CN104408762A - Method for obtaining object image information and three-dimensional model by using monocular unit and two-dimensional platform - Google Patents
Method for obtaining object image information and three-dimensional model by using monocular unit and two-dimensional platform Download PDFInfo
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Abstract
The invention relates to a method for obtaining object image information and a three-dimensional model by using a monocular unit and a two-dimensional platform. According to the method, an object is placed on an electric two-dimensional rotating platform; on the basis of optimized viewpoint planning, the WNSC400 unit is controlled to adjust rotating angles needed by all optimized viewpoints precisely; and a PCL point cloud database is used for carrying out filtering, segmenting, sampling, and registering on point clouds, thereby reconstructing a three-dimensional model of an unknown object rapidly. With the method, the reconstruction speed is fast, the practicability is high; the operation is simple; the reconstruction cost is low; operation is easy; and the reconstruction effect is good.
Description
Technical field
The present invention relates to fast automatic three-dimensional reconstruction field, particularly a kind of automatic reconstruction method utilizing the three-dimensional model of monocular structured light and electronic Two Dimensional Rotating platform quick obtaining unknown object.
Background technology
The perception of mankind's external world mainly relies on vision.According to the study, the external information that the mankind are obtained by self sense organ, has 80% to derive from vision.And vision itself is one can experience light signal, and can transmit, process, store and understand the process of visual information.Along with the development of science and technology and the progress of the mankind, people begin through video camera and imitate human eye acquisition ambient image, and convert thereof into digital signal, then realize the process to visual information by computing machine, computer vision that Here it is.On the other hand, due to the needs of the aspects such as commercial production, people are made constantly to propose new requirement to the measuring technique of object profile.And the development of computer vision, people are recognized gradually, and this will cause the major transformation of measuring technique especially non-contact measuring technology.
Along with science and technology and industrial fast development, many fields all need to measure fast and accurately the shape of three-dimensional body.And, along with the development of computer technology and the appearance of digital imaging apparatus, laser instrument and Other Devices, 3-d shape measurement technology is ripe gradually, and is widely used in robot vision according to features, automatically the different field such as manufacture and production quality control.Three-dimensional measurement technology can be divided into two large classes according to the difference of metering system, i.e. contact type measurement and non-contact measurement.Traditional method for three-dimensional measurement is contact method, and as three coordinate machine, it, with going to contactant surface by pinpoint gauge head, measures the volume coordinate be touched a little.Gauge head scans one time at body surface, just can obtain the volume coordinate of body surface each point. take three coordinate machine as the contact type measurement technology of representative be that additive method is irreplaceable in precision, but intrinsic some defects of contact type measurement limit the development of himself too.The first, gauge head can produce pressure to a certain degree when contacting with measured object, and this pressure is enough to make the surface of soft objects to produce miniature deformation, thus affects measurement result; Second, desirable gauge head should to be a surface area be zero point, and the gauge head surface area in reality can not be zero, so cannot measure the fine feature of some complex surface: the 3rd, the mode of point-to-point measurement limits the speed of measurement, and the object being not suitable for his-and-hers watches area larger is measured.4th, contact with accurate measured object and also can cause its surface abrasion, gauge head itself also can be made to cause damage simultaneously, limit pendulous frequency and precision.Therefore, the defect source of contact type measurement is in three-dimensional measurement technology, and oneself becomes the focus of various countries' research, it compensate for the deficiency of contact type measurement, although measuring accuracy can not compared with contact type measurement, along with the progress of computing machine and microelectric technique, this problem is also resolved.The non-contact 3-D measurement of view-based access control model is that the depth image that obtains with three-dimensional visual sensor is to recover the 3D shape of object.This three-dimensional non-contact measurement technology has the advantages such as efficiency is high, automaticity is high, cost is lower, has broad application prospects in commercial production and actual life.
Accurate and high efficiency method for three-dimensional measurement is not only the basis of three-dimensional reconstruction, and be fast and automatically to carry out three-dimensional reconstruction necessary.Existing three-dimensional model measuring method divides contact type measurement and non-contact measurement two kinds.
