CN106773509B - A kind of photometric stereo three-dimensional rebuilding method and beam splitting type photometric stereo camera - Google Patents

A kind of photometric stereo three-dimensional rebuilding method and beam splitting type photometric stereo camera Download PDF

Info

Publication number
CN106773509B
CN106773509B CN201710192400.0A CN201710192400A CN106773509B CN 106773509 B CN106773509 B CN 106773509B CN 201710192400 A CN201710192400 A CN 201710192400A CN 106773509 B CN106773509 B CN 106773509B
Authority
CN
China
Prior art keywords
optical signal
infrared light
wavelength
light supply
infrared
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.)
Active
Application number
CN201710192400.0A
Other languages
Chinese (zh)
Other versions
CN106773509A (en
Inventor
晁志超
周剑
龙学军
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chengdu Tongjia Youbo Technology Co Ltd
Original Assignee
Chengdu Tongjia Youbo Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Chengdu Tongjia Youbo Technology Co Ltd filed Critical Chengdu Tongjia Youbo Technology Co Ltd
Priority to CN201710192400.0A priority Critical patent/CN106773509B/en
Priority to PCT/CN2017/081612 priority patent/WO2018176534A1/en
Publication of CN106773509A publication Critical patent/CN106773509A/en
Application granted granted Critical
Publication of CN106773509B publication Critical patent/CN106773509B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B35/00—Stereoscopic photography
    • G03B35/08—Stereoscopic photography by simultaneous recording
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/02—Illuminating scene
    • G03B15/03—Combinations of cameras with lighting apparatus; Flash units
    • G03B15/05—Combinations of cameras with electronic flash apparatus; Electronic flash units
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • G06T2207/10012—Stereo images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10048—Infrared image

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Graphics (AREA)
  • Geometry (AREA)
  • Software Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

This application discloses a kind of photometric stereo three-dimensional rebuilding method and beam splitting type photometric stereo cameras, this method comprises: by infrared light that three infrared light supplies respectively generate while being projected to target object；By a camera lens, acquires by the reflected light of target object, obtain source light path；Optical signal relevant to above three infrared light supply respectively is extracted from source light path, obtains three road optical signals；Above-mentioned three road optical signal is converted into corresponding infrared picture data respectively, obtains three groups of infrared picture datas；The three-dimensional reconstruction data of target object are obtained to target object expansion three-dimensional reconstruction operation using above-mentioned three groups of infrared picture datas.The application can promote subsequent reconstruction accuracy, and number of shots is only one in the application, can be convenient for the actual application operating of user to avoid difficulty brought by more camera lens synchronous adjustments.

Description

A kind of photometric stereo three-dimensional rebuilding method and beam splitting type photometric stereo camera
Technical field
The present invention relates to technical field of computer vision, in particular to a kind of photometric stereo three-dimensional rebuilding method and beam splitting type Photometric stereo camera.
Background technique
Currently, more and more fields need to carry out three-dimensional reconstruction to extraterrestrial target, it is vertical with the three-dimensional for obtaining extraterrestrial target Body Model information, existing three-dimensional reconstruction have been widely used for 3D printing, reverse-engineering, historical relic's protection, medicine shaping, The various fields such as three-dimensional face identification, virtual wearing, amusement, greatly facilitate the routine work and life of people.
In existing photometric stereo three-dimensional reconstruction, people generally use under type such as and to carry out three-dimensional to target object It rebuilds: first first light source is at a time opened, to acquire target object image corresponding with first light source, then another Moment opens second light source, to acquire target object image corresponding with second light source, then opens third in subsequent time Light source, to acquire target object image corresponding with third light source, finally using above three when inscribe collected three Target object image completes the three-dimensional reconstruction to target object.
However, during above-mentioned three-dimensional reconstruction, by it is different at the time of lower collected target object image be not It is the image under the same object state, to reduce subsequent reconstruction accuracy.
In summary as can be seen that how to promote the problem of reconstruction accuracy is current urgent need to resolve.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of photometric stereo three-dimensional rebuilding method and beam splitting type photometric stereos Camera is able to ascend reconstruction accuracy.Its concrete scheme is as follows:
A kind of photometric stereo three-dimensional rebuilding method, comprising:
By infrared light that the first infrared light supply, the second infrared light supply and third infrared light supply respectively generate while being projected to mesh Mark object；Wherein, the mutual not phase of the wavelength of first infrared light supply, second infrared light supply and the third infrared light supply Together；
By a camera lens, acquires by the reflected light of the target object, obtain source light path；
It will believe light relevant to first infrared light supply, second infrared light supply and the third infrared light supply respectively It number is extracted from the source light path, obtains first via optical signal, the second road optical signal and third road optical signal；
The first via optical signal, second road optical signal and third road optical signal are converted into accordingly respectively Infrared picture data, obtain the first infrared picture data, the second infrared picture data and third infrared picture data；
Using first infrared picture data, the second infrared picture data and third infrared picture data, to the mesh The operation of object developing photometric stereo three-dimensional reconstruction is marked, the three-dimensional reconstruction data of the target object are obtained.
