CN104296679A - Mirror image type three-dimensional information acquisition device and method - Google Patents
Mirror image type three-dimensional information acquisition device and method Download PDFInfo
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- CN104296679A CN104296679A CN201410530827.3A CN201410530827A CN104296679A CN 104296679 A CN104296679 A CN 104296679A CN 201410530827 A CN201410530827 A CN 201410530827A CN 104296679 A CN104296679 A CN 104296679A
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Abstract
The embodiment of the invention discloses a mirror image type three-dimensional information acquisition device and method. The device comprises a light source, a datum reference unit, an image acquisition unit and a reflector, wherein the light source is used for performing projection lighting and scanning on an object to be tested; the datum reference unit is arranged on the side, far away from the light source, of the object to be tested, and the side, facing the light source, of the datum reference unit is a measurement datum plane; the image acquisition unit is arranged on the side of a light path between the light source and the object to be tested; the reflector is arranged on the other side of the light path, and the reflecting surface of the reflector faces the object to be tested; the image acquisition unit is used for acquiring an image containing the object to be tested and the mirror image of the object to be tested in the reflector. The mirror image type three-dimensional information acquisition device and method have the advantages that on the one hand, the two-camera synchronization problem does not exist, so that the complexity of the acquisition device is reduced, and on the other hand, the cost of a three-dimensional information acquisition system is greatly reduced.
Description
Technical field
The application relates to surperficial recognition technology, particularly relates to a kind of acquisition method based on mirror type three-dimensional information and device.
Background technology
The three-dimensional information acquisition technique of object has had in the every field of current social to be applied very widely.In building trade, the three-dimensional information collection of the owned building within the scope of certain space residing for scanner and vegetation is got up by the mode by point-like laser scanning, restores and new building design for landscape.In 3D printing field, the three dimensional point cloud that 3D printer first need obtain object or person just can complete printing, and three dimensional point cloud then need be realized by three-dimensional information acquisition technique.In field of face identification, face identification method the most frequently used is at present the feature that the two-dimensional numerals photo by analyzing face finds out wherein, then mates the identity to identify people with face characteristic existing in face database; But this method affects by factors such as illumination, face, distances, precision is difficult to improve; Thus, research steering is used for recognition of face by the three-dimensional information extraction feature of face, and its prerequisite must obtain face three-dimensional information by three-dimensional information acquisition technique.In field of machining, comprise automobile production industry, the three-dimensional information of the part (especially irregular shape part) that applying three-dimensional information acquisition system collection is widely produced, utilizes its size of Computer Analysis, finally determines that whether product is qualified.Therefore, research and development better, more cheap three-dimensional information acquisition system has practicality very widely.
Existing three-dimensional information acquisition method can be divided into two large classes: contact type measurement and non-contact measurement.1) contact type measurement mainly refers to mechanical measurement mode: contact with body surface with a probe; When probe travels through at body surface, by highly regulating the contact making probe and body surface keep identical; Record the three-dimensional information that the height of probe in each position of body surface can obtain body surface.This mode measuring speed is slow, be only applicable to the hard object in surface, so poor practicability.2) non-contact measurement mainly refers to measuring method.
The existing three-dimensional information acquisition method based on optics also can be divided into two large classes: trigonometric coordinates method and structured light projection method.1) point-like laser or linear laser scanning object surface are realized traversal (this scanning realizes by mobile lasing light emitter, turnover light path or mobile object under test) by trigonometric coordinates method usually, then utilize trigonometric coordinates computing formula object analysis surface elevation information by its change in location in the picture of the graphical analysis of collected by camera body surface laser spots or laser rays; 2) structured light projection rule is that the light of a certain special lines pattern is projected to body surface, by the image of collected by camera body surface projected light, calculates the pattern phase place change caused by object height and obtains body surface elevation information.
Because trigonometric coordinates method usually need laser scanning, so also can be described as scan-type three-dimensional information acquisition method.No matter be which kind of optical 3-dimensional information collecting method, usually light is impinged perpendicularly on the surface of object, camera is then in the information of oblique collection body surface, cannot be arrived by collected by camera at the light of body surface highlight and camera imaging direction opposed area, measurement blind spot can be produced, in order to address this problem, the mode of current employing is binocular vision method.Two binocular vision three-dimensional information acquisition method is the image gathering body surface with two cameras from the offside of object, then the three-dimensional information coupling synthesis obtained both sides is with the Complete three-dimensional information obtaining object, thus solves the problem measuring blind area.When utilizing binocular vision method to measure, the three-dimensional information that two cameras must gather image guarantee gained separately simultaneously can mate, mutually to obtain the complete three-dimensional information of object.On the other hand, in three-dimensional information harvester, cost proportion in overall original of camera exceedes half usually.
