CN103017676B - Three-dimensional scanner and 3-D scanning method - Google Patents
Three-dimensional scanner and 3-D scanning method Download PDFInfo
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- CN103017676B CN103017676B CN201110288847.0A CN201110288847A CN103017676B CN 103017676 B CN103017676 B CN 103017676B CN 201110288847 A CN201110288847 A CN 201110288847A CN 103017676 B CN103017676 B CN 103017676B
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Abstract
The invention provides a kind of three-dimensional scanner and 3-D scanning method, this three-dimensional scanner comprises: beam emissions module, and for object emission beam to be scanned, this light beam forms hot spot on object to be scanned; Image capture module, for gathering the scanned image sequence of object to be scanned; Distance determination module, for obtaining the first image sequence in scanned image sequence, and according to the facula information of each the first image in the first image sequence, shooting distance when determining collection the first image between three-dimensional scanner and object to be scanned; Three-dimensional modeling module, for the shooting distance according to the first image sequence and when gathering the first image between three-dimensional scanner and object to be scanned, determines the three-dimensional model of object to be scanned.In the present invention, even if movement locus when three-dimensional scanner takes the image of object to be scanned is not desirable circumference, also can ensure the accuracy of 3D modeling.
Description
Technical field
The present invention relates to three-dimensional (3D) scanning technique field, particularly relate to a kind of three-dimensional scanner and 3-D scanning method.
Background technology
As shown in Figure 1, utilize in prior art three-dimensional scanner (mobile phone, video camera, camera etc.) treat scanning object carry out 3D scanning time, normally three-dimensional scanner is rotated a circle around object to be scanned, take one group of image sequence, utilizing the parameter such as this image sequence and the distance R of three-dimensional scanner when taking image and between object to be scanned, calculating the 3D model of object to be scanned.
Three-dimensional scanner is used to treat scanning object when taking, three-dimensional scanner must keep the motion being close to circumference by object relatively to be scanned, namely three-dimensional scanner needs when moving to keep the distance R between object to be scanned constant, can ensure the accurate of 3D modeling.
And in fact, user holds three-dimensional scanner and treats scanning object when scanning, be difficult to ensure that the movement locus of three-dimensional scanner is desirable circumference, thus the out of true of 3D modeling can be caused.
Summary of the invention
In view of this, the invention provides a kind of three-dimensional scanner and 3-D scanning method, even if movement locus when three-dimensional scanner takes the image of object to be scanned is not desirable circumference, also can ensure the accuracy of 3D modeling.
For solving the problem, the invention provides a kind of three-dimensional scanner, comprising: beam emissions module, for object emission beam to be scanned, described light beam forms hot spot on described object to be scanned; Image capture module, for gathering the scanned image sequence of described object to be scanned; Distance determination module, for obtaining the first image sequence in described scanned image sequence, and according to the facula information of each the first image in described first image sequence, shooting distance when determining to gather described first image between described three-dimensional scanner and described object to be scanned; Three-dimensional modeling module, for the shooting distance according to described first image sequence and when gathering described first image between described three-dimensional scanner and described object to be scanned, determines the three-dimensional model of described object to be scanned.
Optionally, described distance determination module comprises: gravity sensitive module, the change of acceleration during for measuring each scan image gathered in described scanned image sequence; Contour area estimation module, for the change according to acceleration during the described scan image of collection, estimates the contour area of described object to be scanned in described scan image; First image zooming-out module, for according to the contour area of described object to be scanned in described scan image, extracts described first image sequence from described scanned image sequence.
Optionally, described distance determination module also comprises: Angle Measurement Module, for measuring deflection angle when gathering described scan image; Described first image zooming-out module, also for according to deflection angle, the contour area of described object to be scanned in described scan image during the described scan image of collection, extracts described first image sequence from described scanned image sequence.
Optionally, described distance determination module comprises: the second image zooming-out module, for analyzing the facula information in each scan image in described scanned image sequence, described first image sequence is extracted from described scanned image sequence according to analysis result, wherein, in described first image sequence, the facula information of each the first image can meet the demand of the described shooting distance calculated between described and described object to be scanned.
Optionally, described three-dimensional modeling module comprises: image processing module, for processing described first image sequence, obtains not containing the second image sequence of described hot spot; Execution module, for the shooting distance according to described second image sequence and when gathering in described second image sequence the second image between described three-dimensional scanner and described object to be scanned, determines the three-dimensional model of described object to be scanned.