Optionally, it is described will respectively with first infrared light supply, second infrared light supply and the third infrared light The process that the relevant optical signal in source is extracted from the source light path, comprising:
Using spectroscope, light-splitting processing is carried out to the source light path, respectively obtains the first optical path, the second optical path and third light Road；
Using the first narrow band filter, optical signal relevant to first infrared light supply is mentioned from first optical path It takes out, obtains the first via optical signal；
Using the second narrow band filter, optical signal relevant to second infrared light supply is mentioned from second optical path It takes out, obtains second road optical signal；
Using third narrow band filter, optical signal relevant to the third infrared light supply is mentioned from the third optical path It takes out, obtains third road optical signal；
Wherein, first narrow band filter is the light for only allowing wavelength consistent with the wavelength of first infrared light supply The optical filter that signal passes through, second narrow band filter are only to allow wavelength consistent with the wavelength of second infrared light supply The optical filter that passes through of optical signal, the third narrow band filter is the wavelength phase for only allowing wavelength and the third infrared light supply The optical filter that consistent optical signal passes through.
Optionally, it is described will respectively with first infrared light supply, second infrared light supply and the third infrared light The process that the relevant optical signal in source is extracted from the source light path, comprising:
Light separating treatment is carried out to the source light path using the first short wave pass filter, is correspondingly made available the first reflected light With the first transmitted light, and first reflected light is determined as the first via optical signal；
Light separating treatment is carried out to first transmitted light using the second short wave pass filter, it is anti-to be correspondingly made available second Light and the second transmitted light are penetrated, and second reflected light is determined as second road optical signal；
Using narrow band filter, optical signal relevant to the third infrared light supply is extracted from second transmitted light Out, third road optical signal is obtained；
Wherein, the cutoff wavelength of first short wave pass filter is located at the wavelength and described the of first infrared light supply Between the wavelength of two infrared light supplies, the cutoff wavelength of second short wave pass filter is located at the wavelength of second infrared light supply Between the wavelength of the third infrared light supply, the narrow band filter is the wave for only allowing wavelength and the third infrared light supply The optical filter that the consistent optical signal of appearance passes through, also, the wavelength of first infrared light supply is greater than second infrared light supply Wavelength, the wavelength of second infrared light supply is greater than the wavelength of the third infrared light supply.
Optionally, it is described will respectively with first infrared light supply, second infrared light supply and the third infrared light The process that the relevant optical signal in source is extracted from the source light path, comprising:
Light separating treatment is carried out to the source light path using the first long wave pass filter, is correspondingly made available the first reflected light With the first transmitted light, and first transmitted light is determined as the first via optical signal；
Light separating treatment is carried out to first reflected light using the second long wave pass filter, it is anti-to be correspondingly made available second Light and the second transmitted light are penetrated, and second transmitted light is determined as second road optical signal；
Using narrow band filter, optical signal relevant to the third infrared light supply is extracted from second reflected light Out, third road optical signal is obtained；
Wherein, the cutoff wavelength of first long wave pass filter is located at the wavelength and described the of first infrared light supply Between the wavelength of two infrared light supplies, the cutoff wavelength of second long wave pass filter is located at the wavelength of second infrared light supply Between the wavelength of the third infrared light supply, the narrow band filter is the wave for only allowing wavelength and the third infrared light supply The optical filter that the consistent optical signal of appearance passes through, also, the wavelength of first infrared light supply is greater than second infrared light supply Wavelength, the wavelength of second infrared light supply is greater than the wavelength of the third infrared light supply.
Optionally, the photometric stereo three-dimensional rebuilding method, further includes:
Optical signal relevant to visible light in environment is extracted from the source light path, obtains the 4th road optical signal；
The 4th road optical signal is converted into corresponding color image data；
By in the color image data color information and texture information map to the three-dimensional reconstruction data, obtain Three-dimensional reconstruction data after optimization.
