CN103971409A - Measuring method for foot three-dimensional foot-type information and three-dimensional reconstruction model by means of RGB-D camera - Google Patents
Measuring method for foot three-dimensional foot-type information and three-dimensional reconstruction model by means of RGB-D camera Download PDFInfo
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Abstract
The invention relates to a measuring method for rapidly obtaining foot three-dimensional foot-type information and a three-dimensional reconstruction model by means of an RGB-D camera. The method comprises the steps that the RGB-D camera is applied to rapid obtaining of three-dimensional information of the foot surface and fine reconstruction of the foot surface model, and under the situation that no mark points are used, three-dimensional coordinates of the foot curved surface are rapidly collected; an RGB-D camera is utilized for scanning the foot curved surface, depth information is obtained in real time, depth map data of different time sequences are fused, the overall model of the foot curved surface is reconstructed, and foot-type characteristic parameters are extracted and measured according to actual requirements. The measuring method is high in measuring efficiency, good in real-time performance, easy to implement, low in measuring cost, easy to operate and good in using effect.
Description
Technical field
The present invention relates to three-dimension curved surface field of measuring technique, particularly a kind of method of utilizing RGB-D video camera to measure foot three-dimension foot type information and Three-dimension Reconstruction Model.
Background technology
At present, footwear type footwear sizes is to design according to the standard shoe type series of adding up in a large number, analyze, summarizing, this has made quite a few normal foot shape person, in the intermediate value of the footwear type footwear sizes that they should wear in standard shoe type footwear sizes, but also can only wear approximate footwear type footwear sizes.And most lopsided foot shape persons, basic just not applicable footwear type footwear sizes.Statistics according to investigations, the ratio of China's deformity feet accounts for 15% left and right, and wherein acquired deformity is in the majority, mostly because footwear are not suitable for causing.Therefore design according to different pin types the footwear that are more suitable for, and realize modernization, the robotization of this process, make to wear footwear become " individual applicableization " transformation from " popular seriation " is one of target of shoe industry pursuit always.
Accurate and high efficiency foot shape measurement method be not only shoe last designing and be convenient for people to select footwear, to wear footwear indispensable, and is that extensive foot shape measurement, the rectification of pin type etc. are necessary.Existing foot shape measurement method is divided two kinds of contact type measurement and non-contact measurements:
1, contact type measurement: contact type measurement is mainly the electronic measuring instrument that uses some mechanical hand dipping instruments or be made up of touch sensor, wherein taking hand dipping as main.The instrument of hand dipping mainly comprises: linen measure tape, steel tape, metal marker, amount Gao Yi, step print device and foot-measuring slide calliper rule.Hand dipping is divided into again direct method and indirect method measuring method.Direct method is fairly simple.First on the characteristic portion of pin, mark relevant measurement point with pen, utilize the instrument such as linen measure tape, amount Gao Yi can directly measure each relevant data of pin.Indirect method is utilized footprint device to step footprint and is drawn out the outline line of pin, and then carries out Measurement and analysis.The advantage of contact foot shape measurement is that small investment, operation steps are simple, dirigibility is strong, is convenient for carrying, is convenient to measure in different measurement places in the short time.Shortcoming is that contact type measurement mode can produce pressure to foot, cause foot's deformation, cause measuring error, Measuring Time is long, and foot's parameter of measuring is limited, the parameter that some is more complicated or curve cannot be measured, and inefficiency, labour intensity is large, reproducibility is poor, error between gauger is large, meanwhile, this metering system is difficult to obtain the data message of foot's entirety.Can not carry out data acquisition to the section morphology of pin.Cannot carry out deeper research;
2, non-contact measurement: under the drive of the discipline development such as computing machine, optics.Optical non-contact is measured and is subject to increasing attention as a measuring technique of rising in recent years.At present, optical non-contact measuring method mainly contains structure photo measure, stereoscopic vision measurement, laser measurement etc.:
(1) structural light measurement: structured light three-dimensional vision is based on optical triangulation method principle, its ultimate principle is to the projection of testee surface controllable luminous point, striation or light face structure by structured light projector, and obtain image by imageing sensor (as video camera), by system geometric relationship, utilize triangle principle to calculate the three-dimensional coordinate of object.Structural light measurement method has the advantages that calculating is simple, volume is little, price is low, be convenient to installation and maintenance, in actual measuring three-dimensional profile, is widely used.But measuring accuracy is subject to physioptial restriction, has occlusion issue, measuring accuracy and speed are conflicting, are difficult to be improved simultaneously;
(2) stereoscopic vision is measured: in computer vision system, utilize two relatively-stationary video cameras in position or a video camera two different positions, obtain from different perspectives two width images of same scenery, the parallax by computer memory o'clock in two width images obtains its D coordinates value simultaneously.The feature of Stereo Vision maximum is that shooting speed is fast, can within less than one second time, complete shooting task, is suitable for needing Quick Measurement occasion.But Stereo Vision data processing amount is large, and the processing time is long, and the coupling of two width images need to be carried out, when little, coupling and measuring accuracy can be affected in body surface gray scale and face deformationization;
(3) laser measurement: by a straight line visible laser beam of a polygon lens location, by high frequency sweep, body surface is carried out to scanning survey; Application triangle law, laser beam is received by laser receptacle after reflection at body surface, then obtains as calculated the coordinate of body surface.Laser scanning can accurately provide three-dimensional environment information, and data processing is simple, affected by environment little.But cost is high, there is contradictory relation in precision, range finding and sweep speed.
