CN105662632A - Color information scanning device and method used for dental model - Google Patents
Color information scanning device and method used for dental model Download PDFInfo
- Publication number
- CN105662632A CN105662632A CN201610252097.4A CN201610252097A CN105662632A CN 105662632 A CN105662632 A CN 105662632A CN 201610252097 A CN201610252097 A CN 201610252097A CN 105662632 A CN105662632 A CN 105662632A
- Authority
- CN
- China
- Prior art keywords
- dentognathic model
- black
- light
- projector
- color
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C19/00—Dental auxiliary appliances
- A61C19/04—Measuring instruments specially adapted for dentistry
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C13/00—Dental prostheses; Making same
- A61C13/34—Making or working of models, e.g. preliminary castings, trial dentures; Dowel pins [4]
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Dentistry (AREA)
- Animal Behavior & Ethology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Biophysics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a color information scanning device and method used for a dental model. The device comprises a projector, a control system and at least one black and white camera, wherein the control system is connected with each of the projector and the black and white camera; the projector only projects red, green and blue monochromatic lights. The control system controls the projector to project the red, the green and the blue monochromatic lights to the dental model, and dental model photos at different angles are shot under each monochromatic light; the photos shot from the same angle under the different monochromatic lights are combined to obtain the single data of the dental model at the angle of shooting; the color information on the single data at the different angles is fused, so that the light-shade difference caused by directional light is eliminated. According to the color information scanning method disclosed by the invention, a color image is obtained by utilizing the black and white camera, so that the effect of a color camera on geometric data measurement is avoided; the light-shade difference in measurement results at the different angles is eliminated by utilizing a fusion algorithm, so that the equipment cost is greatly reduced.
Description
Technical field
The present invention relates to a kind of colouring information scanning means for dentognathic model and method, particularly relate to a kind of scan method that only can obtain the dentognathic model colouring information eliminating shadow difference with projector and black and white camera.
Background technology
The colouring information of dentognathic model or texture information are important auxiliary information in digitized dentures repai, for instance the notes that doctor stays on tooth jaw plaster model. Tradition generally utilizes the shooting of high-resolution video camera to carry out for the color record of dentognathic model, along with optical measurement, computer vision, three-dimensional geometry treatment technology development, utilize the three-dimension curved surface information that 3-D scanning obtains dentognathic model to become the main way of the design of shape in Dental Erosion. 3-D scanning is to integrate light, mechanical, electrical and computer technology new and high technology, is mainly used in scanned object spatial shape and structure, to obtain the space coordinates of this body surface. Utilize spatial digitizer (3DScanner) prepared by 3-D scanning technology as a kind of quickly measurement in space equipment, because of advantages such as its measuring speed are fast, precision is high, noncontact, easy to use, and become the important tool modeled by object dimensional, increasingly it is widely applied.
General spatial digitizer adopts projection striped to body surface, then with black and white collected by camera image, by calculating the striped deformation at body surface, thus the object three-dimensional contour outline information obtained. Reality requiring, the object measured is colored mostly, such as the historical relic of some colours, does not require nothing more than the three-D profile information that can accurately obtain object, and wish to retain real as far as possible surface color texture information.
The method of existing acquisition color texture has two kinds: a kind of is that the camera of general spatial digitizer is changed into color camera, so can increase noise so that data quality-degradation. The way of another kind of acquisition colour information is, by adds additional a color camera on general scanner, such as slr camera. So ensure profile information and good color and vein effect, but, but add many costs.Therefore, it is necessary to provide a kind of scan method that black and white camera can be used to obtain dentognathic model colouring information, the problem relatively costly to solve existing color three dimension scanner.
Summary of the invention
Present invention aims to the deficiencies in the prior art, it is provided that a kind of cost is low, effect is good for the colouring information scanning means of dentognathic model and method.
The present invention is achieved in that
A kind of colouring information scanning means for dentognathic model, including projector, control system and at least one black and white camera, control system is connected respectively with above-mentioned projector, all black and white cameras, and described projector only projects three kinds of monochromatic light of red, green, blue.
Apply the method that this device carries out dentognathic model colouring information scanning, comprise the steps:
1) control system and control projector to the one in dentognathic model projection red, green, blue monochromatic light, all adopt black and white camera to shoot dentognathic model photo from different perspectives under every kind of monochromatic light, and transmit to controlling system;
2) using dentognathic model in same angle shot: the gray value of the image gathered under red light is as the value of red channel, the gray value of the image gathered under green light is as the value of green channel, the gray value of the image gathered under blue light, as the value of blue channel, combines three-channel value and obtains the monolithic data of dentognathic model under this shooting angle;
3) colouring information on the monolithic data of different angles is merged, eliminate the shadow difference that direction light causes.