The present invention further correspondingly discloses a kind of beam splitting type photometric stereo camera, comprising: the first infrared light supply, the second infrared light Source, third infrared light supply, a camera lens, optical signal extraction system, signal translating system and three-dimensional reconstruction system；Wherein,
First infrared light supply, second infrared light supply and the third infrared light supply, for will respectively generate Infrared light be projected to target object simultaneously；Wherein, first infrared light supply, second infrared light supply and the third are red The wavelength of outer light source is different；
The camera lens obtains source light path for acquiring by the reflected light of the target object；
The optical signal extraction system, for will respectively with first infrared light supply, second infrared light supply and institute It states the relevant optical signal of third infrared light supply to extract from the source light path, obtains first via optical signal, the second Lu Guangxin Number and third road optical signal；
The signal translating system, for respectively by the first via optical signal, second road optical signal and described Third road optical signal is converted into corresponding infrared picture data, obtain the first infrared picture data, the second infrared picture data and Third infrared picture data；
The three-dimensional reconstruction system, for utilizing first infrared picture data, the second infrared picture data and third Infrared picture data obtains the Three-dimensional Gravity of the target object to target object expansion photometric stereo three-dimensional reconstruction operation Build data.
Optionally, the optical signal extraction system, comprising:
It is divided mirror system, for utilizing spectroscope, light-splitting processing is carried out to the source light path, respectively obtains the first light Road, the second optical path and third optical path；
First optical signal extraction module will be relevant to first infrared light supply for utilizing the first narrow band filter Optical signal is extracted from first optical path, obtains the first via optical signal；
Second optical signal extraction module will be relevant to second infrared light supply for utilizing the second narrow band filter Optical signal is extracted from second optical path, obtains second road optical signal；
Third optical signal extraction module will be relevant to the third infrared light supply for utilizing third narrow band filter Optical signal is extracted from the third optical path, obtains third road optical signal；
Wherein, first narrow band filter is the light for only allowing wavelength consistent with the wavelength of first infrared light supply The optical filter that signal passes through, second narrow band filter are only to allow wavelength consistent with the wavelength of second infrared light supply The optical filter that passes through of optical signal, the third narrow band filter is the wavelength phase for only allowing wavelength and the third infrared light supply The optical filter that consistent optical signal passes through.
Optionally, the optical signal extraction system, comprising:
First separation module, for carrying out light separating treatment, phase to the source light path using the first short wave pass filter It obtains the first reflected light and the first transmitted light with answering, and first reflected light is determined as the first via optical signal；
Second separation module, for being carried out at light separation using the second short wave pass filter to first transmitted light Reason, is correspondingly made available the second reflected light and the second transmitted light, and second reflected light is determined as second road optical signal；
First extraction unit, for utilizing narrow band filter, will optical signal relevant to the third infrared light supply from institute It states and is extracted in the second transmitted light, obtain third road optical signal；
Wherein, the cutoff wavelength of first short wave pass filter is located at the wavelength and described the of first infrared light supply Between the wavelength of two infrared light supplies, the cutoff wavelength of second short wave pass filter is located at the wavelength of second infrared light supply Between the wavelength of the third infrared light supply, the narrow band filter is the wave for only allowing wavelength and the third infrared light supply The optical filter that the consistent optical signal of appearance passes through, also, the wavelength of first infrared light supply is greater than second infrared light supply Wavelength, the wavelength of second infrared light supply is greater than the wavelength of the third infrared light supply.
Optionally, the optical signal extraction system, comprising:
Third separation module, for carrying out light separating treatment, phase to the source light path using the first long wave pass filter It obtains the first reflected light and the first transmitted light with answering, and first transmitted light is determined as the first via optical signal；
4th separation module, for being carried out at light separation using the second long wave pass filter to first reflected light Reason, is correspondingly made available the second reflected light and the second transmitted light, and second transmitted light is determined as second road optical signal；
Second extraction unit, for utilizing narrow band filter, will optical signal relevant to the third infrared light supply from institute It states and is extracted in the second reflected light, obtain third road optical signal；
Wherein, the cutoff wavelength of first long wave pass filter is located at the wavelength and described the of first infrared light supply Between the wavelength of two infrared light supplies, the cutoff wavelength of second long wave pass filter is located at the wavelength of second infrared light supply Between the wavelength of the third infrared light supply, the narrow band filter is the wave for only allowing wavelength and the third infrared light supply The optical filter that the consistent optical signal of appearance passes through, also, the wavelength of first infrared light supply is greater than second infrared light supply Wavelength, the wavelength of second infrared light supply is greater than the wavelength of the third infrared light supply.
Optionally, the beam splitting type photometric stereo camera, further includes:
4th optical signal extraction module, for extracting optical signal relevant to visible light in environment from the source light path Out, the 4th road optical signal is obtained；
Color image sensor, for the 4th road optical signal to be converted into corresponding color image data；
The data-optimized module of three-dimensional reconstruction, for by the color image data color information and texture information reflect It is incident upon the three-dimensional reconstruction data, the three-dimensional reconstruction data after being optimized.
