CN103873751A - Three-dimensional panoramic scanning device and three-dimensional module generating method - Google Patents
Three-dimensional panoramic scanning device and three-dimensional module generating method Download PDFInfo
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Abstract
The invention relates to a three-dimensional panoramic scanning device which comprises a 360-degree circular moving track, an arc-shaped moving track and an image capturing device. Configuration is conducted based on the design technical scheme, a sealed area is formed by the track surface of the arc-shaped moving track moving on the 360-degree circular moving track by a circle and the plane where the 360-degree circular tracking track is placed, the design structure is simple, the cost is low, and multi-angle two-dimensional images can be acquired conveniently, quickly and comprehensively. The image capturing device is movably arranged on the arc-shaped moving track and moves on the arc-shaped moving track. Correspondingly, the invention further relates to a three-dimensional model generating method based on the three-dimensional panoramic scanning device. The method with relatively clear and simple steps is used so that sparse three-dimensional models of scanned objects can be quickly achieved, and the steps and the method are simple, clear and easy to control.
Description
Technical field
The present invention relates to
oneplant three-dimensional panorama scanning means and threedimensional model generation method.
Background technology
Current three-dimensionalreconstruction scanning technique comprises laser and structured light etc., and if the advantage of the spatial digitizer based on structured light is that speed is fast, precision is high, compared with laser 3 d scanner, structured light single measurement scope is large, and the depth of field is large.But this kind equipment generally need to have two cameras and a projecting apparatus to combine, complex structure, cost compare are high, and the complexity of structure also makes the setting of this type of scanner relatively complicated, are not very flexible etc. such as adjusting scan vision and resolution.
Summary of the invention
For above-mentioned technical problem, it is simple that technical problem to be solved by this invention is to provide a kind of project organization, and structure fixes, the three-dimensional panorama scanning means can round Realization multi-angle two dimensional image obtaining.
Corresponding therewith, for above-mentioned technical problem, technical problem to be solved by this invention is to provide the multi-angle two dimensional image that a kind of three-dimensional panorama scanning means based on the present invention's design obtains, and can obtain quickly and easily the threedimensional model generation method of threedimensional model.
The present invention is in order to solve the problems of the technologies described above by the following technical solutions: the present invention has designed a kind of three-dimensional panorama scanning means, comprises two-orbit and image capture apparatus; Wherein, two-orbit comprises the circular moving track of 360 degree and arc moving track, one end of arc moving track is movably arranged on the circular moving track of 360 degree, the other end of arc moving track with the perpendicular direction of the circular moving track place face of 360 degree on projection be positioned at the circular moving tracks of 360 degree, and arc moving track track plane and 360 faces formation closed areas, degree circular moving track place of mobile a week on the circular moving tracks of 360 degree; Image capture apparatus is movably arranged on arc moving track, and moves on arc moving track.
As a preferred technical solution of the present invention: described arc moving track is the moving track of 90 degree arcs, arc moving track place face and described 360 degree circular moving track place faces are perpendicular.
As a preferred technical solution of the present invention: also comprise the first motor and the second motor, wherein, one end of described arc moving track is movably arranged on the circular moving track of described 360 degree by the first motor, and arc moving track moves on the circular moving track of 360 degree by the first motor; Described image capture apparatus is movably arranged on arc moving track by the second motor, and image capture apparatus moves on arc moving track by the second motor.
As a preferred technical solution of the present invention: described the first motor and described the second motor are stepping motor or servomotor.
As a preferred technical solution of the present invention: also comprise the primary importance transducer, the second place transducer that are separately positioned on described the first motor, on the second motor.
As a preferred technical solution of the present invention: described image capture apparatus is the camera with zoom lens.
A kind of three-dimensional panorama scanning means of the present invention adopts above technical scheme compared with prior art, has following technique effect:
(1) the three-dimensional panorama scanning means of the present invention's design, project organization is simple, with low cost, compare with respect to the existing spatial digitizer based on structured light, the present invention's design is a kind of special three-dimensional scanner with fixed structure, round Realization multi-angle two dimensional image obtains quickly and easily, and whole device is simple to operate, is convenient to safeguard;
(2) in the three-dimensional panorama scanning means of the present invention's design, be designed to the moving track of 90 degree arcs for arc moving track, and design arc moving track place face and described 360 degree circular moving track place faces are perpendicular, the closed area that the track plane and 360 that arc moving track is moved a week on the circular moving track of 360 degree is spent circular moving track place faces formation is hemispherical area, make the image capture area of described image capture apparatus more regular, be convenient to later data and calculate;
(3) in the three-dimensional panorama scanning means of the present invention's design, design the first motor, the second motor is respectively used to the movement of arc moving track and the movement of image capture apparatus, convenient and swift, and translational speed is quick, and primary importance transducer, the position that second place transducer makes image capture apparatus of design are accurately controlled, greatly improve the present invention and design the operating efficiency of three-dimensional panorama scanning means;
(4) in the three-dimensional panorama scanning means of the present invention's design, designing described image capture apparatus is the camera with zoom lens, can be according to the size of scanned object, free adjustment arranges burnt section and the focal length of camera in advance, freely realizes the three-dimensional panorama scanning of high low resolution.