In technique scheme, described step 1) in a black and white camera can be adopted to shoot dentognathic model photo from different perspectives; Or adopt black and white camera that multiple stage is distributed in around dentognathic model different angles shooting dentognathic model photo simultaneously respectively.
Described step 3) specific as follows: utilize geometry stitching algorithm that multislice data is carried out split, build space octree structure, calculate the color distortion attribute information on summit in the structure shown here, Poisson's equation is utilized to solve differential diffusion scalar field, different information is counter the most at last is added in monolithic color data, realize the transition of border color difference, eliminate the shadow difference between different monolithic data, it is thus achieved that the color after fusion.
Compared with prior art, technical scheme, by obtaining image when scanned object is projected by red, green, blue three coloured light respectively only with black and white camera, the coloured image of scanned object can be obtained, greatly reduce equipment cost.
Accompanying drawing explanation
Fig. 1 is the part-structure schematic diagram of apparatus of the present invention;
Fig. 2 is the design sketch before and after dentognathic model color blend.
Detailed description of the invention
Below based on accompanying drawing, specific embodiments of the invention are further elaborated. Should be appreciated that specific embodiment described herein is as just embodiment, the protection domain being not intended to limit the present invention.
As it is shown in figure 1, the colouring information scanning means for dentognathic model of the present embodiment includes control system, scialyscope 101, two black and white cameras 102, and target dentognathic model 103.
Described projector 101 can project three kinds of monochromatic light of red, green, blue to scanned tooth jaw 103, and described monochromatic light is structured light. Described black and white camera 102 includes black and white photo-sensitive cell, and described photo-sensitive cell can be Charge Coupled Device (CCD), it is possible to for complementary metal oxide semiconductors (CMOS) (COMS) photo-sensitive cell. When described projector 101 projects every kind of monochromatic light to scanned object 103, black and white camera 102 shoots multiple images of scanned object 103 from different perspectives respectively.The gray value value as red channel of the image that red light collects is thrown using projector 101, throw the gray value value as green channel of the image that green light collects, to throw the gray value value as blue channel of the image that blue light collects, complete coloured image is obtained, thus obtaining the coloured image of scanned object 103 different angles by the triple channel value combined. Then, the stereo colour model of scanned object 103 can be reconstructed by computer multi-vision visual image-forming principle according to the coloured image of the multiple angle of described scanned object.
Application said apparatus carries out the method for dentognathic model colouring information scanning and comprises the following steps:
1). adopt projector 101 to project red light to scanned object 103, adopt a black and white camera 102 to shoot multiple images of scanned object 103 respectively from multiple angles;
Adopt projector 101 to project green light to scanned object 103, adopt a black and white camera 102 to shoot multiple images of scanned object 103 respectively from above-mentioned each angle;
Adopt projector 101 to project blue light to scanned object 103, adopt a black and white camera 102 to shoot multiple images of scanned object 103 respectively from above-mentioned each angle;
When described projector 101 projects every kind of monochromatic light to scanned object 103, it is possible to adopt a black and white camera 102 after the image of an angle shot scanned object 103, move again to the image of another or multiple angle shot scanned object 103. When described projector projects every kind of monochromatic light to 101 scanned objects 103, it would however also be possible to employ multiple black and white cameras 102 shoot the image of scanned object 103 from multiple angles simultaneously.
2). for the photo under three kinds of light of each angle, the gray value value as red channel of the image that red light collects is thrown using projector 101, throw the gray value value as green channel of the image that green light collects, to throw the gray value value as blue channel of the image that blue light collects, the triple channel value combined obtain the monolithic data under respective angles.
3). the colouring information on the monolithic data of different angles is merged, eliminates the shadow difference that direction light causes. The coloured image of more than 103 angle of described scanned object is reconstructed the stereo colour model of scanned object 103: first with geometry stitching algorithm, multislice data is carried out split by computer multi-vision visual image-forming principle, build space octree structure, calculate the color distortion attribute information on summit in the structure shown here, recycling Poisson's equation solves differential diffusion scalar field, different information is counter the most at last is added in monolithic color data, realize the transition of border color difference, eliminate the shadow difference between different monolithic data, it is thus achieved that the color after fusion.
The effect of described color blend method as in figure 2 it is shown, the lines in dentognathic model include contour line, doctor's paintbrush line, shadow transition wire, by figure it can be seen that after color blend, eliminate the excessive line of shadow.