The present invention also provides a kind of 3-D scanning method, comprising: to object emission beam to be scanned, and described light beam forms hot spot on described object to be scanned; Gather the scanned image sequence of described object to be scanned; Obtain the first image sequence in described scanned image sequence, and according to the facula information of each the first image in described first image sequence, shooting distance when determining to gather described first image between described three-dimensional scanner and described object to be scanned; Shooting distance according to described first image sequence and when gathering described first image between described three-dimensional scanner and described object to be scanned, determines the three-dimensional model of described object to be scanned.
Optionally, the step of the first image sequence in the described scanned image sequence of described acquisition comprises: the change of acceleration when measuring each scan image gathered in described scanned image sequence; According to the change of acceleration during the described scan image of collection, estimate the contour area of described object to be scanned in described scan image; According to the contour area of described object to be scanned in described scan image, from described scanned image sequence, extract described first image sequence.
Optionally, the step of the first image sequence in the described scanned image sequence of described acquisition comprises: measure deflection angle when gathering described scan image; The change of acceleration when measuring each scan image gathered in described scanned image sequence; According to the change of acceleration during the described scan image of collection, estimate the contour area of described object to be scanned in described scan image; According to deflection angle, the contour area of described object to be scanned in described scan image during the described scan image of collection, from described scanned image sequence, extract described first image sequence.
Optionally, the step of the first image sequence in the described scanned image sequence of described acquisition comprises: analyze the facula information in each scan image in described scanned image sequence, described first image sequence is extracted from described scanned image sequence according to analysis result, wherein, in described first image sequence, the facula information of each the first image can meet the demand of the described shooting distance calculated between described and described object to be scanned.
Optionally, described shooting distance according to described first image sequence and when gathering described first image between described three-dimensional scanner and described object to be scanned, determine that the step of the three-dimensional model of described object to be scanned comprises: described first image sequence is processed, obtain not containing the second image sequence of described hot spot; Shooting distance according to described second image sequence and when gathering in described second image sequence the second image between described three-dimensional scanner and described object to be scanned, determines the three-dimensional model of described object to be scanned.
The present invention has following beneficial effect:
The shooting distance between three-dimensional scanner and object to be scanned can be calculated, shooting distance between the three-dimensional scanner utilizing actual computation to go out and object to be scanned, determine the three-dimensional model of object to be scanned, even if movement locus when three-dimensional scanner takes the image of object to be scanned is not desirable circumference, the accuracy of 3D modeling also can be ensured.
From the image sequence of the object to be scanned of three-dimensional scanner shooting, choose the image taken when three-dimensional scanner is just treating scanning object, determine the three-dimensional model of object to be scanned, the accuracy of 3D modeling can be improved.
In three-dimensional scanner, arrange beam launcher, to object emission beam to be scanned, the hot spot formed on object to be scanned by light beam, calculates the shooting distance between three-dimensional scanner and object to be scanned, and realize simple, cost is lower.In addition, the hot spot that can also be formed on object to be scanned by light beam, judges whether three-dimensional scanner just treats scanning object, thus corrects deflection angle when three-dimensional scanner takes the image of object to be scanned.
Accompanying drawing explanation
Fig. 1 be three-dimensional scanner of the prior art treat scanning object carry out 3D scanning time desirable movement locus schematic diagram;
Fig. 2 is a structural representation of the three-dimensional scanner of the embodiment of the present invention;
Fig. 3 is the movement locus schematic diagram that the three-dimensional scanner of the embodiment of the present invention treats that scanning object carries out reality when 3D scans;
Fig. 4 is a schematic flow sheet of the 3-D scanning method of the embodiment of the present invention.
Embodiment
In the embodiment of the present invention, when carrying out 3-D scanning, three-dimensional scanner is to object emission beam to be scanned, this light beam forms hot spot on object to be scanned, according to the hot spot in the image photographed, the shooting distance between three-dimensional scanner and object to be scanned when taking image can be calculated, thus utilize the image that photographs and shooting distance corresponding to those images, determine the three-dimensional model of object to be scanned, because shooting distance is that actual computation obtains, even if thus the movement locus of three-dimensional scanner is not desirable circumference, also the accuracy of 3D modeling can be ensured.