In the present invention, photometric stereo three-dimensional rebuilding method, comprising: by the first infrared light supply, the second infrared light supply and third Infrared light that infrared light supply respectively generates while being projected to target object；Wherein, the first infrared light supply, the second infrared light supply and The wavelength of three infrared light supplies is different；By a camera lens, acquires by the reflected light of target object, obtain source light Road；It will be extracted from source light path optical signal relevant to the first infrared light supply, the second infrared light supply and third infrared light supply respectively Out, first via optical signal, the second road optical signal and third road optical signal are obtained；Respectively by first via optical signal, the second road light Signal and third road optical signal are converted into corresponding infrared picture data, obtain the first infrared picture data, the second infrared figure As data and third infrared picture data；Utilize the first infrared picture data, the second infrared picture data and third infrared image Data obtain the three-dimensional reconstruction data of target object to target object expansion photometric stereo three-dimensional reconstruction operation.
As it can be seen that the present invention is in the infrared light for generating three infrared light supplies while after being projected to target object, it will logical Camera lens acquisition reflected light of target is crossed, source light path is obtained, it then will relevant to above three infrared light supply three Road optical signal is extracted from above-mentioned source light path, and is converted into corresponding infrared picture data respectively, obtains three parts of infrared figures As data, the optical signal as corresponding to above-mentioned three parts of infrared picture datas is both from above-mentioned source light path, so above-mentioned three parts Infrared picture data both corresponds to the same state of target object, thus can promote subsequent reconstruction accuracy, and this hair Bright middle number of shots is only one, can be to avoid difficulty brought by more camera lens synchronous adjustments, convenient for the actual application behaviour of user Make.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of photometric stereo three-dimensional rebuilding method flow chart disclosed by the embodiments of the present invention；
Fig. 2 is that a kind of application narrow band filter disclosed by the embodiments of the present invention extracts and first, second from source light path The optical path corresponding with photometric stereo three-dimensional reconstruction process of the first, second, and third road optical signal relevant with third infrared light supply Schematic diagram；
Fig. 3 is that a kind of application short wave pass filter disclosed by the embodiments of the present invention extracts and first, the from source light path Two and the relevant first, second, and third road optical signal of third infrared light supply light corresponding with photometric stereo three-dimensional reconstruction process Road schematic diagram；
Fig. 4 is that a kind of application long wave pass filter disclosed by the embodiments of the present invention extracts and first, the from source light path Two and the relevant first, second, and third road optical signal of third infrared light supply light corresponding with photometric stereo three-dimensional reconstruction process Road schematic diagram；
Fig. 5 is a kind of the 4th tunnel that joined ambient visible light on the basis of Fig. 2 embodiment disclosed by the embodiments of the present invention The light path schematic diagram corresponding with photometric stereo three-dimensional reconstruction process of optical signal；
Fig. 6 is a kind of the 4th tunnel that joined ambient visible light on the basis of Fig. 3 embodiment disclosed by the embodiments of the present invention The light path schematic diagram corresponding with photometric stereo three-dimensional reconstruction process of optical signal；
Fig. 7 is a kind of the 4th tunnel that joined ambient visible light on the basis of Fig. 4 embodiment disclosed by the embodiments of the present invention The light path schematic diagram corresponding with photometric stereo three-dimensional reconstruction process of optical signal；
Fig. 8 is a kind of beam splitting type photometric stereo camera structure schematic diagram disclosed by the embodiments of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.
It is shown in Figure 1 the embodiment of the invention discloses a kind of photometric stereo three-dimensional rebuilding method, this method comprises:
Step S11: the infrared light that the first infrared light supply, the second infrared light supply and third infrared light supply are respectively generated is simultaneously It is projected to target object；Wherein, the wavelength of the first infrared light supply, the second infrared light supply and third infrared light supply is different；
Step S12: it by a camera lens, acquires by the reflected light of target object, obtains source light path；
Step S13: will respectively optical signal relevant to the first infrared light supply, the second infrared light supply and third infrared light supply from It is extracted in source light path, obtains first via optical signal, the second road optical signal and third road optical signal；
Step S14: first via optical signal, the second road optical signal and third road optical signal are converted into respectively corresponding red Outer image data obtains the first infrared picture data, the second infrared picture data and third infrared picture data；
Step S15: the first infrared picture data, the second infrared picture data and third infrared picture data are utilized, to mesh The operation of object developing photometric stereo three-dimensional reconstruction is marked, the three-dimensional reconstruction data of target object are obtained.
It should be noted that in the present invention quantity of above-mentioned infrared light supply in addition to can be three, be also possible to four or More.No matter the quantity of infrared light supply is how many, corresponding three-dimensional reconstruction process is similar with process disclosed in above-mentioned steps, It is no longer repeated herein.In addition, in order to reduce the influence of visible light in environment, above-mentioned each light source is preferential in the present embodiment For infrared light supply, certainly, if not considering the influence of environment light, the present embodiment can also use non-infrared light supply.