Obtain foot three-dimensional model and not only can realize consumer's footwear customization, Intelligent Selection footwear, and the medical field such as assist also to have important application in orthopedics customization, artificial limb production, medical diagnosis and operation:
1, orthopedics customization: gather patient's pin type data and pass to orthopedic center, orthopedic center goes out orthopedics according to patient's pin type data production and processing;
2, artificial limb is produced: the pin of the another health of scan patients, obtain fast the complete three-dimensional model of this pin, and then utilize mirror image to obtain the three-dimensional model of an other pin, the model data of the pin that recycling obtains is produced artificial limb, guarantees that two pin profiles are identical;
3, medical diagnosis: Quick Acquisition patient's sole three-dimensional data, podiatrist can accurately judge according to the three-dimensional data collecting patient's pedopathy type, so that take more scientific effective methods for the treatment of;
4, operation is auxiliary: gather foot's three-dimensional data of patient, by examine patient's pin type in computer, study best operation plan, guarantee the success ratio of operation.
Utilize depth camera to carry out the technology that depth information of scene measurement is rising in recent years, this mainly has benefited from the cost of depth map video camera, particularly Microsoft release a RGB-D video camera: Kinect, greatly excited researcher by RGB-D camera application to each research fields such as medical science, amusement, machineries.
Kinect comprises 3 video cameras, and middle camera lens is RGB colour TV camera, and the right and left camera lens is respectively infrared transmitter and infrared C OMS video camera, and sensor can obtain RGB and depth image data simultaneously.The principle of Kinect Depth Imaging is to utilize light coding (Light Coding) technology, wherein, infrared transmitter and the angled scene that aims at the mark of infrared C OMS video camera, and inhomogeneous transparent medium is positioned over before generating laser camera lens, infrared transmitter is launched a branch of infrared ray and in scene, is formed laser speckle through after inhomogeneous medium, CMOS infrared remote receiver obtains speckle image, and uses mathematics triangle relation to be converted into depth value according to Kinect inner parameter.Sensor is with the speed generating depth map picture stream of 30 frames per second, and in conjunction with depth map image coordinate and pinhole imaging system principle, Real-time Obtaining is measured the three-dimensional information of the body surface in visual field.
Compare with other three-dimensional scanning measurements with manual measurement, the advantage of Kinect depth camera is: (1) without just can disposablely obtain in scene by other gauge point of identification three-dimensional information a little; (2) real-time of image data is good; (3) to take the depth map resolution of obtaining higher for Kinect; (4) affected by illumination and superficial makings little; (5) Kinect is cheap, and use cost is low; (6) simple to operate, the hand-holdable video camera of user scans.
Summary of the invention
For the defect of prior art, the object of the present invention is to provide a kind of RGB-D of utilization video camera to measure the method for foot three-dimension foot type information and Three-dimension Reconstruction Model, it is high that the method is not only measured efficiency, real-time is good, and is easy to realize, and measures cost low, easily operation, result of use is good.
For achieving the above object, technical scheme of the present invention is characterised in that:
(1) utilize RGB-D video camera speckle range measurement principle to measure pin type three-dimension curved surface: RGB-D camera infrared transmitter is launched laser light, by the grating before infrared transmitter camera lens, project equably foot surface, the rough object reflection on foot surface, form random speckle, again by each speckle of infrared camera record space, by calculating the information that just obtains foot depth image;
(2) not by any gauge point, hand-held RGB-D video camera freely scans pin type curved surface, on the basis of Real-time Obtaining depth data, in conjunction with X, Y coordinate information, reconstructs the overall three-dimensional model of pin type curved surface; Utilize image super-resolution technology to carry out details optimization to depth map simultaneously, improve the reconstruction details of model;
(3) three-dimensional model is imported in three-dimensional model process software, obtain foot curved surface three-dimensional information and obtain pin type characteristic parameter, as foot length, foot breadth, the pin shape parameter such as toes are high, arch of foot is wide, arch of foot encloses, internal ankle height, external ankle height, wide, the sufficient heel height of heel.
