廓区域,然后将扫描图像中的待扫描物体的轮廓区域与估计的轮廓区域进行对比,如果扫描图像中的待扫描物体的轮廓区域与估计的轮廓区域区别较小,则表明拍摄该扫描图像时三维扫描装置正对待扫描物体,可以选取该扫描图像作为第一图像,如果扫描图像中的待扫描物体的轮廓区域与估计的轮廓区域区别较大,则表明拍摄该扫描图像时三维扫描装置未正对待扫描物体,则丢弃该扫描图像。 [0065] The embodiments of the present invention may be measured change in acceleration when the apparatus to collect a scanned image three-dimensional scanning (i.e., moving direction of the three-dimensional scanning means), a change in acceleration three-dimensional scanning apparatus according to the measured, estimated object to be scanned in the scanning contour area in the image, and the outline of the area to be scanned object scanned images were compared with the estimated contour area, if the contour region for the contour region of the object to be scanned and the scanned image estimate is small, it indicates that the photographing treatment of three-dimensional scanning device is scanning the object image is scanned, the scanned image may be selected as a first image, if the contour region of the object to be scanned and the scanned image region estimated by the profile difference is large, it indicates that when taking a three-dimensional scanning of the scanned image means for scanning an object is not being treated, the scanned image is discarded. [0066] 基于以上描述,上述实施例中的步骤403中的获取所述扫描图像序列中的第一图像序列的方法可以包括以下步骤:[0067] 步骤一,测量采集所述扫描图像序列中的每一扫描图像时的加速度的变化;[0068] 步骤二,根据采集所述扫描图像时的加速度的变化,估计所述待扫描物体在所述扫描图像中的轮廓区域;[0069] 步骤三,根据所述待扫描物体在所述扫描图像中的轮廓区域,从所述扫描图像序列中提取出所述第一图像序列。 [0066] Based on the above description, the method of the first sequence of images of the scanned image sequence may comprise the steps of obtaining in step 403 of the above-described embodiments: [0067] Step a, the scanned image measurement acquisition sequence a change in acceleration during each scan image; [0068] step two, according to the change in acceleration when the acquired scan image, estimating the contour of the object to be scanned in the scanning region image; [0069] step III. the contour of the region of the scanned image in the object to be scanned, the first sequence of images extracted from the scanned image sequence. [0070]当将扫描图像中的待扫描物体的轮廓区域与估计的轮廓区域进行对比,还可以考虑采集该扫描图像时的偏转角度,如果扫描图像中的待扫描物体的轮廓区域与估计的轮廓区域区别较小,则表明拍摄该扫描图像时三维扫描装置正对待扫描物体,可以选取该扫描图像作为第一图像,如果扫描图像中的待扫描物体的轮廓区域与估计的轮廓区域区别较大,则表明拍摄该扫描图像时三维扫描装置未正对待扫描物体,则丢弃该扫描图像。 [0070] When the object to be scanned contour region scanned image compared with the estimated contour area may also be considered when the deflection angle acquired scan image, if the contour of the area to be scanned, the scanned image of the object with the estimated contour difference smaller area, indicates a positive treatment three-dimensional scanning apparatus for scanning an object when taking the image is scanned, the scanned image may be selected as a first image, if the contour region of the object to be scanned and the scanned image estimated by the profile region vary widely, indicates that the three-dimensional scanning means for scanning an object is not being treated when the captured image is scanned, the scanned image is discarded. [0071] 基于以上描述,上述实施例中的步骤403中的获取所述扫描图像序列中的第一图像序列的方法可以包括以下步骤:[0072] 步骤一,测量采集所述扫描图像时的偏转角度;[0073] 步骤二,测量采集所述扫描图像序列中的每一扫描图像时的加速度的变化;[0074] 步骤三,根据采集所述扫描图像时的加速度的变化,估计所述待扫描物体在所述扫描图像中的轮廓区域;[0075] 步骤四,根据采集所述扫描图像时的偏转角度、所述待扫描物体在所述扫描图像中的轮廓区域,从所述扫描图像序列中提取出所述第一图像序列。 [0071] Based on the above description, obtaining a first image of the sequence of scanned image sequence in step 403 of the above-described embodiments of the method may include the steps of: [0072] Step a, when the deflection measurement acquisition scanned image angle; [0073] step two, a change in acceleration measurement acquisition at each scan image of the scanned image sequence; [0074] step three, according to the change in acceleration when the acquired scan image, is estimated to be scanned the contour of the object region in a scanned image; [0075] step 4 according to the deflection angle at the time of acquiring the scanned image, the contour of the object to be scanned in the scanning region image from the scanned image sequence extracting said first sequence of images. [0076] 当三维扫描装置正对待扫描物体时,三维扫描装置发射的光束在待扫描物体上形成的光斑,通常是规则的圆形,本发明实施例中,可以对扫描图像中的光斑信息进行分析,判断该光斑信息是否能够满足计算与待扫描物体之间的拍摄距离的需求,例如,图像中是否存在光斑或者光斑是否为规则的圆形等,如果图像中不存在光斑或者光斑是不规则的圆形,则有可能表明三维扫描装置拍摄该扫描图像时未正对待扫描物体,则可以丢弃该扫描图像,如果图像中存在光斑且光斑是规则的圆形,则有可能表明三维扫描装置拍摄该扫描图像时正对待扫描物体,则可以选取该扫描图像作为第一图像。 [0076] When treating three-dimensional scanning device is scanning the object, the beam spot emitted from the three-dimensional scanning means is formed on the object to be scanned, generally circular rule, embodiment of the present invention, may be made to the spot scanned image analysis, it is determined whether the photographing spot information can meet the needs of calculating the distance between the object to be scanned, e.g., if present in the image spot a spot or whether a regular circle, etc., or if there is no spot image spot is irregular circular, it is possible to show a three-dimensional imaging is not being treated the scanning device scans the object when the image is scanned, the scanned image can be discarded, if there is the image spot and spots are circular rule, it is possible to show that the three-dimensional scanning device captures the positive scan image scanned object treated, it is possible to select the scanned image as the first image. [0077] 基于以上描述,上述实施例中的步骤403中的获取所述扫描图像序列中的第一图像序列的方法可以包括以下步骤:[0078] 对所述扫描图像序列中的每一扫描图像中的光斑信息进行分析,根据分析结果从所述扫描图像序列提取出所述第一图像序列,其中,所述第一图像序列中每一第一图像的光斑信息能够满足计算所述与所述待扫描物体之间的所述拍摄距离的需求。 [0077] Based on the above description, obtaining a first image of the sequence of scanned image sequence in step 403 of the above-described embodiments of the method may include the steps of: [0078] Each scan image of the scanned image of the sequence the analysis spot information extracted from the scanned image sequence according to the sequence of the first image analysis result, wherein the first sequence of images of the first image information of each spot is calculated to meet the said scanning the object to be captured between the demand distance. [0079] 上述实施例中,三维扫描装置采集的第一图像中包含光斑,在三维建模之前,还需要去除第一图像中的光斑。 [0079] The above-described embodiment, the first three-dimensional scanning image acquisition apparatus contains spot, before the three-dimensional modeling is also necessary to remove the first image spot. 本发明实施例中,可以采用对多幅第一图像进行图像融合的方法,去除第一图像中的光斑。 Embodiments of the present invention, the method of the first plurality of image fusion image can be employed, removing the first image spot. [0080] 因而,上述步骤405 (根据第一图像序列以及采集第一图像时三维扫描装置与待扫描物体之间的拍摄距离,确定待扫描物体的三维模型)可以具体包括:对所述第一图像序列进行处理,得到不含所述光斑的第二图像序列;根据所述第二图像序列以及采集所述第二图像序列中的第二图像时所述三维扫描装置与所述待扫描物体之间的拍摄距离,确定所述待扫描物体的三维模型。 [0080] Accordingly, the above-described step 405 (according to the shooting distance between the first image and the capture sequence of a first three-dimensional image scanning means for scanning an object to be determined three-dimensional model of the object to be scanned) may specifically include: the first the image processing sequence, the second sequence of images to obtain the free spot; according to the sequence of said second image and the acquired second image sequence a second three-dimensional image scanning means and the object to be scanned between the shooting distance, to determine the three-dimensional model of the object to be scanned. [0081] 综上所述,本发明的实施例具有以下优点:[0082] 能够计算出三维扫描装置与待扫描物体之间的拍摄距离,利用实际计算出的三维扫描装置与待扫描物体之间的拍摄距离,确定待扫描物体的三维模型,即使三维扫描装置拍摄待扫描物体的图像时的运动轨迹不是理想的圆周,也能够保证3D建模的精确性。 [0081] In summary, embodiments of the present invention has the following advantages: [0082] can be calculated from the three-dimensional scanning imaging means, using three-dimensional scan between the device and the object to be scanned and the actual calculated between the object to be scanned shooting distance, to determine the three-dimensional model of the object to be scanned, even if the three-dimensional motion trajectory of an image scanning apparatus scanning the object to be photographed is not ideal circumference, it is possible to ensure the accuracy of 3D modeling. [0083] 从三维扫描装置拍摄的待扫描物体的图像序列中,选取三维扫描装置正对待扫描物体时拍摄的图像,确定待扫描物体的三维模型,能够提高3D建模的精确性。 Pictures taken with the [0083] three-dimensional images taken from the sequence of the scanning device in the object to be scanned, selected three-dimensional scanning means for scanning an object to treat positive, determining three-dimensional model of the object to be scanned, it is possible to improve the accuracy of 3D modeling. [0084] 在三维扫描装置中设置光束发射装置,向待扫描物体发射光束,通过光束在待扫描物体上形成的光斑,计算三维扫描装置与待扫描物体之间的拍摄距离,实现简单,成本较低。 [0084] In the three-dimensional scanning apparatus disposed beam emitting device which emits a light beam to the object to be scanned by the beam spot formed on the object to be scanned, calculates the distance between the imaging device and the three-dimensional scanning of the object to be scanned, simple, cost more low. 另外,还可以通过光束在待扫描物体上形成的光斑,判断三维扫描装置是否正对待扫描物体,从而纠正三维扫描装置拍摄待扫描物体的图像时的偏转角度。 Further, the beam spot can be formed on the object to be scanned, the scanning device is determined whether the three-dimensional scanning of the object treated, thereby correcting the deflection angle of the image when three-dimensional scanning apparatus for scanning an object to be photographed. [0085] 此说明书中所描述的许多功能部件都被称为模块,以便更加特别地强调其实现方式的独立性。 [0085] Many features described in this specification have been referred to as modules, in order to more particularly emphasize their implementation independence of. [0086] 本发明实施例中,模块可以用软件实现,以便由各种类型的处理器执行。 Embodiment [0086] of the present invention, modules may be implemented in software for execution by various types of processors. 举例来说,一个标识的可执行代码模块可以包括计算机指令的一个或多个物理或者逻辑块,举例来说,其可以被构建为对象、过程或函数。 For example, a module of executable code may include identifying one or more physical or logical blocks of computer instructions, for example, which may be constructed as an object, procedure, or function. 尽管如此,所标识模块的可执行代码无需物理地位于一起,而是可以包括存储在不同位里上的不同的指令,当这些指令逻辑上结合在一起时,其构成模块并且实现该模块的规定目的。 Nevertheless, the identified executable code module need not be physically located together, but may comprise disparate instructions stored in different locations inside, these instructions when joined logically together, comprise the module and achieve the stated which the module purpose. [0087] 实际上,可执行代码模块可以是单条指令或者是许多条指令,并且甚至可以分布在多个不同的代码段上,分布在不同程序当中,以及跨越多个存储器设备分布。 [0087] Indeed, a module of executable code may be a single instruction, or many instructions, and may even be distributed over several different code segments, among different programs, and across several memory devices distributed. 同样地,操作数据可以在模块内被识别,并且可以依照任何适当的形式实现并且被组织在任何适当类型的数据结构内。 Similarly, operational data may be identified within the module, and may be implemented in any suitable form and organized within any suitable type of data structure. 所述操作数据可以作为单个数据集被收集,或者可以分布在不同位置上(包括在不同存储设备上),并且至少部分地可以仅作为电子信号存在于系统或网络上。 The operational data may be collected as a single data set, or may be distributed over different locations (including over different storage devices), and may be at least partially, merely as electronic signals on a system or network. [0088] 在模块可以利用软件实现时,考虑到现有硬件工艺的水平,所以可以以软件实现的模块,在不考虑成本的情况下,本领域技术人员都可以搭建对应的硬件电路来实现对应的功能,所述硬件电路包括常规的超大规模集成(VLSI)电路或者门阵列以及诸如逻辑芯片、晶体管之类的现有半导体或者是其它分立的元件。 When [0088] the modules may be implemented using software, taking into account the level of existing hardware technology, it may be implemented in software modules, without considering the cost of skilled in the art can be built corresponding to the corresponding hardware circuits implemented features, the hardware circuit comprises a conventional very large scale integration (VLSI) circuits or gate arrays, and such as logic chips, the conventional semiconductor transistor or the like, or other discrete components. 模块还可以用可编程硬件设备,诸如现场可编程门阵列、可编程阵列逻辑、可编程逻辑设备等实现。 Module may also be used in programmable hardware devices, field programmable gate arrays, programmable array logic, programmable logic devices or the like as implemented. [0089] 以上所述仅是本发明的优选实施方式,应当指出,对于本技术领域的普通技术人员来说,在不脱离本发明原理的前提下,还可以作出若干改进和润饰,这些改进和润饰也应视为本发明的保护范围。 [0089] The above are only preferred embodiments of the present invention, it should be noted that those of ordinary skill in the art who, without departing from the principles of the present invention, further improvements and modifications may be made, such modifications and modifications should be the scope of the present invention.

Claims (10)

1. 一种三维扫描装置,其特征在于,包括: 光束发射模块,用于向待扫描物体发射光束,所述光束在所述待扫描物体上形成光斑; 图像采集模块,用于采集所述待扫描物体的扫描图像序列; 距离确定模块,用于获取所述扫描图像序列中的第一图像序列,并根据所述第一图像序列中每一第一图像的光斑信息,确定采集所述第一图像时所述三维扫描装置与所述待扫描物体之间的拍摄距离; 三维建模模块,用于根据所述第一图像序列以及采集所述第一图像时所述三维扫描装置与所述待扫描物体之间的拍摄距离,确定所述待扫描物体的三维模型。 1. A three-dimensional scanning apparatus comprising: beam emitting means for emitting a light beam to the object to be scanned, the beam spot formed on the object to be scanned; image acquisition module, for collecting the to-be sequence of scanned image of the scanned object; distance determining module, configured to acquire a first image of the sequence of scanned image sequence, and a first light spot image information of the first image of each sequence, determining the first collection the three-dimensional image to be photographed with the scanning apparatus the distance between the scanning object; three-dimensional modeling means for said three-dimensional scanning apparatus according to said first sequence of images and acquiring the first image and the to-be shooting distance between the scanning object, determining the three-dimensional model of the object to be scanned.