As it can be seen that the embodiment of the present invention is in the infrared light that generates three infrared light supplies while after being projected to target object, The reflected light of target will be acquired by a camera lens, obtain source light path, it then will be with above three infrared light supply phase Tri- road optical signal of Guan is extracted from above-mentioned source light path, and is converted into corresponding infrared picture data respectively, obtains three parts Infrared picture data, the optical signal as corresponding to above-mentioned three parts of infrared picture datas both from above-mentioned source light path, or more The same state that three parts of infrared picture datas both correspond to target object is stated, subsequent reconstruction accuracy thus can be promoted, and And number of shots is only one in the embodiment of the present invention, can be convenient for user to avoid difficulty brought by more camera lens synchronous adjustments Actual application operating.
The embodiment of the invention discloses a kind of specific photometric stereo three-dimensional rebuilding methods, include the following steps:
Step S21: the infrared light that the first infrared light supply, the second infrared light supply and third infrared light supply are respectively generated is simultaneously It is projected to target object；Wherein, the wavelength of the first infrared light supply, the second infrared light supply and third infrared light supply is different.
Step S22: it by a camera lens, acquires by the reflected light of target object, obtains source light path.
Step S23: utilizing spectroscope, carries out light-splitting processing to source light path, respectively obtains the first optical path, the second optical path and the Then three optical paths utilize the first narrow band filter, optical signal relevant to the first infrared light supply are extracted from the first optical path Come, obtain first via optical signal, using the second narrow band filter, will optical signal relevant to the second infrared light supply from the second optical path In extract, obtain the second road optical signal, using third narrow band filter, will optical signal relevant to third infrared light supply from It is extracted in third optical path, obtains third road optical signal.
Wherein, the first narrow band filter is that the optical signal for only allowing wavelength consistent with the wavelength of the first infrared light supply passes through Optical filter, the second narrow band filter is the filter for only the wavelength optical signal consistent with the wavelength of the second infrared light supply being allowed to pass through Mating plate, third narrow band filter are the optical filtering that the optical signal for only allowing wavelength consistent with the wavelength of third infrared light supply passes through Piece.
Step S24: first via optical signal, the second road optical signal and third road optical signal are converted into respectively corresponding red Outer image data obtains the first infrared picture data, the second infrared picture data and third infrared picture data.
Step S25: the first infrared picture data, the second infrared picture data and third infrared picture data are utilized, to mesh The operation of object developing photometric stereo three-dimensional reconstruction is marked, the three-dimensional reconstruction data of target object are obtained.
For example, A1, B1, C1 are respectively the first infrared light as described in step S21 as shown in Fig. 2, O1 is target object Source, the second infrared light supply and third infrared light supply, wherein the wavelength of tri- light sources of A1, B1, C1 is different, and D1 is such as step Camera lens described in S22, E1 and F1 are spectroscope, and G1 is reflective mirror, and P1, I1, J1 are respectively the first narrowband disclosed above Optical filter, the second narrow band filter and third narrow band filter, wherein the passband of optical filter P1 is corresponding with the wavelength of light source A1, The passband of optical filter I1 is corresponding with the wavelength of light source B1, and the passband of optical filter J1 is corresponding with the wavelength of light source C1, and Q1, L1, M1 are For the corresponding optical signal received to be converted into infrared CCD/cmos image sensor of infrared image, Z1 is for carrying out The photometric stereo reconstruction processor of three-dimensional reconstruction operation.
When the shutter of camera is opened, wavelength λ1Light source A1, wavelength λ2Light source B1, wavelength λ3Light source C1 It is radiated on target object O1 simultaneously；The irreflexive light of target object O1 will enter camera lens D1, form above-mentioned source light path, spectroscope E1 is located at behind camera lens D1, and the optical path from camera lens D1 is divided into two-way；Spectroscope F1 is located at spectroscope E1 and is separated all the way In optical path, for being divided again to the light in the optical path, to obtain three Lu Guanglu；Q1, L1, M1 be respectively infrared CCD/ Cmos image sensor, the target object O1 being respectively intended under irradiating to light source A1, B1, C1 are imaged；Optical filter P1, I1, J1 is narrow band filter, their the passband wavelength X with light source A1, B1, C1 respectively1、λ2、λ3It is corresponding；Only allow corresponding light source Light pass through；Reflecting mirror G1 be optional device, for adjusting optical path direction so that all optical path directions be each perpendicular to infrared CCD/ Cmos image sensor；Photometric stereo reconstruction processor Z1 is used to carry out infrared CCD/cmos image sensor Q1, L1, M1 same Step, exposure, data transmission, control, obtain all image datas, and utilize photometric stereo three-dimensional reconstruction algorithm, to target object Corresponding three-dimensional reconstruction operation is unfolded, to obtain the three-dimensional reconstruction data of target object.