Described step (2) comprises the following steps:
(2.1) in the situation that not pasting any gauge point, according to internal calibration matrix, the depth image under image coordinate system is transformed to the three-dimensional vertices under camera coordinate system, express normal pinup picture according to apex coordinate, and according to rigid body translation matrix, three-dimensional vertices and normal pinup picture are converted to world coordinates, obtain the three dimensional point cloud on foot surface;
(2.2) use the three-dimensional point cloud under iterative closest point algorithms coupling different visual angles, calculate frame by frame different towards the degree of correlation of point set, the six-degree-of-freedom posture that obtains RGB-D video camera is (upper and lower, left and right, front and back and pitching, shake, roll), adopt body integrated approach that the cloud data of registration is processed, in global coordinate system, generate a three-dimensional voxel grid, and constantly update the current attitude of video camera, by ICP(Iterative Closest Point, iterative closest point) the new three dimensional point cloud gathering of algorithm real time fusion, form and rebuild cube model,
(2.3) carried out denoising by smoothing algorithm, optimize the three-dimensional data of measuring, improve the precision of three-dimensional data, and utilize image super-resolution technology to carry out details optimization to depth map, along with video camera more approaches instep, by using new more high-precision data, pin type three-dimension curved surface can be by Continuous optimization, thereby improves the precision of three-dimension curved surface.
Described step (3) comprises the steps:
(3.1) three-dimensional model step in claims 1 (2) being obtained is converted to STL point cloud format;
(3.2) the some cloud of STL form is imported in three-dimensional model process software and processed, useless point is rejected, preserve the irregular curved surface three-dimensional information of whole foot;
(3.3) foot curved surface three-dimensional information after treatment is imported in three-dimensional model process software, according to practical measurement requirement, extract individual features point, line, the position of local curved surface in three-dimensional model;
(3.4) according to the pattern measurement object extracting, utilize the survey instrument of software, to its carry out length, highly, the isoparametric measurement of width, obtain corresponding pin type characteristic parameter.
Compared to prior art, the invention has the beneficial effects as follows that by RGB-D camera application its advantage is in obtaining pin type surface parameter information and Fast Reconstruction:
1) easily realize: only need a RGB video camera to get final product the disposable three-dimensional coordinate that collects pin type three-dimension curved surface point;
2) gather real-time good: RGB-D video camera adopts light coding techniques, use be continuous illumination, do not need special photosensitive material, only need common CMOS sensitive chip, therefore can greatly reduce costs; Different from traditional structured light technique, what the light source of RGB-D video camera got out is not the Image Coding of periodically variable two dimension, but has the laser speckle of three-dimensional depth, is subject to the impact of illumination and article surface vein little;
3) easily operation: only need hand-held camera just can scan complete pin type curved surface; Measurement efficiency is high, has very strong practicality and wide application prospect.
Brief description of the drawings
Fig. 1 is that in the embodiment of the present invention, RGB-D video camera is measured pin type surface model figure.
Fig. 2 is the pin shape parameter schematic diagram that needs measurement in the embodiment of the present invention.
Fig. 3 is foot surface point cloud atlas (left side) and the Three-dimension Reconstruction Model figure (right side) obtaining by RGB-D video camera in the embodiment of the present invention.