Summary of the invention
The object of the embodiment of the application is: the acquisition method and the device that provide a kind of mirror type three-dimensional information, to solve the system complex problem that in existing three-dimensional information acquisition system, two camera synchronization cause, reduces the cost of three-dimensional information harvester simultaneously.
First aspect, a possible embodiment of the application provides a kind of three-dimensional information harvester, comprising:
One light source, scans for measuring targets;
One reference unit, is arranged at the side of described object under test away from described light source, is a measurement datum towards described light source side;
One image acquisition units and a catoptron;
Described image acquisition units is arranged at the side of the light path between described light source and described object under test; Described catoptron is arranged at the opposite side of described light path, and reflecting surface is towards described object under test; Described image acquisition units for gather comprise simultaneously described object under test and described object under test in described catoptron become the image of mirror image.
Second aspect, a possible embodiment of the application provides a kind of mirror type three-dimensional information acquisition method, comprising:
Treat side object by light source to scan, described object under test forms surperficial facula information;
The side of the light path between described light source and described object under test arranges an image acquisition units, at the opposite side of described light path, the catoptron of one reflecting surface towards described object under test is set, described image acquisition units for gather comprise simultaneously described object under test and described object under test in described catoptron become the image of mirror image;
Analyze described image, obtain and the described three-dimensional information scanning corresponding described object under test surface.
At least one embodiment of the embodiment of the present application compared with prior art, its remarkable advantage is: 1) one camera collection image does not exist double camera stationary problem thus reduces the complicacy of harvester, 2) decrease a camera compared with binocular vision, greatly reduce the cost of three-dimensional information acquisition system.
Accompanying drawing explanation
Fig. 1 is the structural schematic block diagram of a kind of mirror type three-dimensional information of the embodiment of the present application harvester;
Fig. 2 is the face three-dimensional information acquisition system schematic diagram that a kind of mirror type three-dimensional information of application the embodiment of the present application acquisition method carries out;
Fig. 3 is the image schematic diagram that a kind of mirror type three-dimensional information of the embodiment of the present application acquisition method obtains;
Fig. 4 is the flow chart of steps of a kind of mirror type three-dimensional information of the embodiment of the present application acquisition method.
Embodiment
Below in conjunction with accompanying drawing (label identical in some accompanying drawings represents identical element) and embodiment, the embodiment of the application is described in further detail.Following examples for illustration of the application, but are not used for limiting the scope of the application.
As shown in Figure 1, the embodiment of the present application provides a kind of mirror type three-dimensional information harvester, comprising:
One light source, carries out projection lighting and scanning for measuring targets;
One reference unit, is arranged at the side of described object under test away from described light source, is a measurement datum towards described light source side;
It is characterized in that, described device also comprises: an image acquisition units and a catoptron;
Described image acquisition units is arranged at the side of the light path between described light source and described object under test; Described catoptron is arranged at the opposite side of described light path, and reflecting surface is towards described object under test; Described image acquisition units for gather comprise simultaneously described object under test and described object under test in described catoptron become the image of mirror image.
The embodiment of the present application is by arranging catoptron and gathered the image of object under test opposite side described in object under test side and catoptron by an image acquisition units simultaneously, obtain the complete spot pattern of described light source on described object under test, compared with existing binocular vision technology, there is not double camera stationary problem thus reduce the complicacy of harvester; Decrease a camera, greatly reduce the cost of three-dimensional information acquisition system.
The device of the embodiment of the present application is further illustrated by the following examples.
The schematic diagram of what accompanying drawing 1 was exemplary the show mirror type three-dimensional information harvester of first embodiment of the invention, comprising:
Light source 101 is a laser instrument;
Bright dipping shape adjustments device 102, can be convex lens in a kind of possible embodiment, it can be arranged between light source 101 and object under test 103, for reducing the angle of divergence of laser; Can be post lens in the embodiment that another kind is possible, for changing laser beam into linear laser; Can be a grating mask plate in the embodiment that another is possible, for changing laser beam into interference fringe light;
Object under test 103 such as, can be a face;
Image acquisition units 104 can be a CCD camera or CMOS camera in a kind of possible embodiment;
Catoptron 105, can be level crossing or reflecting prism in a kind of possible embodiment, its reflecting surface be towards described object under test 103;
Reference unit 106, this reference unit has the altitude datum face of object under test, can be black rubber plate or a metope in a kind of possible embodiment, and its one side towards described laser instrument is plane.