The embodiment of the invention discloses a kind of specific photometric stereo three-dimensional rebuilding methods, include the following steps:
Step S31: the infrared light that the first infrared light supply, the second infrared light supply and third infrared light supply are respectively generated is simultaneously It is projected to target object；Wherein, the wavelength of the first infrared light supply, the second infrared light supply and third infrared light supply is different.
Step S32: it by a camera lens, acquires by the reflected light of target object, obtains source light path.
Step S33: light separating treatment is carried out to source light path using the first short wave pass filter, it is anti-to be correspondingly made available first Light and the first transmitted light are penetrated, and the first reflected light is determined as first via optical signal；Using the second short wave pass filter to first Transmitted light carries out light separating treatment, is correspondingly made available the second reflected light and the second transmitted light, and the second reflected light is determined as Second road optical signal；Using narrow band filter, optical signal relevant to third infrared light supply is extracted from the second transmitted light Come, obtains third road optical signal.
Wherein, the cutoff wavelength of above-mentioned first short wave pass filter is located at the wavelength and the second infrared light of the first infrared light supply Between the wavelength in source, the cutoff wavelength of above-mentioned second short wave pass filter is located at the wavelength and third infrared light of the second infrared light supply Between the wavelength in source, above-mentioned narrow band filter is that the optical signal for only allowing wavelength consistent with the wavelength of third infrared light supply passes through Optical filter, also, in the present embodiment, the wavelength of the first infrared light supply is greater than the wavelength of the second infrared light supply, and second is infrared The wavelength of light source is greater than the wavelength of third infrared light supply.
Step S34: first via optical signal, the second road optical signal and third road optical signal are converted into respectively corresponding red Outer image data obtains the first infrared picture data, the second infrared picture data and third infrared picture data.
Step S35: the first infrared picture data, the second infrared picture data and third infrared picture data are utilized, to mesh The operation of object developing photometric stereo three-dimensional reconstruction is marked, the three-dimensional reconstruction data of target object are obtained.
For example, A2, B2, C2 are respectively the first infrared light as described in step S31 as shown in figure 3, O2 is target object Source, the second infrared light supply and third infrared light supply, wavelength are respectively λ1、λ2、λ3, and λ1> λ2> λ3, D2 is above-mentioned camera lens, E2 For above-mentioned first short wave pass filter, cutoff wavelength is located at λ1With λ2Between, F2 is above-mentioned second short wave pass filter, cut-off wave It is long to be located at λ2With λ3Between, G2 is narrow band filter disclosed in above-mentioned steps S33, the passband and third infrared light of optical filter G2 The wavelength of source C is corresponding, and H2, K2 are reflecting mirror, and Q2, L2, M2 are infrared CCD/cmos image sensor, and Z2 is photometric stereo reconstruction Processor.
When the shutter of camera is opened, wavelength λ1Light source A2, wavelength λ2Light source B2, wavelength λ3Light source C2 It is radiated on target object O2 simultaneously；The irreflexive light of target object O2 enters camera lens D2, and the first short wave pass filter E2 is located at Behind camera lens D2, cutoff wavelength is located at λ1With λ2Between, so that the optical path from camera lens D2 is divided into two-way, reflected light path is It is λ for wavelength1From light source A2 irradiate target object after the optical path that is obtained by reflection, the optical path then by infrared CCD/ Cmos image sensor M2 is received, and transmitted light path is then irradiated on the second short wave pass filter F2, and cutoff wavelength is located at λ2 With λ3Between, so that optical path is divided into two-way, reflected light path is that wavelength is λ2From light source B2 irradiation target object after by Reflect obtained optical path, which is then received by infrared CCD/cmos image sensor Q2, and transmitted light path be then irradiated to it is narrow On band optical filter G2, passband is corresponding with the wavelength of third infrared light supply C2, only allows light corresponding with third infrared light supply C2 Pass through, is then received by infrared CCD/cmos image sensor L2 by the light of above-mentioned narrow band filter G2；Reflecting mirror H2, K2 For optional device, for adjusting optical path direction, so that all optical path directions are each perpendicular to CCD/CMOS imaging sensor；Luminosity is vertical Volume reconstruction processor Z2 is for synchronizing infrared CCD/cmos image sensor Q2, L2, M2, exposing, data are transmitted, control System obtains all image datas, and utilizes photometric stereo three-dimensional reconstruction algorithm, and corresponding three-dimensional reconstruction is unfolded to target object and grasps Make, to obtain the three-dimensional reconstruction data of target object.