Embodiment
The present invention utilizes RGB-D video camera to measure the method for foot three-dimension foot type information and Three-dimension Reconstruction Model, comprises the following steps:
(1) utilize RGB-D video camera speckle range measurement principle to measure pin type three-dimension curved surface: RGB-D camera infrared transmitter is launched laser light, by the grating before infrared transmitter camera lens, project equably foot surface, the rough object reflection on foot surface, form random speckle, again by each speckle of infrared camera record space, by calculating the information that just obtains foot depth image;
(2) not by any gauge point, hand-held RGB-D video camera freely scans pin type curved surface, on the basis of Real-time Obtaining depth data, in conjunction with X, Y coordinate information, reconstructs the overall three-dimensional model of pin type curved surface; Utilize image super-resolution technology to carry out details optimization to depth map simultaneously, improve the reconstruction details of model;
(2.1) in the situation that not pasting any gauge point, according to internal calibration matrix, the depth image under image coordinate system is transformed to the three-dimensional vertices under camera coordinate system, express normal pinup picture according to apex coordinate, and according to rigid body translation matrix, three-dimensional vertices and normal pinup picture are converted to world coordinates, obtain the three dimensional point cloud on foot surface;
(2.2) use the three-dimensional point cloud under iterative closest point algorithms coupling different visual angles, calculate frame by frame different towards the degree of correlation of point set, the six-degree-of-freedom posture that obtains RGB-D video camera is (upper and lower, left and right, front and back and pitching, shake, roll), adopt body integrated approach that the cloud data of registration is processed, in global coordinate system, generate a three-dimensional voxel grid, and constantly update the current attitude of video camera, by ICP(Iterative Closest Point, iterative closest point) the new three dimensional point cloud gathering of algorithm real time fusion, form and rebuild cube model,
(2.3) carried out denoising by smoothing algorithm, optimize the three-dimensional data of measuring, improve the precision of three-dimensional data, and utilize image super-resolution technology to carry out details optimization to depth map, along with video camera more approaches instep, by using new more high-precision data, pin type three-dimension curved surface can be by Continuous optimization, thereby improves the precision of three-dimension curved surface;
(3) pin shape parameter is measured: three-dimensional model is imported in three-dimensional model process software, obtain foot curved surface three-dimensional information, according to actual needs simultaneously, extract and measure pin type characteristic parameter, as foot length, foot breadth, toes are high, arch of foot is wide, arch of foot encloses, internal ankle height, external ankle height, wide, the sufficient heel of heel are high, specifically comprise the steps:
(3.1) three-dimensional model step in claims 1 (2) being obtained is converted to STL point cloud format;
(3.2) the some cloud of STL form is imported in three-dimensional model process software and processed, useless point is rejected, preserve the irregular curved surface three-dimensional information of whole foot;
(3.3) foot curved surface three-dimensional information after treatment is imported in three-dimensional model process software, according to practical measurement requirement, extract individual features point, line, the position of local curved surface in three-dimensional model;
(3.4) according to the pattern measurement object extracting, utilize the survey instrument of software, to its carry out length, highly, the isoparametric measurement of width, obtain corresponding pin type characteristic parameter.
Below in conjunction with drawings and the specific embodiments, the invention will be further described.
1, as shown in Figure 1, RGB-D video camera is selected the Kinect model RGB-D video camera of Microsoft's exploitation, is put into suitable place by measuring pin.
2, depth camera and the colour TV camera of demarcating respectively Kinect, obtain their inner parameter: focal length, principal point coordinate, distortion parameter.
3, utilize RGB-D video camera speckle range measurement principle to measure pin type three-dimension curved surface, infrared transmitter is launched laser light, by the grating before infrared transmitter camera lens, project equably measurement space, the rough object reflection of measurement space, form random speckle, then by each speckle of infrared camera record space, just obtain depth image by the calculating of wafer.
4, hand-held RGB-D video camera freely scans pin type curved surface, on the basis of Real-time Obtaining depth data, in conjunction with X, Y coordinate information, can, not by any gauge point in the situation that, reconstruct the overall three-dimensional model of pin type curved surface.Utilize image super-resolution technology to carry out details optimization to depth map simultaneously, thereby improve the reconstruction details performance of model;
4.1 three-dimensional point clouds obtain: in the situation that not pasting any gauge point, according to internal calibration matrix, the depth image under image coordinate system is transformed to the three-dimensional vertices under camera coordinate system, express normal pinup picture according to apex coordinate, and according to rigid body translation matrix, three-dimensional vertices and normal pinup picture are converted to world coordinates, obtain the three dimensional point cloud on foot surface;
4.2 various visual angles are put cloud registration: use the three-dimensional point cloud under iterative closest point algorithms coupling different visual angles, calculate frame by frame different towards the degree of correlation of point set, the six-degree-of-freedom posture that obtains RGB-D video camera is (upper and lower, left and right, front and back and pitching, shake, roll), adopt body integrated approach that the cloud data of registration is carried out to fusion treatment, in global coordinate system, generate a three-dimensional voxel grid, and constantly update the current attitude of video camera, by ICP(Iterative Closest Point, iterative closest point) the new three dimensional point cloud gathering of algorithm real time fusion, form and rebuild cube model,
4.3 Optimized model surface quality: carried out denoising by smoothing algorithm, optimize the three-dimensional data of measuring, improve the precision of three-dimensional data, and utilize image super-resolution technology to carry out details optimization to depth map, along with video camera more approaches instep, by using new more high-precision data, pin type three-dimension curved surface can be by Continuous optimization, thereby improves the precision of three-dimension curved surface.