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.
Be illustrated in figure 2 a structural representation of the three-dimensional scanner of the embodiment of the present invention, this three-dimensional scanner can be mobile phone, video camera, camera etc., comprising:
Beam emissions module 201, for object emission beam to be scanned, this light beam is visible ray, can form hot spot on object to be scanned.This beam emissions module 201 can to a branch of light beam of object emission to be scanned, now, the light beam launched can form a hot spot on object to be scanned, this beam emissions module 201 also can simultaneously to object emission multiple light beams to be scanned, now, the light beam of transmitting can form multiple hot spot on object to be scanned.
Image capture module 202, for gathering the scanned image sequence of object to be scanned.This three-dimensional scanner, when carrying out 3-D scanning, needs to rotate a circle around object to be scanned, takes the scanned image sequence of one group of object to be scanned.
Distance determination module 203, for obtaining the first image sequence in this scanned image sequence, and according to the facula information of each the first image in the first image sequence, shooting distance when determining collection the first image between three-dimensional scanner and object to be scanned.This first image sequence can be all images in this scanned image sequence, also can be the parts of images in this scanned image sequence.
Three-dimensional modeling module 204, for the shooting distance according to the first image sequence and when gathering the first image between three-dimensional scanner and object to be scanned, determines the three-dimensional model of object to be scanned.
As shown in Figure 3, the movement locus of three-dimensional scanner 302 when object 301 to be scanned rotates is not desirable circumference, shooting distance d (distance of center O2 extremely and between the center O1 of object to be scanned 301 of three-dimensional scanner 302) between the three-dimensional scanner 302 gone out owing to utilizing actual computation and object to be scanned 301, determine the three-dimensional model of object to be scanned, even if movement locus when three-dimensional scanner 302 takes the image of object 301 to be scanned is not desirable circumference, the accuracy of 3D modeling also can be ensured.
Mention in above-described embodiment, the scanned image sequence of three-dimensional scanner collection is the image sequence of its shooting that rotates a circle around object to be scanned, below to how determining that the method that three-dimensional scanner has rotated a circle around object to be scanned is described.
The first defining method is: utilize image matching technology, determine three-dimensional scanner current shooting to image whether to mate with first image of its shooting and aim at, if the image that current shooting arrives is aimed at first images match of its shooting, then show that three-dimensional scanner rotates a circle around object to be scanned, now, can using the coupling alignment image of first image, first image and other images taken between the two as the scanned image sequence described in above-described embodiment.
The second defining method is: pre-estimate three-dimensional scanner and rotate a circle the required time around object to be scanned, and start timing when three-dimensional scanner takes first image, after arriving the required time that rotates a circle pre-estimated, timing terminates, by the image sequence photographed at the end of timing, as the scanned image sequence described in above-described embodiment.
Mention in above-described embodiment, the first image sequence adopted when determining the three-dimensional model of object to be scanned, can be three-dimensional scanner to rotate a circle all images photographed around object to be scanned, also can be parts of images.Scrutable, in order to make three-dimensional modeling more accurate, three-dimensional scanner is when around object rotary taking to be scanned, and three-dimensional scanner just need treat scanning object.But, in specific implementation process, when being difficult to ensure each image of shooting, three-dimensional scanner all just treats scanning object, if thus select three-dimensional scanner to carry out three-dimensional modeling around the object to be scanned all images photographed that rotates a circle, the out of true of three-dimensional modeling can be caused.
Therefore, when being difficult to ensure each image of shooting, three-dimensional scanner is all just treating scanning object, in the embodiment of the present invention, can from three-dimensional scanner around object to be scanned rotates a circle all images that photographs, select the image that three-dimensional scanner is just treating scanning object shooting, the image selected is utilized to carry out three-dimensional modeling, to improve the accuracy of three-dimensional modeling.
The method that selector from all images of three-dimensional scanner shooting of illustrating below to how closes the first image of modeling demand is described in detail.