The embodiment of the invention discloses a kind of specific photometric stereo three-dimensional rebuilding methods, include the following steps:
Step S41: the infrared light that the first infrared light supply, the second infrared light supply and third infrared light supply are respectively generated is simultaneously It is projected to target object；Wherein, the wavelength of the first infrared light supply, the second infrared light supply and third infrared light supply is different.
Step S42: it by a camera lens, acquires by the reflected light of target object, obtains source light path.
Step S43: light separating treatment is carried out to source light path using the first long wave pass filter, it is anti-to be correspondingly made available first Light and the first transmitted light are penetrated, and the first transmitted light is determined as first via optical signal；Using the second long wave pass filter to first Reflected light carries out light separating treatment, is correspondingly made available the second reflected light and the second transmitted light, and the second transmitted light is determined as Second road optical signal；Using narrow band filter, optical signal relevant to third infrared light supply is extracted from the second reflected light Come, obtains third road optical signal.
Wherein, the cutoff wavelength of above-mentioned first long wave pass filter is located at the wavelength and the second infrared light of the first infrared light supply Between the wavelength in source, the cutoff wavelength of above-mentioned second long wave pass filter is located at the wavelength and third infrared light of the second infrared light supply Between the wavelength in source, above-mentioned narrow band filter is that the optical signal for only allowing wavelength consistent with the wavelength of third infrared light supply passes through Optical filter, also, the wavelength of the first infrared light supply is greater than the wavelength of the second infrared light supply, and the wavelength of the second infrared light supply is greater than The wavelength of third infrared light supply.
Step S44: first via optical signal, the second road optical signal and third road optical signal are converted into respectively corresponding red Outer image data obtains the first infrared picture data, the second infrared picture data and third infrared picture data.
Step S45: the first infrared picture data, the second infrared picture data and third infrared picture data are utilized, to mesh The operation of object developing photometric stereo three-dimensional reconstruction is marked, the three-dimensional reconstruction data of target object are obtained.
For example, with reference to shown in Fig. 4, O3 is target object, and A3, B3, C3 are respectively first infrared as described in step S41 Light source, the second infrared light supply and third infrared light supply, wavelength are respectively λ1、λ2、λ3, and λ1> λ2> λ3, D3 is above-mentioned camera lens, E3 is above-mentioned first long wave pass filter, and cutoff wavelength is located at λ1With λ2Between, F3 is above-mentioned second long wave pass filter, cut-off Wavelength is located at λ2With λ3Between, H3 is above-mentioned narrow band filter, and the passband of optical filter G is corresponding with the wavelength of third infrared light supply C, G3 is reflecting mirror, and Q3, L3, M3 are infrared CCD/cmos image sensor, and Z3 is photometric stereo reconstruction processor.
When the shutter of camera is opened, wavelength λ1Light source A3, wavelength λ2Light source B3, wavelength λ3Light source C3 It is radiated on target object O3 simultaneously；The irreflexive light of target object O3 enters camera lens D3, and the first long wave pass filter E3 is located at Behind camera lens D3, cutoff wavelength is located at λ1With λ2Between, so that the optical path from camera lens D3 is divided into two-way, transmitted light path is It is λ for wavelength1Irradiate target object obtained optical path after transmission from light source A3, the optical path then by infrared CCD/ Cmos image sensor M3 is received, and reflected light path is then irradiated on the second long wave pass filter F3, and cutoff wavelength is located at λ2 With λ3Between, so that optical path is divided into two-way, transmitted light path is that wavelength is λ2From light source B3 irradiation target object by saturating The optical path obtained after penetrating, which is then received by infrared CCD/cmos image sensor L3, and reflected light path is then irradiated to It states on narrow band filter H3, passband is corresponding with the wavelength of third infrared light supply C3, only allows corresponding with third infrared light supply C3 Light pass through, which is then received by infrared CCD/cmos image sensor Q3, and reflecting mirror G3 is optional device, for adjusting Optical path direction, so that all optical path directions are each perpendicular to CCD/CMOS imaging sensor；Photometric stereo reconstruction processor Z3 is used for Infrared CCD/cmos image sensor Q3, L3, M3 is synchronized, is exposed, data transmission, control, obtains all image datas, And photometric stereo three-dimensional reconstruction algorithm is utilized, corresponding three-dimensional reconstruction is unfolded to target object and is operated, to obtain target object Three-dimensional reconstruction data.
In addition, the embodiment of the present invention can further include on the basis of the technical solution disclosed in previous embodiment: Optical signal relevant to visible light in environment is extracted from above-mentioned source light path, obtains the 4th road optical signal, by the 4th tunnel Optical signal is converted into corresponding color image data, then by the color information and texture information mapping in color image data To above-mentioned three-dimensional reconstruction data, the three-dimensional reconstruction data after being optimized.As it can be seen that the embodiment of the present invention is by by color image number Information MAP in is available with target object pair to the above-mentioned three-dimensional reconstruction data based on the building of three road infrared signals The more life-like 3-D image answered.