5, three-dimensional model is imported in three-dimensional model process software, obtain foot curved surface three-dimensional information, according to actual needs, extract and measure pin type characteristic parameter simultaneously;
5.1 three-dimensional models that step (4) is obtained are converted to STL point cloud format;
5.2 import to the some cloud of STL form in three-dimensional model process software and process, and useless point is rejected, and preserve the irregular curved surface three-dimensional information of whole foot;
5.3 import to foot curved surface three-dimensional information after treatment in three-dimensional model process software, according to practical measurement requirement, extract individual features point, line, the position of local curved surface in three-dimensional model, and Fig. 2 is some conventional pin type characteristic parameter definition; 1-foot breadth; 2-arch of foot is wide; 3-heel is wide; 4-foot length; 5-toes are high; 6-arch of foot encloses; 7-sufficient heel is high; 8-internal ankle height;
5.4 according to the pattern measurement object extracting, and utilizes the survey instrument of software, to its carry out length, highly, the isoparametric measurement of width, obtain corresponding pin type characteristic parameter.
Be more than preferred embodiment of the present invention, all changes of doing according to technical solution of the present invention, when the function producing does not exceed the scope of technical solution of the present invention, all belong to protection scope of the present invention.
Claims (3)
1. utilize RGB-D video camera to measure a method for foot three-dimension foot type information and Three-dimension Reconstruction Model, it is characterized in that:
(1) utilize RGB-D video camera speckle range measurement principle to measure pin type three-dimension curved surface: RGB-D camera infrared transmitter is launched laser light, by the grating before infrared transmitter camera lens, project equably foot surface, the rough object reflection on foot surface, form random speckle, again by each speckle of infrared camera record space, by calculating the information that just obtains foot depth image;
(2) not by any gauge point, hand-held RGB-D video camera freely scans pin type curved surface, on the basis of Real-time Obtaining depth data, in conjunction with X, Y coordinate information, reconstructs the overall three-dimensional model of pin type curved surface; Utilize image super-resolution technology to carry out details optimization to depth map simultaneously, improve the reconstruction details of model;
(3) three-dimensional model is imported in three-dimensional model process software, obtain foot curved surface three-dimensional information and obtain pin type characteristic parameter, as foot length, foot breadth, the pin shape parameter such as toes are high, arch of foot is wide, arch of foot encloses, internal ankle height, external ankle height, wide, the sufficient heel height of heel.
2. a kind of measuring method of utilizing RGB-D video camera quick obtaining foot three-dimension foot type information and Three-dimension Reconstruction Model according to claim 1, described step (2) is characterized in that:
(2.1) in the situation that not pasting any gauge point, according to internal calibration matrix, the depth image under image coordinate system is transformed to the three-dimensional vertices under camera coordinate system, express normal pinup picture according to apex coordinate, and according to rigid body translation matrix, three-dimensional vertices and normal pinup picture are converted to world coordinates, obtain the three dimensional point cloud on foot surface;
(2.2) use the three-dimensional point cloud under iterative closest point algorithms coupling different visual angles, calculate frame by frame different towards the degree of correlation of point set, the six-degree-of-freedom posture that obtains RGB-D video camera is (upper and lower, left and right, front and back and pitching, shake, roll), adopt body integrated approach that the cloud data of registration is processed, in global coordinate system, generate a three-dimensional voxel grid, and constantly update the current attitude of video camera, by ICP(Iterative Closest Point, iterative closest point) the new three dimensional point cloud gathering of algorithm real time fusion, form and rebuild cube model,
(2.3) carried out denoising by smoothing algorithm, optimize the three-dimensional data of measuring, improve the precision of three-dimensional data, and utilize image super-resolution technology to carry out details optimization to depth map, along with video camera more approaches instep, by using new more high-precision data, pin type three-dimension curved surface can be by Continuous optimization, thereby improves the precision of three-dimension curved surface.
3. a kind of measuring method of utilizing RGB-D video camera quick obtaining foot three-dimension foot type information and Three-dimension Reconstruction Model according to claim 1, described step (3) is characterized in that:
(3.1) three-dimensional model step in claims 1 (2) being obtained is converted to STL point cloud format;
(3.2) the some cloud of STL form is imported in three-dimensional model process software and processed, useless point is rejected, preserve the irregular curved surface three-dimensional information of whole foot;
(3.3) foot curved surface three-dimensional information after treatment is imported in three-dimensional model process software, according to practical measurement requirement, extract individual features point, line, the position of local curved surface in three-dimensional model;
(3.4) according to the pattern measurement object extracting, utilize the survey instrument of software, to its carry out length, highly, the isoparametric measurement of width, obtain corresponding pin type characteristic parameter.
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