The device realizing laser scanning can install the platform driving the movement of described object under test 103 two-dimensional plane additional on reference unit 106, also can install the platform driving light source and the movement of lens two-dimensional plane additional in bright dipping shape adjustments device 102, rotatable prism polarisation system can also be installed additional in bright dipping shape adjustments device 102.
Wherein, in a kind of possible embodiment, when described bright dipping shape adjustments device 102 is described convex lens, the laser of outgoing forms laser spots pattern on described object under test 103.When laser spots is radiated at that on reference unit 106, certain is a bit, its position is in the picture height zero point.According to trigonometric coordinates ratio juris, if luminous point from this point, in image, the direction of length or width is scanned through object, then the position of luminous point in the picture on direction of scanning represents its position on reference unit 106, and it is then representing the height of this point perpendicular to the change in location on direction of scanning.
In the present embodiment, for the three-dimensional data of body surface teat periphery, then according in the image of collected by camera, the luminous point can seen in object under test part or mirrored portion is to choose Data Source.The complete three-dimensional data of body surface can be obtained after to the traversal of body surface.
Wherein, in a kind of possible embodiment, when described bright dipping shape adjustments device 102 is post lens, the laser beam of outgoing forms laser rays on described object under test 103.When laser beam irradiation is on object under test 103 and reference unit 106, on the direction of its linear laser distribution in the image of CCD camera collection itself, each pixel represents the locus of body surface each point; The deformation extent of laser rays represents the elevation information of this point in the picture.According to trigonometric coordinates ratio juris, if laser rays moves along the direction distributed perpendicular to laser rays, after traversal body surface, object Complete three-dimensional information can be obtained.
In the present embodiment, for the three-dimensional data of body surface teat periphery, then according in the image of collected by camera, can see that complete laser rays is to choose Data Source at object parts or mirrored portion.
Accompanying drawing 2 is the system schematic that the mirror type three-dimensional information acquisition method adopting present embodiment to describe carries out when face three-dimensional information gathers.Comprise: 201 is a linear laser, 202 be a laser scanning device, 203 is a metope for face to be measured, 204 be a CCD camera, 205 is a level crossing, 206.
The image that comprise object under test and mirror image of accompanying drawing 3 for collecting.Because on face, nose (not shown) has certain height, the image that the CCD camera being arranged in face side gathers, fraction of laser light line lacks owing to being blocked by nose, now, due to the existence of catoptron, in mirror image, the laser rays of the side be blocked noted earlier is complete, so the Partial Height be blocked should be provided by mirror image data.
Wherein, in a kind of possible embodiment, be grating mask plate at described bright dipping shape adjustments device 102, it changes laser beam into interference fringe light.When laser beam irradiation is on object under test 103 and reference unit 106, in the image of collected by camera, the phase place of interference fringe light changes along with body surface height difference, and the phase place change calculating body surface diverse location light can obtain object Complete three-dimensional information.
In the present embodiment, to the three-dimensional data of fourth body surface teat periphery, then according in the image of collected by camera, can see that complete interference fringe light is to choose Data Source at object parts or mirrored portion.
Fig. 4 discloses the flow chart of steps of a kind of mirror type three-dimensional information of the present invention acquisition method, and described method comprises the steps:
Step S210, treats side object by light source and carries out projection lighting and scanning, described object under test forms surperficial facula information; Surface hot spot packets of information draws together laser spots, laser rays or grating pattern in described object under test surface projection.
Step S220, the side of the light path between described light source and described object under test arranges an image acquisition units, at the opposite side of described light path, the catoptron of one reflecting surface towards described object under test is set, described image acquisition units for gather comprise simultaneously described object under test and described object under test in described catoptron become the image of mirror image;
Step S230, analyzes described image, obtains and the described three-dimensional information scanning corresponding described object under test surface.Namely the three-dimensional information of described object under test is obtained by analyzing the phase place change of described surperficial facula information in described image caused based on the height change of described object under test.
In the embodiment of the present invention, the specific implementation of each step describes see the correspondence in respective modules in said apparatus embodiment, repeats no more here.