First embodiment:
In the embodiment of the present invention, one gravity sensitive module can be set in three-dimensional scanner, as G-sensor (gravity sensor), the change (direction of motion of three-dimensional scanner) of acceleration during measurement three-dimensional scanner acquisition scans image, according to the change of the acceleration of the three-dimensional scanner measured, estimate the contour area of object to be scanned in scan image, then the contour area of object to be scanned in scan image and the contour area of estimation are contrasted, if the contour area of the object to be scanned in scan image and the contour area of estimation are distinguished less, when then showing to take this scan image, three-dimensional scanner just treats scanning object, this scan image can be chosen as the first image, if the contour area of the object to be scanned in scan image and the contour area of estimation are distinguished larger, when then showing to take this scan image, three-dimensional scanner does not just treat scanning object, then abandon this scan image.
Based on foregoing description, the distance determination module in above-described embodiment can comprise:
Gravity sensitive module, the change of acceleration during for measuring each scan image gathered in described scanned image sequence;
Contour area estimation module, for the change according to acceleration during the described scan image of collection, estimates the contour area of described object to be scanned in described scan image;
First image zooming-out module, for according to the contour area of described object to be scanned in described scan image, extracts described first image sequence from described scanned image sequence.
Second embodiment:
In above-described embodiment, can also an Angle Measurement Module be set in three-dimensional scanner, as gyroscope, measure deflection angle during acquisition scans image, when the contour area of object to be scanned in scan image and the contour area of estimation are contrasted, consider deflection angle when gathering this scan image, if the contour area of the object to be scanned in scan image and the contour area of estimation are distinguished less, when then showing to take this scan image, three-dimensional scanner just treats scanning object, this scan image can be chosen as the first image, if the contour area of the object to be scanned in scan image and the contour area of estimation are distinguished larger, when then showing to take this scan image, three-dimensional scanner does not just treat scanning object, then abandon this scan image.
Based on foregoing description, the distance determination module in above-described embodiment can also comprise:
Angle Measurement Module, for measuring deflection angle when gathering described scan image;
Described first image zooming-out module, also for according to deflection angle, the contour area of described object to be scanned in described scan image during the described scan image of collection, extracts described first image sequence from described scanned image sequence.
3rd embodiment:
When three-dimensional scanner just treats scanning object, the hot spot that the light beam that three-dimensional scanner is launched is formed on object to be scanned, the normally circle of rule, in the embodiment of the present invention, facula information in scan image can be analyzed, judge whether this facula information can meet the demand of the shooting distance between calculating and object to be scanned, such as, the circle etc. whether hot spot or hot spot be rule whether is there is in image, if there is not hot spot in image or hot spot is irregular circle, just scanning object is not treated when then likely showing that three-dimensional scanner takes this scan image, then can abandon this scan image, if there is hot spot in image and hot spot be rule circle, just scanning object is treated when then likely showing that three-dimensional scanner takes this scan image, then can choose this scan image as the first image.
Based on foregoing description, the distance determination module in above-described embodiment can comprise:
Second image zooming-out module, for analyzing the facula information in each scan image in described scanned image sequence, described first image sequence is extracted from described scanned image sequence according to analysis result, wherein, in described first image sequence, the facula information of each the first image can meet the demand of the described shooting distance calculated between described and described object to be scanned.
In above-described embodiment, in the first image of three-dimensional scanner collection, comprise hot spot, before three-dimensional modeling, also need the hot spot in removal first image.In the embodiment of the present invention, the method for several the first images being carried out to image co-registration can be adopted, remove the hot spot in the first image.
Based on foregoing description, the three-dimensional modeling module in above-described embodiment can comprise:
Image processing module, for processing described first image sequence, obtains not containing the second image sequence of described hot spot;
Execution module, for the shooting distance according to described second image sequence and when gathering in described second image sequence the second image between described three-dimensional scanner and described object to be scanned, determines the three-dimensional model of described object to be scanned.
Corresponding to the three-dimensional scanner in above-described embodiment, as shown in Figure 4, the embodiment of the present invention also provides a kind of 3-D scanning method, and this 3-D scanning method comprises the following steps:
Step 401, to object emission beam to be scanned, this light beam forms hot spot on object to be scanned;
Step 402, gathers the scanned image sequence of object to be scanned;
Step 403, obtains the first image sequence in scanned image sequence;
Step 404, according to the facula information of each the first image in the first image sequence, shooting distance when determining collection the first image between three-dimensional scanner and object to be scanned;
Step 405, the shooting distance according to the first image sequence and when gathering the first image between three-dimensional scanner and object to be scanned, determines the three-dimensional model of object to be scanned.