Corresponding therewith, the present invention is in order to solve the problems of the technologies described above by the following technical solutions: the present invention has designed a kind of threedimensional model generation method that designs three-dimensional panorama scanning means based on the present invention, comprises the steps:
Step 001. is arranged on described arc moving track movement track plane of a week and 360 on the circular moving tracks of 360 degree by tested physics and spends in faces formation closed areas, circular moving track place, movement by described arc moving track on the circular moving track of described 360 degree, and the movement of described image capture apparatus on described arc moving track, obtained the two dimensional image of scanned object all angles by image capture apparatus, and between adjacent two-dimensional images, there is overlapping region;
Step 002., for the two dimensional image of the each angle of scanned object, is carried out Feature Points Matching to the overlapping region of adjacent two-dimensional images respectively;
Position when step 003. is obtained scanned object all angles two dimensional image according to image capture apparatus, by the three-dimensional coordinate of each characteristic point in adjacent two-dimensional images overlapping region in structure from motion technology acquisition step 002;
Step 004., according to the three-dimensional coordinate of each characteristic point in adjacent two-dimensional images overlapping region, obtains the sparse type threedimensional model of scanned object.
As a preferred technical solution of the present invention: state in step 002 and also comprise the steps:
For the mistake matching characteristic point in the Feature Points Matching process of described adjacent two-dimensional images overlapping region, by Epipolar geometric constraint method is removed.
As a preferred technical solution of the present invention: after described step 004, also comprise that step 005 is as follows:
Step 005., for the sparse type threedimensional model of described scanned object, utilizes the three-dimensional mapping techniques based on various visual angles to obtain the intensive threedimensional model of scanned object.
As a preferred technical solution of the present invention: after described step 005, also comprise that step 006 is as follows:
Step 006. to the intensive threedimensional model of described scanned object, obtains the surperficial scanned body three-dimensional models with texture image by described each width two dimensional image correspondence mappings.
A kind of threedimensional model generation method that designs three-dimensional panorama scanning means based on the present invention of the present invention adopts above technical scheme compared with prior art, has following technique effect:
(1) the present invention's design designs the threedimensional model generation method of three-dimensional panorama scanning means based on the present invention, on the convenient and swift two dimensional image basis that obtains scanned object all angles, adopt relatively clear simple and clear step method, can realize fast obtaining of the sparse type threedimensional model of scanned object, and step method is concisely easy to control;
(2) the present invention's design designs in the threedimensional model generation method of three-dimensional panorama scanning means based on the present invention, for the mistake matching characteristic point in the Feature Points Matching process of described adjacent two-dimensional images overlapping region, design effective sweep-out method, can effectively guarantee the accuracy of final result;
(3) the present invention's design designs in the threedimensional model generation method of three-dimensional panorama scanning means based on the present invention, for the sparse type threedimensional model of described scanned object, design procedure can be convenient and swift the intensive threedimensional model of acquisition scanned object, and adopt mapping method step, can obtain quickly and easily the scanned body three-dimensional models that surface has texture image, method step successful, and be easy to control.
Accompanying drawing explanation
Fig. 1 is the module diagram that the present invention designs three-dimensional panorama scanning means.
Embodiment
Below in conjunction with Figure of description, the specific embodiment of the present invention is described in further detail.
As shown in Figure 1, the present invention designs a kind of three-dimensional panorama scanning means, comprises two-orbit and image capture apparatus; Wherein, two-orbit comprises the circular moving track of 360 degree and arc moving track, one end of arc moving track is movably arranged on the circular moving track of 360 degree, the other end of arc moving track with the perpendicular direction of the circular moving track place face of 360 degree on projection be positioned at the circular moving tracks of 360 degree, and arc moving track track plane and 360 faces formation closed areas, degree circular moving track place of mobile a week on the circular moving tracks of 360 degree; Image capture apparatus is movably arranged on arc moving track, and moves on arc moving track.The three-dimensional panorama scanning means of the present invention's design, project organization is simple, with low cost, compare with respect to the existing spatial digitizer based on structured light, the present invention's design is a kind of special three-dimensional scanner with fixed structure, round Realization multi-angle two dimensional image obtains quickly and easily, and whole device is simple to operate, is convenient to safeguard.