1, contact type measurement: the electronic measuring instrument that contact type measurement mainly uses some mechanical hand dipping instruments or is made up of touch sensor, wherein based on hand dipping.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 directly can measure each relevant data of pin.Indirect method utilizes footprint device to step footprint and draws out the outline line of pin, and then carries out Measurement and analysis.The advantage of contact foot shape measurement is small investment, operation steps is simple, dirigibility is strong, be convenient for carrying, be 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 the foot's parameter measured is limited, some more complicated parameter or curve cannot be measured, and inefficiency, labour intensity are large, reproducibility is poor, error between gauger is large, meanwhile, this metering system is difficult to the data message obtaining foot's entirety.Data acquisition can not be carried out to the section morphology of pin.Deeper research cannot be carried out.
2, non-contact measurement: under the drive of the discipline development such as computing machine, optics.The measuring technique that optical non-contact is measured as rising in recent years is subject to increasing attention.At present, optical non-contact measuring method mainly contains structure photo measure, stereo-visiuon measurement, laser measurement etc.
(1) structural light measurement: structured light three-dimensional vision is based on optic triangle 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, triangle principle is utilized to calculate the three-dimensional coordinate of object.Structural light measurement method have calculate simple, volume is little, price is low, be convenient to the feature of installation and maintenance, be widely used in actual measuring three-dimensional profile.But measuring accuracy is by physioptial restriction, there is occlusion issue, measuring accuracy and speed conflicting, be difficult to be improved simultaneously.
(2) stereo-visiuon measurement: in computer vision system, utilize two relatively-stationary video cameras in position or video camera two different positions, obtain two width images of same scenery from different perspectives simultaneously, obtain its D coordinates value by computer memory point parallax in two images.The maximum feature of Stereo Vision is that shooting speed is fast, can, completing shooting task less than in one second time, be suitable for needing Quick Measurement occasion.But Stereo Vision data processing amount is large, the processing time is long, and needs the coupling of carrying out two width images, body surface gray scale and face deformationization little time, can affect and mate and measuring accuracy.
(3) laser measurement: a direct line of sight laser beam of being located by a polygon lens, carries out scanning survey by high frequency sweep to body surface; Application triangle law, laser beam is received by laser receiver after reflection at body surface, then obtains the coordinate of body surface as calculated.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.
Three-dimensional reconstruction development in recent years is rapid, this mainly has benefited from the development of science and technology, the reduction of three-dimensional reconstruction cost, the particularly maturation of three-dimensional reconstruction, developing rapidly of structured-light system, greatly excites numerous researchers and three-dimensional reconstruction is applied to each research fields such as medical science, amusement, machinery.
This patent system used comprises short burnt camera, projector, WNSC400, and corresponding software equipment.The method that this reconstruction technique utilizes Gray code to combine with phase shift, according to principle of triangulation, three-dimensional measurement is carried out to the object put on WNSC400, geometry and the topology information of unknown object is analyzed by viewpoint 1, thus in succession obtain the three-dimensional information of other viewpoint, obtain complete three-dimensional model by several Registration.
Compare with other three-dimensional scanning measurements with manual measurement, the advantage of this system is: (1) can carry out three-dimensional measurement to unknown object fast; (2) automatically can splice viewpoint, complete the reconstruction arranging model fast; (3) structured-light system is cheap, and use cost is low; (3) simple to operate, user can grasp its principle fast.
Summary of the invention
The present invention relates to a kind of method utilizing monocular and two-dimensional stage to obtain object image information and three-dimensional model, it is fast that the method not only rebuilds speed, and practicality is good, and simple to operate, and reconstructed cost is low, easily operates, and rebuilds effective.
For achieving the above object, technical scheme of the present invention is: a kind of method utilizing monocular and two-dimensional stage to obtain object image information and three-dimensional model, comprises the following steps:
(1) Fast Reconstruction: the inside and outside parameter first calibrating camera and projector, according to the method that Gray code is combined with phase shift, short Jiao in monocular structured light is utilized to obtain image information, three-dimensional reconstruction is carried out to unknown object, the cloud data of a certain viewpoint is obtained by principle of triangulation, pick impurity point, obtain the three-dimensional model under this viewpoint;
(2) viewpoint planning: object to be reconstructed is placed on WNSC400 (electronic 2-d rotating platform) by user, camera is utilized to obtain geological information under this viewpoint and topology information, the size of effective area is obtained by comparing lower of reference position, left and right, get the position of large person position as next viewpoint, finally by planning self termination criterion, judge whether reconstruction;
(3) registration point cloud: the three-dimensional point cloud that viewpoint 1-n is rebuild out, under cloud data being transformed into viewpoint 1 coordinate system, PCL point cloud storehouse is utilized to read some cloud, carry out ICP(iterative closest point algorithms) iteration, when iteration tends towards stability, registration terminates, and removes overlapping region point cloud, analyze the cloud data reconstructed, obtain the complete three-dimensional model of object;
In an embodiment of the present invention, described step (1) comprises the following steps:
(1.1) demarcation of inside and outside parameter: according to Zhang Zhengyou scaling method, utilize matlab calibration tool case, calibrate the Intrinsic Matrix of projector and short burnt camera, the R(that recycling gridiron pattern calibrates short Jiao and projector rotates), T(translation) matrix, thus demarcation obtains inside and outside parameter;
(1.2) according to the method that Gray code is combined with phase shift, utilize short Jiao in monocular structured light to carry out three-dimensional reconstruction to unknown object, obtain its cloud data.