Compared with prior art, assembly of the invention and in scan method, by obtaining image when scanned object is projected by red, green, blue three coloured light respectively only with black and white camera, the coloured image of scanned object can be obtained, greatly reduce equipment cost. It addition, the color image quality obtained by the method is better, colouring information true and accurate, it is possible to obtain stereo colour model really and accurately in follow-up three-dimensional modeling.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all any amendment, equivalent replacement and improvement etc. made within the spirit and principles in the present invention, should be included within protection scope of the present invention.
Claims (4)
1. the colouring information scanning means for dentognathic model, it is characterized in that, including projector, control system and at least one black and white camera, control system is connected respectively with above-mentioned projector, all black and white cameras, and described projector only projects three kinds of monochromatic light of red, green, blue.
2. apply the method that device as claimed in claim 1 carries out dentognathic model colouring information scanning, it is characterised in that comprise the steps:
1) control system and control projector to the one in dentognathic model projection red, green, blue monochromatic light, all adopt black and white camera to shoot dentognathic model photo from different perspectives under every kind of monochromatic light, and transmit to controlling system;
2) using dentognathic model in same angle shot: the gray value of the image gathered under red light is as the value of red channel, the gray value of the image gathered under green light is as the value of green channel, the gray value of the image gathered under blue light, as the value of blue channel, combines three-channel value and obtains the monolithic data of dentognathic model under this shooting angle;
3) colouring information on the monolithic data of different angles is merged, eliminate the shadow difference that direction light causes.
3. dentognathic model colouring information scan method as claimed in claim 2, it is characterised in that described step 1) in adopt a black and white camera to shoot dentognathic model photo from different perspectives; Or adopt black and white camera that multiple stage is distributed in around dentognathic model different angles shooting dentognathic model photo simultaneously respectively.
4. dentognathic model colouring information scan method as claimed in claim 2, it is characterized in that, described step 3) specific as follows: utilize geometry stitching algorithm that multislice data is carried out split, build space octree structure, calculate the color distortion attribute information on summit in the structure shown here, Poisson's equation is utilized to solve differential diffusion scalar field, different information is counter the most at last is added in monolithic color data, realize the transition of border color difference, eliminate the shadow difference between different monolithic data, it is thus achieved that the color after fusion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610252097.4A CN105662632A (en) | 2016-04-20 | 2016-04-20 | Color information scanning device and method used for dental model |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610252097.4A CN105662632A (en) | 2016-04-20 | 2016-04-20 | Color information scanning device and method used for dental model |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105662632A true CN105662632A (en) | 2016-06-15 |
Family
ID=56215551
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610252097.4A Pending CN105662632A (en) | 2016-04-20 | 2016-04-20 | Color information scanning device and method used for dental model |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105662632A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108956462A (en) * | 2018-05-15 | 2018-12-07 | 武汉科技大学 | A kind of color camera RGB image fusion vision detection system and detection method |
| JP2020150966A (en) * | 2019-03-18 | 2020-09-24 | アリッド株式会社 | Dental model and dental model virtualization method using the same |
| CN112985307A (en) * | 2021-04-13 | 2021-06-18 | 先临三维科技股份有限公司 | Three-dimensional scanner, system and three-dimensional reconstruction method |
| CN114681088A (en) * | 2020-12-31 | 2022-07-01 | 先临三维科技股份有限公司 | Three-dimensional scanning method, device, storage medium and processor |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1910431A (en) * | 2004-01-23 | 2007-02-07 | 奥林巴斯株式会社 | Image processing system and camera |
| US20070046663A1 (en) * | 2005-08-24 | 2007-03-01 | Hartmut Brinkmann | Method of determining the shape of a dental technology object and apparatus for per-forming the method |
| CN101288591A (en) * | 2008-05-23 | 2008-10-22 | 宁波思达利光电科技有限公司 | Device for detecting tooth geometrical shape |