On above design three-dimensional panorama scanning means technical scheme basis, described arc moving track is the moving track of 90 degree arcs, and arc moving track place face and described 360 degree circular moving track place faces are perpendicular.The closed area that the track plane and 360 that arc moving track is moved a week on the circular moving track of 360 degree is spent circular moving track place faces formation is hemispherical area, make the image capture area of described image capture apparatus more regular, be convenient to later data and calculate; And on the technical program basis, also comprise the first motor and the second motor, wherein, one end of described arc moving track is movably arranged on the circular moving track of described 360 degree by the first motor, and arc moving track moves on the circular moving track of 360 degree by the first motor; Described image capture apparatus is movably arranged on arc moving track by the second motor, and image capture apparatus moves on arc moving track by the second motor.Design the first motor, the second motor is respectively used to the movement of arc moving track and the movement of image capture apparatus, convenient and swift, and translational speed is quick, greatly improves the present invention and design the operating efficiency of three-dimensional panorama scanning means; Wherein, described the first motor and described the second motor are stepping motor or servomotor; Moreover, the present invention designs in the technical scheme of three-dimensional panorama scanning means, also comprise the primary importance transducer, the second place transducer that are separately positioned on described the first motor, on the second motor, make the position of image capture apparatus accurately controlled, wherein, primary importance transducer and second place transducer can adopt " displacement sensor for pull rope " or " grating displacement sensor "; Described image capture apparatus is the camera with zoom lens, can be according to the size of scanned object, and free adjustment arranges burnt section and the focal length of camera in advance, freely realizes the three-dimensional panorama scanning of high low resolution.
On basis based on above design three-dimensional panorama scanning means, the present invention has also designed the threedimensional model generation method based on this device, comprises the steps:
Step 001. is arranged on described arc moving track movement track plane of a week and 360 on the circular moving tracks of 360 degree by tested physics and spends in faces formation closed areas, circular moving track place, movement by described arc moving track on the circular moving track of described 360 degree, and the movement of described image capture apparatus on described arc moving track, obtained the two dimensional image of scanned object all angles by image capture apparatus, and between adjacent two-dimensional images, there is overlapping region;
Step 002. is for the two dimensional image of the each angle of scanned object, respectively Feature Points Matching is carried out in the overlapping region of adjacent two-dimensional images, wherein, for the mistake matching characteristic point in the Feature Points Matching process of described adjacent two-dimensional images overlapping region, by Epipolar geometric constraint method is removed;
Position when step 003. is obtained scanned object all angles two dimensional image according to image capture apparatus, by the three-dimensional coordinate of each characteristic point in adjacent two-dimensional images overlapping region in structure from motion technology acquisition step 002;
Step 004., according to the three-dimensional coordinate of each characteristic point in adjacent two-dimensional images overlapping region, obtains the sparse type threedimensional model of scanned object;
Step 005., for the sparse type threedimensional model of described scanned object, utilizes the three-dimensional mapping techniques based on various visual angles to obtain the intensive threedimensional model of scanned object;
Step 006. to the intensive threedimensional model of described scanned object, obtains the surperficial scanned body three-dimensional models with texture image by described each width two dimensional image correspondence mappings.
The more than threedimensional model generation method based on this three-dimensional panorama scanning means of design, on the convenient and swift two dimensional image basis that obtains scanned object all angles, adopt relatively clear simple and clear step method, can realize fast obtaining of the sparse type threedimensional model of scanned object, and step method is concisely easy to control; Wherein, for the mistake matching characteristic point in the Feature Points Matching process of described adjacent two-dimensional images overlapping region, design effective sweep-out method, can effectively guarantee the accuracy of final result; And, for the sparse type threedimensional model of described scanned object, design procedure can be convenient and swift the intensive threedimensional model of acquisition scanned object, and adopt mapping method step, can obtain quickly and easily the scanned body three-dimensional models that surface has texture image, method step successful, and be easy to control.
Based on above technical scheme, three-dimensional panorama scanning means and the threedimensional model generation method of the present invention's design, take scanned object from different perspectives by a camera on simple double-track structure mobile platform.Calculate and splicing the final scanned body three-dimensional models with texture image that obtains by the coupling of each width adjacent two-dimensional images overlapping region characteristic point.In the whole device course of work, guarantee mobile camera moving, and scanned object maintenance is static.The illumination of scanned object does not change so as far as possible, thereby guarantees reliability and the stability of between adjacent two-dimensional images, mating, and can not be subject to because of the variation of illumination larger impact.This mode also can guarantee that this device can obtain the texture picture information under different illumination conditions.The relative position information that adjacent two-dimensional images is taken also can be used to reduce the situation of mistake coupling.In addition, compared with the spatial digitizer traditional with other, the three-dimensional panorama scanning means of the present invention's design can be according to scanned object size, thereby freely adjusts the camera visual field and make full use of the resolution of camera.