(1.3) Optimized model surface quality: carried out denoising by smoothing algorithm, optimizes the three-dimensional data measured, and improves the precision of three-dimensional data.
In an embodiment of the present invention, described step (2) adopts the electronic 2-d rotating platform of WNSC400, comprises the following steps:
(2.1) WNSC400 initialization: the initial parameter setting electronic 2-d rotating platform, calculates its pulse equivalency, and rotate to an angle required pulsed quantity;
(2.2) the some cloud information under viewpoint 1 is extracted: be placed in by object on WNSC400, reconstruct three-dimensional point cloud information, by the some cloud reconstructed, be converted into pcd form, utilize PCL point cloud storehouse to carry out straight-through filtering to a cloud, isolate the useful smallest point cloud under viewpoint 1, connect down and re-use wave filter and carry out filtering, remove discrete point, finally by Euclidean cluster, the some cloud after is after filtering partitioned into a few class cloud data, arrange threshold values, obtaining the large person of a cloud amount is useful cloud data under viewpoint 1;
(2.3) determine next best view (NVB): the cloud data obtained by 2.2, analyze geometry and the topology information of last viewpoint, to obtain maximum effective area for next best view;
(2.4) block mold is rebuild: obtain each best view, rebuild the three-dimensional point cloud of each viewpoint, utilize angle criterion as planning self termination criterion, by n time planning after obtain alignment of data to (worktable center and a upper viewpoint have obtained model boundary, the other border line institute angulation of model that current view point obtains is defined as border angle) under initial viewpoint coordinate system, (namely angle sum in border is greater than to meet angle criterion
), then think to the three-dimensional reconstruction of body surface, obtained block mold.
Compared to prior art, the invention has the beneficial effects as follows in the three-dimensional model and automatic Reconstruction that monocular structure spectrum and WNSC400 are applied to quick obtaining unknown object.Easy realization, only needs a monocular structured-light system and a WNSC400 namely to complete three-dimensional measurement to object; Image data efficiency is high; This patent adopts pumped FIR laser technology, uses continuous illumination, does not need special photosensitive material, only needs common CMOS sensitive chip, therefore can greatly reduce costs; In conjunction with traditional three-dimensional reconstruction, adopt PCL technology in points cloud processing, the splicing becoming each viewpoint that can be fast automatic, reconstruction efficiency is high; Measurement efficiency is high, has very strong practicality and wide application prospect.
Accompanying drawing explanation
Fig. 1 is for the illustraton of model under a certain person model viewpoint 1 in the embodiment of the present invention.
Fig. 2 is for the illustraton of model under a certain person model viewpoint 2 in the embodiment of the present invention.
Fig. 3 is for the illustraton of model under a certain person model viewpoint 3 in the embodiment of the present invention.
Fig. 4 is for the illustraton of model under a certain person model viewpoint 4 in the embodiment of the present invention.
Fig. 5 is for a certain person model block mold encapsulation figure in the embodiment of the present invention.
Embodiment
Utilize monocular structured light and the electronic image information of Two Dimensional Rotating platform quick obtaining unknown object and a measuring method for three-dimensional model, comprise the following steps:
(1) Fast Reconstruction: the inside and outside parameter first calibrating camera and projector, according to the method that Gray code is combined with phase shift, short Jiao in monocular structured light is utilized to have the function of quick obtaining image information, three-dimensional reconstruction is carried out to unknown object, the cloud data of a certain viewpoint is obtained by principle of triangulation, pick impurity point, obtain the three-dimensional model under this viewpoint, specifically comprise the steps:
(1.1) demarcation of inside and outside parameter: according to Zhang Zhengyou scaling method, utilize matlab calibration tool case, calibrate the Intrinsic Matrix of projector and short burnt camera, the R(that recycling gridiron pattern calibrates short Jiao and projector rotates), T(translation) matrix, thus demarcation obtains inside and outside parameter;
(1.2) according to the method that Gray code is combined with phase shift, utilize short Jiao in binocular structured light to carry out three-dimensional reconstruction to unknown object, obtain its cloud data.