The first image sequence adopted when determining the three-dimensional model of object to be scanned can be three-dimensional scanner to rotate a circle all images photographed around object to be scanned, also can be parts of images.Scrutable, in order to make three-dimensional modeling more accurate, three-dimensional scanner is when around object rotary taking to be scanned, and three-dimensional scanner just need treat scanning object.But, in specific implementation process, when being difficult to ensure each image of shooting, three-dimensional scanner all just treats scanning object, if thus select three-dimensional scanner to carry out three-dimensional modeling around the object to be scanned all images photographed that rotates a circle, the out of true of three-dimensional modeling can be caused.
Therefore, when being difficult to ensure each image of shooting, three-dimensional scanner is all just treating scanning object, in the embodiment of the present invention, can from three-dimensional scanner around object to be scanned rotates a circle all images that photographs, select the image that three-dimensional scanner is just treating scanning object shooting, the image selected is utilized to carry out three-dimensional modeling, to improve the accuracy of three-dimensional modeling.
In the embodiment of the present invention, the change (direction of motion of three-dimensional scanner) of acceleration when can measure three-dimensional scanner acquisition scans image, according to the change of the acceleration of the three-dimensional scanner measured, estimate the contour area of object to be scanned in scan image, then the contour area of object to be scanned in scan image and the contour area of estimation are contrasted, if the contour area of the object to be scanned in scan image and the contour area of estimation are distinguished less, when then showing to take this scan image, three-dimensional scanner just treats scanning object, this scan image can be chosen as the first image, if the contour area of the object to be scanned in scan image and the contour area of estimation are distinguished larger, when then showing to take this scan image, three-dimensional scanner does not just treat scanning object, then abandon this scan image.
Based on above description, the method for the first image sequence in the described scanned image sequence of the acquisition in the step 403 in above-described embodiment can comprise the following steps:
Step one, the change of acceleration when measuring each scan image gathered in described scanned image sequence;
Step 2, according to the change of acceleration during the described scan image of collection, estimates the contour area of described object to be scanned in described scan image;
Step 3, according to the contour area of described object to be scanned in described scan image, extracts described first image sequence from described scanned image sequence.
When the contour area of object to be scanned in scan image and the contour area of estimation are contrasted, it is also conceivable to deflection angle when gathering this scan image, if the contour area of the object to be scanned in scan image and the contour area of estimation are distinguished less, when then showing to take this scan image, three-dimensional scanner just treats scanning object, this scan image can be chosen as the first image, if the contour area of the object to be scanned in scan image and the contour area of estimation are distinguished larger, when then showing to take this scan image, three-dimensional scanner does not just treat scanning object, then abandon this scan image.
Based on above description, the method for the first image sequence in the described scanned image sequence of the acquisition in the step 403 in above-described embodiment can comprise the following steps:
Step one, measures deflection angle when gathering described scan image;
Step 2, the change of acceleration when measuring each scan image gathered in described scanned image sequence;
Step 3, according to the change of acceleration during the described scan image of collection, estimates the contour area of described object to be scanned in described scan image;
Step 4, according to deflection angle, the contour area of described object to be scanned in described scan image during the described scan image of collection, extracts described first image sequence from described scanned image sequence.
When three-dimensional scanner just treats scanning object, the hot spot that the light beam that three-dimensional scanner is launched is formed on object to be scanned, the normally circle of rule, in the embodiment of the present invention, facula information in scan image can be analyzed, judge whether this facula information can meet the demand of the shooting distance between calculating and object to be scanned, such as, the circle etc. whether hot spot or hot spot be rule whether is there is in image, if there is not hot spot in image or hot spot is irregular circle, just scanning object is not treated when then likely showing that three-dimensional scanner takes this scan image, then can abandon this scan image, if there is hot spot in image and hot spot be rule circle, just scanning object is treated when then likely showing that three-dimensional scanner takes this scan image, then can choose this scan image as the first image.
Based on above description, the method for the first image sequence in the described scanned image sequence of the acquisition in the step 403 in above-described embodiment can comprise the following steps:
Facula information in each scan image in described scanned image sequence is analyzed, described first image sequence is extracted from described scanned image sequence according to analysis result, wherein, in described first image sequence, the facula information of each the first image can meet the demand of the described shooting distance calculated between described and described object to be scanned.
