CN105004283A - Location system for three-dimensional measurement of dental model and calibration method thereof - Google Patents
Location system for three-dimensional measurement of dental model and calibration method thereof Download PDFInfo
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- CN105004283A CN105004283A CN201510441102.1A CN201510441102A CN105004283A CN 105004283 A CN105004283 A CN 105004283A CN 201510441102 A CN201510441102 A CN 201510441102A CN 105004283 A CN105004283 A CN 105004283A
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Abstract
The present invention relates to the technical field of digitalized dental industry and three-dimensional measurement technology and particularly relates to a three-dimensional measurement location system for the pitching movement of a scanning sensor relative to a to-be-measured dental jaw and a calibration method thereof. According to the technical scheme of the invention, the system mainly comprises 1, an integral dental jaw three-dimensional measurement system, wherein a scanning sensor is in linkage with an object-loading turntable; 2, a scanning sensor positioning swing arm calibration method; 3, an object-loading turntable calibration method. According to the technical scheme, the invention aims at the data missing problem of a desktop type dental jaw three-dimensional scanner, and a scanning sensor is driven to conduct the pitching movement relative to a self-rotating turntable provided with a dental jaw thereon. Therefore, the overall scanning scope of multiple measurements is enlarged. Compared with the traditional technical scheme wherein the dental jaw three-dimensional measurement is adopted based on a two-axis rotating type turntable and a fixed scanning sensor, three-dimensional data can be acquired completely and stably, and the data missing is avoided. Meanwhile, based on the three-dimensional measurement location system, the calibration parameters of a scanning sensor positioning swing arm and the calibration parameters of a self-rotating turntable, the monolithic data of multiple measurements can be unified into a global coordinate system to realize the split integration of the three-dimensional data of a dental jaw.
Description
Technical field
The present invention relates to a kind of positioning system for dentognathic model three-dimensional measurement and scaling method thereof, particularly relate to a kind of scanning sensor relative to the positioning system of measured dentognathic model luffing and the method for carrying out rotating axis calibration with camera calibration plate.
Background technology
Oral cavity digital development is rapid in recent years, variously relates to fixed denture reparation, the new business pattern of correction solution formulation constantly occurs.Three-dimensional measurement and Digital Geometry Processing are the two large key technology areas supporting above-mentioned business model.Wherein, three-dimensional measurement adopts structured light technique usually, can disposable acquisition high density surface sampling data.For the 3 D scanning system of dental applications, technically, specifically fringe projection system can be called.Rebuild relative to its structured light technique such as speckle and there is the high advantage of precision, be thus more adapted at dental field application.Fringe projection system can coordinate single or multiple black and white camera to carry out three-dimensional reconstruction usually.
Above-mentioned technology can obtain high-quality cloud data with lower cost, but owing to blocking, single measurement cannot obtain the overall data of dentognathic model.For this problem, the patented claim of 2014 " obtain system and acquisition methods based on the three-dimensional data of two weeks rotation platforms " disclose 3 D scanning system based on two-axle rotating table; This patent has identical technical thought with the periodical literature " Automatic scanning of dental impressions " of 2009.Because the orientation of scanning sensor in world coordinates system immobilizes, thus the size of FOV (Field of View) immobilizes, and making, than being easier to the problem of number according to disappearance, needs manually to mend the mode padding data swept.The present invention is directed to this problem and devise scanning sensor relative to by the location systems art scheme of scanning dentognathic model luffing, expand the overall FOV (Field of View) of scanning sensor in repetitive measurement, make the process obtaining overall three-dimensional data more stable.In addition the invention provides the scaling method of this positioning system.
Summary of the invention
The present invention is directed to stable this problem of acquisition dentognathic model Complete three-dimensional data, propose technical scheme as follows:
Scanning sensor is relative to a positioning system for measured dentognathic model luffing, and this positioning system comprises scanning sensor positioning arm, loading rotation turntable, scaling method;
Further, scanning sensor positioning arm end connects projection light machine and black and white camera, jointly rotates around axis of swing, expands the FOV (Field of View) of scanning sensor;
Further, loading rotation turntable carries dentognathic model or camera calibration plate and rotates around the axis of rotation, and when scanning sensor fixed pose, adjustment dentognathic model or camera calibration plate are relative to the visibility region of scanning sensor;
Further, utilize scaling method provided by the present invention to calculate the demarcation information of scanning sensor positioning arm axis of swing, rotation turntable rotation axis, the monolithic three dimensional data according to this demarcation information realization repetitive measurement carry out split in global coordinate system;
The present invention also comprises the scaling method to above-mentioned positioning system, and it is as follows that it comprises step:
Camera calibration plate with monumented point is fixed on rotation turntable, the rotating shaft of fixing rotation turntable, rotates 8 times around scanning sensor swing arm axis of swing intermittence, take 8 parafacies machine scaling board images simultaneously;
Further, then scanning constant sensor swing arm axis of swing, rotates 5 times around rotation turntable rotating shaft intermittence, takes 5 secondary scaling board images simultaneously;
Further, utilize front 8 sub-picture matching scanning sensor swing arm axis of swing, 5 sub-picture matching rotation turntable rotating shafts after utilizing.