By reference to the accompanying drawings embodiments of the present invention are explained in detail above, but the present invention is not limited to above-mentioned execution mode, in the ken possessing those of ordinary skills, can also under the prerequisite that does not depart from aim of the present invention, makes a variety of changes.
Claims (10)
1. a three-dimensional panorama scanning means, is characterized in that: comprise two-orbit and image capture apparatus; Wherein, two-orbit comprises the circular moving track of 360 degree and arc moving track, one end of arc moving track is movably arranged on the circular moving track of 360 degree, the other end of arc moving track with the perpendicular direction of the circular moving track place face of 360 degree on projection be positioned at the circular moving tracks of 360 degree, and arc moving track track plane and 360 faces formation closed areas, degree circular moving track place of mobile a week on the circular moving tracks of 360 degree; Image capture apparatus is movably arranged on arc moving track, and moves on arc moving track.
2. a kind of three-dimensional panorama scanning means according to claim 1, is characterized in that: described arc moving track is the moving track of 90 degree arcs, and arc moving track place face and described 360 degree circular moving track place faces are perpendicular.
3. a kind of three-dimensional panorama scanning means according to claim 2, it is characterized in that: also comprise the first motor and the second motor, wherein, one end of described arc moving track is movably arranged on the circular moving track of described 360 degree by the first motor, and arc moving track moves on the circular moving track of 360 degree by the first motor; Described image capture apparatus is movably arranged on arc moving track by the second motor, and image capture apparatus moves on arc moving track by the second motor.
4. a kind of three-dimensional panorama scanning means according to claim 3, is characterized in that: described the first motor and described the second motor are stepping motor or servomotor.
5. according to a kind of three-dimensional panorama scanning means described in claim 3 or 4, it is characterized in that: also comprise the primary importance transducer, the second place transducer that are separately positioned on described the first motor, on the second motor.
6. a kind of three-dimensional panorama scanning means according to claim 1, is characterized in that: described image capture apparatus is the camera with zoom lens.
7. the threedimensional model generation method based on three-dimensional panorama scanning means described in any one in claim 1 to 6, is characterized in that, comprises the steps:
Step 001. is arranged on described arc moving track movement track plane of a week and 360 on the circular moving tracks of 360 degree by tested physics and spends in faces formation closed areas, circular moving track place, movement by described arc moving track on the circular moving track of described 360 degree, and the movement of described image capture apparatus on described arc moving track, obtained the two dimensional image of scanned object all angles by image capture apparatus, and between adjacent two-dimensional images, there is overlapping region;
Step 002., for the two dimensional image of the each angle of scanned object, is carried out Feature Points Matching to the overlapping region of adjacent two-dimensional images respectively;
Position when step 003. is obtained scanned object all angles two dimensional image according to image capture apparatus, by the three-dimensional coordinate of each characteristic point in adjacent two-dimensional images overlapping region in structure from motion technology acquisition step 002;
Step 004., according to the three-dimensional coordinate of each characteristic point in adjacent two-dimensional images overlapping region, obtains the sparse type threedimensional model of scanned object.
8. a kind of threedimensional model generation method based on three-dimensional panorama scanning means according to claim 7, is characterized in that, states in step 002 and also comprises the steps:
For the mistake matching characteristic point in the Feature Points Matching process of described adjacent two-dimensional images overlapping region, by Epipolar geometric constraint method is removed.
9. according to a kind of threedimensional model generation method based on three-dimensional panorama scanning means described in claim 7 or 8, it is characterized in that, after described step 004, also comprise that step 005 is as follows:
Step 005., for the sparse type threedimensional model of described scanned object, utilizes the three-dimensional mapping techniques based on various visual angles to obtain the intensive threedimensional model of scanned object.
10. a kind of threedimensional model generation method based on three-dimensional panorama scanning means according to claim 9, is characterized in that, after described step 005, also comprises that step 006 is as follows:
Step 006. to the intensive threedimensional model of described scanned object, obtains the surperficial scanned body three-dimensional models with texture image by described each width two dimensional image correspondence mappings.
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| CN113240603A (en) * | 2020-12-28 | 2021-08-10 | 武汉纺织大学 | Three-dimensional human body measuring system and method based on point cloud data |
| CN113034673A (en) * | 2021-03-24 | 2021-06-25 | 怀化学院 | 3D point cloud modeling system and computer readable storage medium |
| WO2023115516A1 (en) * | 2021-12-24 | 2023-06-29 | Shenzhen Xpectvision Technology Co., Ltd. | Imaging systems and methods of operation |
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