In above-described embodiment, in the first image of three-dimensional scanner collection, comprise hot spot, before three-dimensional modeling, also need the hot spot in removal first image.In the embodiment of the present invention, the method for several the first images being carried out to image co-registration can be adopted, remove the hot spot in the first image.
Thus, above-mentioned steps 405 (the shooting distance according to the first image sequence and when gathering the first image between three-dimensional scanner and object to be scanned, determine the three-dimensional model of object to be scanned) can specifically comprise: described first image sequence is processed, obtains not containing the second image sequence of described hot spot; Shooting distance according to described second image sequence and when gathering in described second image sequence the second image between described three-dimensional scanner and described object to be scanned, determines the three-dimensional model of described object to be scanned.
In sum, embodiments of the invention have the following advantages:
The shooting distance between three-dimensional scanner and object to be scanned can be calculated, shooting distance between the three-dimensional scanner utilizing actual computation to go out and object to be scanned, determine the three-dimensional model of object to be scanned, even if movement locus when three-dimensional scanner takes the image of object to be scanned is not desirable circumference, the accuracy of 3D modeling also can be ensured.
From the image sequence of the object to be scanned of three-dimensional scanner shooting, choose the image taken when three-dimensional scanner is just treating scanning object, determine the three-dimensional model of object to be scanned, the accuracy of 3D modeling can be improved.
In three-dimensional scanner, arrange beam launcher, to object emission beam to be scanned, the hot spot formed on object to be scanned by light beam, calculates the shooting distance between three-dimensional scanner and object to be scanned, and realize simple, cost is lower.In addition, the hot spot that can also be formed on object to be scanned by light beam, judges whether three-dimensional scanner just treats scanning object, thus corrects deflection angle when three-dimensional scanner takes the image of object to be scanned.
Many functional parts described in this instructions are all called as module, specifically to emphasize the independence of its implementation.
In the embodiment of the present invention, module can use software simulating, to be performed by various types of processor.For example, the executable code module of a mark can comprise one or more physics or the logical block of computer instruction, and for example, it can be built as object, process or function.However, the executable code of institute's identification module is does not have to be physically positioned at together, but can comprise the different instruction be stored in not coordination, when these command logics combine, and its composition module and realize the regulation object of this module.
In fact, executable code module can be individual instructions or many bar instructions, and even can be distributed on multiple different code segment, is distributed in the middle of distinct program, and crosses over the distribution of multiple memory devices.Similarly, service data can be identified in module, and can realize according to any suitable form and be organized in the data structure of any suitable type.Described service data can be collected as individual data collection, or can be distributed on diverse location and (be included in different storage device), and can only be present on system or network as electronic signal at least in part.
When module can utilize software simulating, consider the level of existing hardware technique, so can with the module of software simulating, when not considering cost, those skilled in the art can build corresponding hardware circuit and realize corresponding function, and described hardware circuit comprises existing semiconductor or other discrete element of conventional ultra-large integrated (VLSI) circuit or gate array and such as logic chip, transistor and so on.Module can also use programmable hardware device, the realizations such as such as field programmable gate array, programmable logic array, programmable logic device.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (8)
1. a three-dimensional scanner, is characterized in that, comprising:
Beam emissions module, for object emission beam to be scanned, described light beam forms hot spot on described object to be scanned;
Image capture module, for gathering the scanned image sequence of described object to be scanned;
Distance determination module, for obtaining the first image sequence in described scanned image sequence, and according to the facula information of each the first image in described first image sequence, shooting distance when determining to gather described first image between described three-dimensional scanner and described object to be scanned;
Three-dimensional modeling module, for the shooting distance according to described first image sequence and when gathering described first image between described three-dimensional scanner and described object to be scanned, determines the three-dimensional model of described object to be scanned;
Wherein, described three-dimensional modeling module comprises:
Image processing module, for processing described first image sequence, obtains not containing the second image sequence of described hot spot;
Execution module, for the shooting distance according to described second image sequence and when gathering in described second image sequence the second image between described three-dimensional scanner and described object to be scanned, determines the three-dimensional model of described object to be scanned.
2. three-dimensional scanner as claimed in claim 1, is characterized in that, described distance determination module comprises:
Gravity sensitive module, the change of acceleration during for measuring each scan image gathered in described scanned image sequence;
Contour area estimation module, for the change according to acceleration during the described scan image of collection, estimates the contour area of described object to be scanned in described scan image;
First image zooming-out module, for according to the contour area of described object to be scanned in described scan image, extracts described first image sequence from described scanned image sequence.