(1.3) Optimized model surface quality: carried out denoising by smoothing algorithm, optimizes the three-dimensional data measured, and improves the precision of three-dimensional data.
(2) viewpoint planning: object to be reconstructed is placed on WNSC400 (electronic 2-d rotating platform) by user, camera is utilized to obtain geological information under this viewpoint and topology information, the size of effective area is obtained by comparing lower of reference position, left and right, get the position of large person position as next viewpoint, finally by planning self termination criterion, judge whether reconstruction, specifically comprised the following steps:
(2.1) WNSC400 initialization: the initial parameter setting electronic 2-d rotating platform, calculates its pulse equivalency, and rotate to an angle required pulsed quantity;
(2.2) the some cloud information under viewpoint 1 is extracted: be placed in by object on WNSC400, reconstruct three-dimensional point cloud information, by the some cloud reconstructed, be converted into pcd form, utilize PCL point cloud storehouse to carry out straight-through filtering to a cloud, isolate the useful smallest point cloud under viewpoint 1, connect down and re-use wave filter and carry out filtering, remove discrete point, finally by Euclidean cluster, the some cloud after is after filtering partitioned into a few class cloud data, arrange threshold values, obtaining the large person of a cloud amount is useful cloud data under viewpoint 1;
(2.3) determine next best view (NVB): the cloud data obtained by 2.2, analyze geometry and the topology information of last viewpoint, to obtain maximum effective area for next best view;
(2.4) block mold is rebuild: obtain each best view, rebuild the three-dimensional point cloud of each viewpoint, utilize angle criterion as planning self termination criterion, by n time planning after obtain alignment of data to (worktable center and a upper viewpoint have obtained model boundary, the other border line institute angulation of model that current view point obtains is defined as border angle) under initial viewpoint coordinate system, (namely angle sum in border is greater than to meet angle criterion
), then think to the three-dimensional reconstruction of body surface, obtained block mold.
(3) registration point cloud: the three-dimensional point cloud that viewpoint 1-n is rebuild out, under cloud data being transformed into viewpoint 1 coordinate system, PCL point cloud storehouse is utilized to read some cloud, carry out ICP(iterative closest point algorithms) iteration, when iteration tends towards stability, registration terminates, and removes overlapping region point cloud, analyze the cloud data reconstructed, obtain the complete three-dimensional model of object;
Below in conjunction with drawings and the specific embodiments, the invention will be further described.
1, as shown in Figure 1, binocular structured-light system and WNSC400 are put into correct position, object to be reconstructed (illustrating for person model) is put into above WNSC400.
2, difference calibration for cameras and projector, obtain their inner parameter: focal length, principal point coordinate, distortion parameter, simultaneously the external parameter of calibration for cameras and projector, and the mutual R(obtained between them rotates), T(translation) matrix.
3, object to be reconstructed is placed on WNSC400, according to the method that Gray code combines with phase shift, utilizes principle of triangulation, with short Jiao, fast reconstruction is completed to object.
4, the some cloud obtained 3, has carried out denoising by smoothing algorithm, optimizes the three-dimensional data measured, and improves the precision of three-dimensional data.
5, analyze and carry out pretreated some cloud and obtain its geological information and topology information, the size of effective area is obtained by comparing lower of reference position, left and right, get the position of large person position as next viewpoint, according to planning self termination criterion, until all viewpoints all complete reconstruction.
The 5.1 point cloud information that will obtain, be converted into pcd form, PCL is utilized to carry out straight-through filtering, isolate the useful smallest point cloud under viewpoint 1, connect down and re-use wave filter and carry out filtering, remove discrete point, finally by Euclidean cluster, the some cloud after is after filtering partitioned into a few class cloud data, arrange threshold values, obtaining the large person of a cloud amount is useful cloud data (being illustrated in figure 1 the cloud data under viewpoint 1) under viewpoint 1;
5.2 cloud datas obtained by 5.1, analyze geometry and the topology information of last viewpoint, to obtain maximum effective area for next best view;
5.3 calculate by 5.2 each best view that obtains, and adjustment WNSC400 rebuilds the three-dimensional point cloud of each viewpoint, utilize angle criterion as planning self termination criterion, reconstruct block mold.