It will be appreciated by those skilled in the art that, in the said method of the application's embodiment, the sequence number size of each step does not also mean that the priority of execution sequence, the execution sequence of each step should be determined with its function and internal logic, and should not form any restriction to the implementation process of the application's embodiment.
Those of ordinary skill in the art can recognize, in conjunction with unit and the method step of each example of embodiment disclosed herein description, can realize with the combination of electronic hardware or computer software and electronic hardware.These functions perform with hardware or software mode actually, depend on application-specific and the design constraint of technical scheme.Professional and technical personnel can use distinct methods to realize described function to each specifically should being used for, but this realization should not think the scope exceeding the application.
If described function using the form of SFU software functional unit realize and as independently production marketing or use time, can be stored in a computer read/write memory medium.Based on such understanding, the part of the part that the technical scheme of the application contributes to prior art in essence in other words or this technical scheme can embody with the form of software product, this computer software product is stored in a storage medium, comprising some instructions in order to make a computer equipment (can be personal computer, server, or the network equipment etc.) perform all or part of step of method described in each embodiment of the application.And aforesaid storage medium comprises: USB flash disk, portable hard drive, ROM (read-only memory) (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. various can be program code stored medium.
Above embodiment is only for illustration of the application; and the restriction not to the application; the those of ordinary skill of relevant technical field; when not departing from the spirit and scope of the application; can also make a variety of changes and modification; therefore all equivalent technical schemes also belong to the category of the application, and the scope of patent protection of the application should be defined by the claims.
Claims (10)
1. a mirror type three-dimensional information harvester, comprising:
One light source, carries out projection lighting and scanning for measuring targets;
One reference unit, is arranged at the side of described object under test away from described light source, is a measurement datum towards described light source side;
It is characterized in that, described device also comprises: an image acquisition units and a catoptron;
Described image acquisition units is arranged at the side of the light path between described light source and described object under test; Described catoptron is arranged at the opposite side of described light path, and reflecting surface is towards described object under test; Described image acquisition units for gather comprise simultaneously described object under test and described object under test in described catoptron become the image of mirror image.
2. three-dimensional information harvester as claimed in claim 1, is characterized in that: described device also comprises:
One bright dipping shape adjustments unit, for adjusting the emergent light shape of described light source.
3. three-dimensional information harvester as claimed in claim 1, is characterized in that: described light source is a laser instrument.
4. three-dimensional information harvester as claimed in claim 2, is characterized in that: described bright dipping shape adjustments unit: comprise following at least one:
Convex lens, post lens and grating mask plate.
5. three-dimensional information harvester as claimed in claim 1, is characterized in that: described image acquisition units comprises following one:
One CCD camera and a CMOS camera.
6. a mirror type three-dimensional information acquisition method, is characterized in that comprising:
Treat side object by light source and carry out projection lighting and scanning, described object under test forms surperficial facula information;
The side of the light path between described light source and described object under test arranges an image acquisition units, at the opposite side of described light path, the catoptron of one reflecting surface towards described object under test is set, described image acquisition units for gather comprise simultaneously described object under test and described object under test in described catoptron become the image of mirror image;
Analyze described image, obtain and the described three-dimensional information scanning corresponding described object under test surface.
7. mirror type three-dimensional information acquisition method as claimed in claim 6, is characterized in that: described surperficial hot spot packets of information is drawn together: laser spots, laser rays.
8. mirror type three-dimensional information acquisition method as claimed in claim 7, is characterized in that: change by the surface analyzed based on described object under test the three-dimensional information that the change in location of described surperficial facula information in described image caused obtains described object under test.
9. mirror type three-dimensional information acquisition method as claimed in claim 6, is characterized in that: described surperficial hot spot packets of information is drawn together: grating mask plate is in the projection on described object under test surface.
10. mirror type three-dimensional information acquisition method as claimed in claim 9, is characterized in that: change by the surface analyzed based on described object under test the three-dimensional information that the phase place change of described specific pattern in described object under test surface projection in described image caused obtains described object under test.
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| CN111578860A (en) * | 2020-04-22 | 2020-08-25 | 清华大学 | Three-dimensional shape measuring method based on reflector and monocular vision |
| CN111638578A (en) * | 2020-06-30 | 2020-09-08 | 中国计量大学 | Automatic light collimation coupling positioning device based on mirror image binocular vision |
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Cited By (4)
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| CN111638578A (en) * | 2020-06-30 | 2020-09-08 | 中国计量大学 | Automatic light collimation coupling positioning device based on mirror image binocular vision |
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