3. three-dimensional scanner as claimed in claim 2, is characterized in that, described distance determination module also comprises:
Angle Measurement Module, for measuring deflection angle when gathering described scan image;
Described first image zooming-out module, also for according to deflection angle, the contour area of described object to be scanned in described scan image during the described scan image of collection, extracts described first image sequence from described scanned image sequence.
4. three-dimensional scanner as claimed in claim 1, is characterized in that, described distance determination module comprises:
Second image zooming-out module, for analyzing the facula information in each scan image in described scanned image sequence, described first image sequence is extracted from described scanned image sequence according to analysis result, wherein, in described first image sequence, the facula information of each the first image can meet the demand of the described shooting distance calculated between described and described object to be scanned.
5. a 3-D scanning method, is characterized in that, comprising:
To object emission beam to be scanned, described light beam forms hot spot on described object to be scanned;
Gather the scanned image sequence of described object to be scanned;
Obtain the first image sequence in described scanned image sequence, and according to the facula information of each the first image in described first image sequence, shooting distance when determining to gather described first image between described three-dimensional scanner and described object to be scanned;
Described first image sequence is processed, obtains not containing the second image sequence of described hot spot;
Shooting distance according to described second image sequence and when gathering in described second image sequence the second image between described three-dimensional scanner and described object to be scanned, determines the three-dimensional model of described object to be scanned.
6. 3-D scanning method as claimed in claim 5, it is characterized in that, the step of the first image sequence in the described scanned image sequence of described acquisition comprises:
The change of acceleration when measuring each scan image gathered in described scanned image sequence;
According to the change of acceleration during the described scan image of collection, estimate the contour area of described object to be scanned in described scan image;
According to the contour area of described object to be scanned in described scan image, from described scanned image sequence, extract described first image sequence.
7. 3-D scanning method as claimed in claim 5, it is characterized in that, the step of the first image sequence in the described scanned image sequence of described acquisition comprises:
Measure deflection angle when gathering described scan image;
The change of acceleration when measuring each scan image gathered in described scanned image sequence;
According to the change of acceleration during the described scan image of collection, estimate the contour area of described object to be scanned in described scan image;
According to deflection angle, the contour area of described object to be scanned in described scan image during the described scan image of collection, from described scanned image sequence, extract described first image sequence.
8. 3-D scanning method as claimed in claim 5, it is characterized in that, the step of the first image sequence in the described scanned image sequence of described acquisition comprises:
Facula information in each scan image in described scanned image sequence is analyzed, described first image sequence is extracted from described scanned image sequence according to analysis result, wherein, in described first image sequence, the facula information of each the first image can meet the demand of the described shooting distance calculated between described and described object to be scanned.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610045370.6A CN105651201B (en) | 2011-09-26 | 2011-09-26 | Three-dimensional scanner and 3-D scanning method |
| CN201110288847.0A CN103017676B (en) | 2011-09-26 | 2011-09-26 | Three-dimensional scanner and 3-D scanning method |
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| CN201110288847.0A CN103017676B (en) | 2011-09-26 | 2011-09-26 | Three-dimensional scanner and 3-D scanning method |
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| CN201610045370.6A Division CN105651201B (en) | 2011-09-26 | 2011-09-26 | Three-dimensional scanner and 3-D scanning method |
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| CN103017676A CN103017676A (en) | 2013-04-03 |
| CN103017676B true CN103017676B (en) | 2016-03-02 |
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| CN108347561B (en) * | 2017-10-27 | 2020-01-03 | 广东康云多维视觉智能科技有限公司 | Laser guide scanning system and scanning method |
| CN108362223B (en) * | 2017-11-24 | 2020-10-27 | 广东康云多维视觉智能科技有限公司 | Portable 3D scanner, scanning system and scanning method |
| TWI634515B (en) * | 2018-01-25 | 2018-09-01 | 廣達電腦股份有限公司 | Apparatus and method for processing three dimensional image |
| TWI672937B (en) * | 2018-02-05 | 2019-09-21 | 廣達電腦股份有限公司 | Apparatus and method for processing three dimensional images |
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