6, the three-dimensional point cloud (Fig. 1-4) viewpoint 1-4 being rebuild out, under cloud data being transformed into viewpoint 1 coordinate system, PCL is utilized to read, carry out ICP iteration, when iteration tends towards stability, registration terminates, and removes overlapping region point cloud, analyzing the cloud data reconstructed, obtaining the three-dimensional measurement model (if Fig. 5 is as shown) of this personage.
Be more than preferred embodiment of the present invention, all changes done according to technical solution of the present invention, when the function produced 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 monocular and two-dimensional stage to obtain a method for object image information and three-dimensional model, it is characterized in that, comprise the following steps:
(1) Fast Reconstruction: the inside and outside parameter first calibrating camera and projector, according to the method that Gray code is combined with phase shift, short Jiao in monocular structured light is utilized to obtain image information, three-dimensional reconstruction is carried out to unknown object, the cloud data of a certain viewpoint is obtained by principle of triangulation, pick impurity point, obtain the three-dimensional model under this viewpoint;
(2) viewpoint planning: object to be reconstructed is placed on 2-d rotating platform by user, camera is utilized to obtain geological information under this viewpoint and topology information, the size of effective area is obtained by comparing lower of reference position, left and right, get the position of large person position as next viewpoint, finally by planning self termination criterion, judge whether reconstruction;
(3) registration point cloud: the three-dimensional point cloud that viewpoint 1-n is rebuild out, under cloud data being transformed into viewpoint 1 coordinate system, PCL point cloud storehouse is utilized to read some cloud, carry out ICP iterative closest point algorithms iteration, when iteration tends towards stability, registration terminates, and removes overlapping region point cloud, analyze the cloud data reconstructed, obtain the complete three-dimensional model of object.
2. the method utilizing monocular and two-dimensional stage to obtain object image information and three-dimensional model according to claim 1, it is characterized in that, described step (1) comprises the following steps:
(1.1) demarcation of inside and outside parameter: according to Zhang Zhengyou scaling method, utilize matlab calibration tool case, calibrate the Intrinsic Matrix of projector and short burnt camera, the R(that recycling gridiron pattern calibrates short Jiao and projector rotates), T(translation) matrix, thus demarcation obtains inside and outside parameter;
(1.2) according to the method that Gray code is combined with phase shift, utilize short Jiao in monocular structured light to carry out three-dimensional reconstruction to unknown object fast, obtain its cloud data;
(1.3) Optimized model surface quality: carried out denoising by smoothing algorithm, optimizes the three-dimensional data measured, and improves the precision of three-dimensional data.
3. the method utilizing monocular and two-dimensional stage to obtain object image information and three-dimensional model according to claim 1, it is characterized in that, described step (2) adopts the electronic 2-d rotating platform of WNSC400, comprises the following steps:
(2.1) WNSC400 initialization: the initial parameter setting electronic 2-d rotating platform, calculates its pulse equivalency, and rotate to an angle required pulsed quantity;
(2.2) the some cloud information under viewpoint 1 is extracted: be placed in by object on WNSC400, reconstruct three-dimensional point cloud information, by the some cloud reconstructed, be converted into pcd form, utilize PCL point cloud storehouse to carry out straight-through filtering to a cloud, isolate the useful smallest point cloud under viewpoint 1, connect down and re-use wave filter and carry out filtering, remove discrete point, finally by Euclidean cluster, the some cloud after is after filtering partitioned into a few class cloud data, arrange threshold values, obtaining the large person of a cloud amount is useful cloud data under viewpoint 1;
(2.3) determine next best view (NVB): the cloud data obtained by step (2.2), analyze geometry and the topology information of last viewpoint, to obtain maximum effective area for next best view;
(2.4) block mold is rebuild: obtain each best view, rebuild the three-dimensional point cloud of each viewpoint, utilize angle criterion as planning self termination criterion, by n time planning after obtain alignment of data under initial viewpoint coordinate system, meet angle criterion, then think to the three-dimensional reconstruction of body surface, obtained block mold.
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