2.如权利要求1所述的三维扫描装置,其特征在于,所述距离确定模块包括: 重力传感模块,用于测量采集所述扫描图像序列中的每一扫描图像时的加速度的变化; 轮廓区域估计模块,用于根据采集所述扫描图像时的加速度的变化,估计所述待扫描物体在所述扫描图像中的轮廓区域; 第一图像提取模块,用于根据所述待扫描物体在所述扫描图像中的轮廓区域,从所述扫描图像序列中提取出所述第一图像序列。 2. The three-dimensional scanning apparatus according to claim 1, wherein said distance determining means comprises: gravity sensing module for measuring the change in acceleration during each scan of the scanning image acquisition sequence; outline region estimation module, according to the change in acceleration when the acquired scan image, estimating the contour of the object to be scanned in the scanning region image; a first image extraction module configured in accordance with an object to be scanned outline region of the scanned image, is extracted from the first sequence of images of the scanned image sequence.
3.如权利要求2所述的三维扫描装置,其特征在于,所述距离确定模块还包括: 角度测量模块,用于测量采集所述扫描图像时的偏转角度; 所述第一图像提取模块,还用于根据采集所述扫描图像时的偏转角度、所述待扫描物体在所述扫描图像中的轮廓区域,从所述扫描图像序列中提取出所述第一图像序列。 The three-dimensional scanning apparatus according to claim 2, wherein said distance determining means further comprises: angle measuring means for measuring the deflection angle when the acquired scan image; the first image extraction module, the deflection angle is also used when acquiring the scanned image of the contour of the object to be scanned in the scanning region image extracted from the first sequence of images of the scanned image sequence.
4.如权利要求1所述的三维扫描装置,其特征在于,所述距离确定模块包括: 第二图像提取模块,用于对所述扫描图像序列中的每一扫描图像中的光斑信息进行分析,根据分析结果从所述扫描图像序列提取出所述第一图像序列,其中,所述第一图像序列中每一第一图像的光斑信息能够满足计算所述与所述待扫描物体之间的所述拍摄距离的需求。 4. A three-dimensional scanning apparatus according to claim 1, wherein said distance determining means comprises: a second image extraction module, configured to analyze the scanned image of the spot information of each scanned image in the sequence the analysis result is extracted from the scanned image sequence that the first sequence of images, wherein each of said first sequence of images of the first image information of the spot can be calculated between the object to be scanned and satisfy the shooting needs distance.
5.如权利要求1所述的三维扫描装置,其特征在于,所述三维建模模块包括: 图像处理模块,用于对所述第一图像序列进行处理,得到不含所述光斑的第二图像序列; 执行模块,用于根据所述第二图像序列以及采集所述第二图像序列中的第二图像时所述三维扫描装置与所述待扫描物体之间的拍摄距离,确定所述待扫描物体的三维模型。 A second image processing module for processing the first sequence of images, to obtain the free spot: 5. The three-dimensional scanning apparatus according to claim 1, wherein said three-dimensional modeling module comprises an image sequence; execution module according to the shooting distance between the second image and the second image sequence a second sequence of images acquired in a three-dimensional scanning means and said scanning an object to be determined to be the scanning three-dimensional model of the object.
6. —种三维扫描方法,其特征在于,包括: 向待扫描物体发射光束,所述光束在所述待扫描物体上形成光斑; 采集所述待扫描物体的扫描图像序列; 获取所述扫描图像序列中的第一图像序列,并根据所述第一图像序列中每一第一图像的光斑信息,确定采集所述第一图像时所述三维扫描装置与所述待扫描物体之间的拍摄距离; 根据所述第一图像序列以及采集所述第一图像时所述三维扫描装置与所述待扫描物体之间的拍摄距离,确定所述待扫描物体的三维模型。 6. - kind three-dimensional scanning method, comprising: transmitting to the object to be scanned light beam which forms a spot on the object to be scanned; acquiring the sequence of images of the scanned object to be scanned; obtaining said scanned image a first sequence of images, a first image information and the light spot of each of said first sequence of images, determining a photographing time distance between the three-dimensional scanning image acquisition of said first means and said object to be scanned ; distance between the imaging device and the three-dimensional scanning of the object to be scanned and said first sequence of images acquired in accordance with the first image, determining the three-dimensional model to be scanned object.