| CN101785711A (en) * | 2010-01-18 | 2010-07-28 | 武汉大学 | Dental model three-dimensional measuring system and method |
| CN102327156A (en) * | 2010-07-13 | 2012-01-25 | 卡尔斯特里姆保健公司 | Dental shade mapping |
| CN102331301A (en) * | 2010-07-13 | 2012-01-25 | 卡尔斯特里姆保健公司 | Dental shade mapping |
| CN103228228A (en) * | 2010-07-12 | 2013-07-31 | 3形状股份有限公司 | 3d modeling of an object using textural features |
-
2016
- 2016-04-20 CN CN201610252097.4A patent/CN105662632A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1910431A (en) * | 2004-01-23 | 2007-02-07 | 奥林巴斯株式会社 | Image processing system and camera |
| US20070046663A1 (en) * | 2005-08-24 | 2007-03-01 | Hartmut Brinkmann | Method of determining the shape of a dental technology object and apparatus for per-forming the method |
| CN101288591A (en) * | 2008-05-23 | 2008-10-22 | 宁波思达利光电科技有限公司 | Device for detecting tooth geometrical shape |
| CN101785711A (en) * | 2010-01-18 | 2010-07-28 | 武汉大学 | Dental model three-dimensional measuring system and method |
| CN103228228A (en) * | 2010-07-12 | 2013-07-31 | 3形状股份有限公司 | 3d modeling of an object using textural features |
| CN102327156A (en) * | 2010-07-13 | 2012-01-25 | 卡尔斯特里姆保健公司 | Dental shade mapping |
| CN102331301A (en) * | 2010-07-13 | 2012-01-25 | 卡尔斯特里姆保健公司 | Dental shade mapping |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108956462A (en) * | 2018-05-15 | 2018-12-07 | 武汉科技大学 | A kind of color camera RGB image fusion vision detection system and detection method |
| JP2020150966A (en) * | 2019-03-18 | 2020-09-24 | アリッド株式会社 | Dental model and dental model virtualization method using the same |
| JP7178013B2 (en) | 2019-03-18 | 2022-11-25 | アリッド株式会社 | Dental model virtualization method |
| CN114681088A (en) * | 2020-12-31 | 2022-07-01 | 先临三维科技股份有限公司 | Three-dimensional scanning method, device, storage medium and processor |
| CN114681088B (en) * | 2020-12-31 | 2023-09-22 | 先临三维科技股份有限公司 | Three-dimensional scanning method, three-dimensional scanning device, storage medium and processor |
| CN112985307A (en) * | 2021-04-13 | 2021-06-18 | 先临三维科技股份有限公司 | Three-dimensional scanner, system and three-dimensional reconstruction method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111023970B (en) | Multi-mode three-dimensional scanning method and system | |
| CN102980526B (en) | Spatial digitizer and the scan method thereof of coloured image is obtained with black and white camera | |
| CN110288642B (en) | Three-dimensional object rapid reconstruction method based on camera array | |
| CN111750806B (en) | Multi-view three-dimensional measurement system and method | |
| CN106802138B (en) | A kind of 3 D scanning system and its scan method | |
| CN104335005B (en) | 3D is scanned and alignment system | |
| CN106683173B (en) | A method of Three-dimensional Gravity is improved based on neighborhood Block- matching and is laid foundations the dense degree of cloud | |
| WO2021203883A1 (en) | Three-dimensional scanning method, three-dimensional scanning system, and computer readable storage medium | |
| Fechteler et al. | Fast and high resolution 3D face scanning | |
| CN105243637B (en) | One kind carrying out full-view image joining method based on three-dimensional laser point cloud | |
| CN103292699B (en) | A kind of 3 D scanning system and method | |
| CN109727290B (en) | Zoom camera dynamic calibration method based on monocular vision triangulation distance measurement method | |
| CN105627992A (en) | Method for quickly surveying and mapping historic building in high-accuracy non-contact mode | |
| CN110793464B (en) | Large-field-of-view fringe projection vision three-dimensional measurement system and method | |
| CN105662632A (en) | Color information scanning device and method used for dental model | |
| CN106767526A (en) | A kind of colored multi-thread 3-d laser measurement method based on the projection of laser MEMS galvanometers | |
| CN108665535A (en) | A kind of three-dimensional structure method for reconstructing and system based on coding grating structured light | |
| CN108629756A (en) | A kind of Kinect v2 depth images Null Spot restorative procedure | |
| CN106170086B (en) | Method and device thereof, the system of drawing three-dimensional image | |
| CN109556535A (en) | A kind of one step reconstructing method of tri-dimensional facial type based on color fringe projection | |
| CN106408664A (en) | Three-dimensional model curved surface reconstruction method based on three-dimensional scanning device | |
| CN102980511B (en) | A kind of 3 D scanning system and scan method thereof that scans dynamic object | |
| Li et al. | Pro-cam ssfm: Projector-camera system for structure and spectral reflectance from motion | |
| Yu et al. | Calibration for camera–projector pairs using spheres | |
| CN106952262A (en) | A kind of deck of boat analysis of Machining method based on stereoscopic vision |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160615 |