Further, scanning sensor swing arm axis of swing, the rotating shaft of rotation turntable is obtained to the rigid body translation matrix of global coordinate system.
Further, multiangular measurement is carried out to standard dentognathic model, utilizes the cylinder body transformation matrix in previous step to obtain, monolithic data in global coordinate system towards.
Further, utilize iterative closest point algorithms to multi-disc three-dimensional data carry out splicing optimize, adjust above-mentioned monolithic data towards.
Further, using scanning sensor swing arm axis of swing, the vector representation of rotation turntable rotating shaft in global coordinate system as parameter, optimize this parameter, the monolithic data making to utilize positioning system to obtain towards the monolithic data obtained close to iterative closest point optimization as far as possible towards.
Accompanying drawing explanation
Fig. 1: three-dimensional measurement orientation system structural representation provided by the invention;
1-3-D scanning sensor, 2-positioning arm, 3-rotation turntable
4-computer system, 101-projection light machine, 102-black and white camera.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the technical scheme mentioned in the present invention is further illustrated, to explain its object and advantage further:
As shown in Figure 1, the invention provides the positioning system of a kind of scanning sensor relative to measured dentognathic model luffing, comprise 3-D scanning sensor 1, positioning arm 2, rotation turntable 3 and computer system 4.Wherein 3-D scanning sensor 1 is made up of projection light machine 101, black and white camera 102, projects result pattern, and obtains above-mentioned pattern by black and white camera 102, calculate the three-dimensional data of measured tooth jaw by projection light machine 101 to by scanning tooth jaw.In the scanning process of tooth jaw, positioning arm 2 drives 3-D scanning sensor 1 to swing, switched scan FOV (Field of View); Rotation turntable 3 drives dentognathic model to rotate, and switches the visibility region of dentognathic model relative to the 3-D scanning sensor 1 of fixed pose.By positioning arm and the rotation turntable attitude integration of totally 12 kinds, complete the measurement of overall tooth jaw data.
The orientation information used in the repetitive measurement process of above-mentioned dentognathic model, is calculated by the positioning system scaling method in the present invention and obtains.As shown in Figure 1, first scaling board is fixed on rotation turntable 3.First 3-D scanning sensor is rotated around positioning arm axis of swing, and take 8 secondary scaling board image matching scanning sensor axis of swing, each calibration point existed in 8 secondary scaling board images of shooting, constitutes 8 three-dimensional point in concentric circles in global coordinate system.The center of circle of their correspondences just can be simulated by these 8 three-dimensional point.So for the monumented point that scaling board exists, straight line and axis of swing can be simulated according to least square method.
Secondly matching rotation turntable rotating shaft, principle is with matching scanning sensor axis of swing, and shooting 5 secondary scaling board pictures, utilize the track of monumented point on scaling board, simulate the direction vector of rotation turntable rotating shaft.
So far, obtain positioning arm and swing axial vector and rotation turntable rotation axial vector, above-mentioned direction vector is all in global coordinate system, according to drive the motor of positioning arm and rotation turntable do not enter angle can to measured dentognathic model towards calculating.
Finally, standard tooth jaw is placed on rotation turntable 3, and utilizes above-mentioned direction vector, preliminary orientation is carried out to the monolithic three dimensional data of repetitive measurement, utilize iterative closest point algorithms optimize monolithic three dimensional data towards.And with iterative closest point algorithms obtain towards between the swing arm of error function optimum position swing axial vector and rotation turntable and rotate axial vector.