7.如权利要求6所述的三维扫描方法,其特征在于,所述获取所述扫描图像序列中的第一图像序列的步骤包括: 测量采集所述扫描图像序列中的每一扫描图像时的加速度的变化; 根据采集所述扫描图像时的加速度的变化,估计所述待扫描物体在所述扫描图像中的轮廓区域; 根据所述待扫描物体在所述扫描图像中的轮廓区域,从所述扫描图像序列中提取出所述第一图像序列。 When the scanned image of each measurement acquisition sequence of the scanned image: 7. The three-dimensional scanning method according to claim 6, wherein the step of scanning the first image sequence includes a sequence of images of the acquisition a change in acceleration; in accordance with change in acceleration when the acquired scan image, estimating the contour of the object to be scanned in the scanning region image; based on the contour region of the scanned image of the object to be scanned, from the scanning said sequence of images to extract the first sequence of images.
8.如权利要求6所述的三维扫描方法,其特征在于,所述获取所述扫描图像序列中的第一图像序列的步骤包括: 测量采集所述扫描图像时的偏转角度; 测量采集所述扫描图像序列中的每一扫描图像时的加速度的变化; 根据采集所述扫描图像时的加速度的变化,估计所述待扫描物体在所述扫描图像中的轮廓区域; 根据采集所述扫描图像时的偏转角度、所述待扫描物体在所述扫描图像中的轮廓区域,从所述扫描图像序列中提取出所述第一图像序列。 8. A three-dimensional scanning method according to claim 6, wherein said step of acquiring the first sequence of images scanned image sequence comprising: measuring the deflection angle of the scan images acquired; a measurement acquisition of the a change in acceleration during each scan image of the scanned image sequence; according to the change of acceleration when the acquired scan image, estimating the contour of the object to be scanned in the scanning region image; according to acquiring the scanned image the deflection angle, the contour of the object to be scanned in the scanning area of ​​the image, the first image sequence is extracted from the scanned image sequence.
9.如权利要求6所述的三维扫描方法,其特征在于,所述获取所述扫描图像序列中的第一图像序列的步骤包括: 对所述扫描图像序列中的每一扫描图像中的光斑信息进行分析,根据分析结果从所述扫描图像序列提取出所述第一图像序列,其中,所述第一图像序列中每一第一图像的光斑信息能够满足计算所述与所述待扫描物体之间的所述拍摄距离的需求。 9. A three-dimensional scanning method according to claim 6, wherein said step of acquiring the first sequence of images scanned image sequence comprises: scanning each spot image of the scanned image in the sequence of analysis information is extracted from the scanned image sequence according to the sequence of the first image analysis result, wherein the first sequence of images of the first image information of each spot is calculated to meet the object to be scanned with the the distance between the shooting needs.
10.如权利要求6所述的三维扫描方法,其特征在于,所述根据所述第一图像序列以及采集所述第一图像时所述三维扫描装置与所述待扫描物体之间的拍摄距离,确定所述待扫描物体的三维模型的步骤包括: 对所述第一图像序列进行处理,得到不含所述光斑的第二图像序列; 根据所述第二图像序列以及采集所述第二图像序列中的第二图像时所述三维扫描装置与所述待扫描物体之间的拍摄距离,确定所述待扫描物体的三维模型。 10. A three-dimensional scanning method according to claim 6, characterized in that the distance between the imaging device and the three-dimensional scanning of the object to be scanned according to said first sequence of images and acquiring the first image determining the three-dimensional model to be scanned object comprises: the first image processing sequence, the second sequence of images to obtain the free spot; according to the second image and the second image acquisition sequence the shooting distance between the three-dimensional scanning device and the object to be scanned when the second image sequence is determined to be the three-dimensional model of the scanned object.
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