Claims (4)
1. be applicable to a positioning system for tooth jaw three-dimensional measurement, it is characterized in that, comprising: scanning sensor positioning arm, loading rotation turntable, scaling method;
Described scanning sensor positioning arm comprises axis of swing, swinging support; Described swinging support is made up of both sides, and its end is fixed with the 3-D scanning sensor be made up of projection light machine and black and white camera; The axes normal of described positioning arm axis of swing is in support of rolling to each side, central point on its axis is positioned at and supports equidistant position apart from rolling to each side, initial point using this central point as positioning arm local coordinate system, using the axis of axis of swing as the Z axis of this local coordinate system, crossing central point perpendicular in the plane of axis of swing, the direction choosing loading rotation turntable as Y-axis, using the direction perpendicular to Y, Z diaxon as X-axis;
Described loading rotation turntable comprises single turning axle; This rotation rotating shaft drives dentognathic model when scanning sensor attitude is fixing, convert in fixing FOV (Field of View) by the visibility region of scanning tooth jaw; Z axis using rotation rotating shaft as rotation turntable local coordinate system, optional a bit as this coordinate origin on this axle, and at mistake initial point perpendicular in the plane of Z axis, optional two vertical axis are as X, the Y-axis of this local coordinate system;
Described calibration algorithm comprises location swing arm rotating axis calibration, loading turntable rotating axis calibration; The basic process of two kinds of rotating axis calibrations is consistent, calibration technique scheme comprise utilize camera calibration plate obtain rough rotor shaft direction (hereinafter referred to as rotating shaft calculate), recycling measurement model splicing optimize the rotor shaft direction of rough calculation is optimized (hereinafter referred to as rotating shaft optimization);
Based on the three-dimensional measurement positioning system in the present invention, and the rotating axis calibration information that scaling method obtains, the monolithic tooth jaw measurement data of taking from different perspectives is formed Primary Location in overall world coordinate system.
2. 3-D scanning sensor as claimed in claim 1, it is characterized in that, described 3-D scanning sensor comprises black and white camera and short out-of-focus projection ray machine, can form monocular system by single black and white camera or form binocular measuring system by two black and white cameras; The single attitude sweep limit determining 3-D scanning sensor towards the common factor with FOV (Field of View) of described projection light machine and black and white camera; When described projection light machine is to scanned object projection a series of images, described black and white camera is from the image of multiple angle shot scanned object.
3. 3-D scanning sensor as claimed in claim 1, is characterized in that, can be reconstructed by the three-dimensional stereo model of scanning dentognathic model according to the described black white image by the multiple angle of scanning tooth jaw by computing machine multi-vision visual image-forming principle.
4. scaling method as claimed in claim 1, it is characterized in that, scanning sensor swing arm is rotated around its axis of swing, drives the change of scanning sensor FOV (Field of View); Rotation turntable rotates around the axis of rotation, drives camera calibration plate to rotate relative to scanning sensor; Calibration process comprises three steps: gather camera calibration plate image and identification monumented point wherein, centerline fit, splice the axis optimization optimized by scan-data.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105277140A (en) * | 2015-11-11 | 2016-01-27 | 杨仲磊 | Portable intelligent equipment based on laser three-dimensional scanning |
| CN105758384A (en) * | 2016-02-03 | 2016-07-13 | 苏州大势智慧信息科技有限公司 | Unmanned aerial vehicle rocking oblique photograph system |
| CN106109045A (en) * | 2016-08-30 | 2016-11-16 | 成都尽知致远科技有限公司 | A kind of automatic measurement equipment of contactless tooth jaw medical 3 D scanning |
| CN111024022A (en) * | 2019-12-27 | 2020-04-17 | 来高科技(天津)有限公司 | Scanning method based on double-shaft rotary table |
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| DE19827788C2 (en) * | 1998-06-23 | 2003-08-28 | Dieter Dirksen | Device and method for three-dimensional detection of characteristic measuring points of the dental arch |
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| CN104154875A (en) * | 2014-08-20 | 2014-11-19 | 深圳大学 | Three-dimensional data acquisition system and acquisition method based on two-axis rotation platform |
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| DE19827788C2 (en) * | 1998-06-23 | 2003-08-28 | Dieter Dirksen | Device and method for three-dimensional detection of characteristic measuring points of the dental arch |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105277140A (en) * | 2015-11-11 | 2016-01-27 | 杨仲磊 | Portable intelligent equipment based on laser three-dimensional scanning |
| CN105758384A (en) * | 2016-02-03 | 2016-07-13 | 苏州大势智慧信息科技有限公司 | Unmanned aerial vehicle rocking oblique photograph system |
| CN106109045A (en) * | 2016-08-30 | 2016-11-16 | 成都尽知致远科技有限公司 | A kind of automatic measurement equipment of contactless tooth jaw medical 3 D scanning |
| CN111024022A (en) * | 2019-12-27 | 2020-04-17 | 来高科技(天津)有限公司 | Scanning method based on double-shaft rotary table |
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Application publication date: 20151028 |