For example, on the basis of Fig. 5 is by the technical solution disclosed in above-mentioned Fig. 2, increase spectroscope H1, reflecting mirror K1, The color image sensor N1 and processor Y1 of the mapping processing for above-mentioned three-dimensional reconstruction data to be carried out with color and texture, Wherein, under the action of spectroscope H1, three optical paths of script become four optical paths, can be with by this newly-increased optical path The color image data of target image is got, then the color image data is mapped to and above-mentioned is based on three road infrared signals Obtained three-dimensional reconstruction data, thus the three-dimensional reconstruction data after being optimized.
In another example increasing third short wave pass filter on the basis of Fig. 6 is by the technical solution disclosed in above-mentioned Fig. 3 At S2, reflecting mirror P2, color image sensor N2 and mapping for above-mentioned three-dimensional reconstruction data to be carried out with color and texture The processor Y2 of reason, wherein the cutoff wavelength of third short wave pass filter S2 is located at λ3Between visible light, in third short-pass Under the action of optical filter S2, the optical path that the second short wave pass filter transmits can be split into two optical paths, respectively instead Optical path and transmitted light path are penetrated, it is λ that wherein reflected light path, which is wavelength,3From light source C2 irradiation target object after by reflecting The optical path arrived, and be then irradiated in transmitted light path on color image sensor N2, for the target object under being penetrated to ambient lighting O2 is imaged, and the color image data is then mapped to the above-mentioned three-dimensional reconstruction number obtained based on three road infrared signals According to thus the three-dimensional reconstruction data after being optimized.
For another example increasing third long wave pass filter on the basis of Fig. 7 is by the technical solution disclosed in above-mentioned Fig. 4 At S3, reflecting mirror K3, color image sensor N3 and mapping for above-mentioned three-dimensional reconstruction data to be carried out with color and texture The processor Y3 of reason, wherein the cutoff wavelength of third long wave pass filter S3 is located at λ3It is logical in third long wave between visible light Under the action of optical filter S3, the optical path that the second long wave pass filter reflects can be split into two optical paths, respectively reflected light Road and transmitted light path, it is λ that wherein transmitted light path, which is wavelength,3From light source C3 irradiate target object after obtained by reflection Optical path, and being then irradiated in reflected light path on color image sensor N3, for the target object O3 under being penetrated to ambient lighting into Row imaging, then maps to the above-mentioned three-dimensional reconstruction data obtained based on three road infrared signals for the color image data, from And the three-dimensional reconstruction data after being optimized.
Correspondingly, the embodiment of the invention also discloses a kind of beam splitting type photometric stereo camera, shown in Figure 8, the camera It include: the first infrared light supply 11, the second infrared light supply 12, third infrared light supply 13, camera lenses 14, an optical signal extraction systems (not shown), signal translating system (not shown) and three-dimensional reconstruction system (not shown)；Wherein,
First infrared light supply 11, the second infrared light supply 12 and third infrared light supply 13, for infrared by what is respectively generated Light is projected to target object simultaneously；Wherein, the wavelength of the first infrared light supply, the second infrared light supply and third infrared light supply mutually not It is identical；
Camera lens 14 obtains source light path for acquiring by the reflected light of target object；
Optical signal extraction system, for will respectively with the first infrared light supply 11, the second infrared light supply 12 and third infrared light The relevant optical signal in source 13 is extracted from source light path, obtains first via optical signal, the second road optical signal and third Lu Guangxin Number；
Signal translating system, for respectively converting first via optical signal, the second road optical signal and third road optical signal At corresponding infrared picture data, the first infrared picture data, the second infrared picture data and third infrared picture data are obtained；
Three-dimensional reconstruction system, for utilizing the first infrared picture data, the second infrared picture data and third infrared image Data obtain the three-dimensional reconstruction data of target object to target object expansion photometric stereo three-dimensional reconstruction operation.
It is understood that the beam splitting type photometric stereo camera in the present embodiment also needs to include control shutter 15.
In a kind of specific real-time proposals, above-mentioned optical signal extraction system, comprising: light splitting mirror system, for utilizing Spectroscope carries out light-splitting processing to source light path, respectively obtains the first optical path, the second optical path and third optical path；First optical signal mentions Modulus block extracts optical signal relevant to the first infrared light supply for utilizing the first narrow band filter from the first optical path Come, obtains first via optical signal；Second optical signal extraction module will be with the second infrared light for utilizing the second narrow band filter The relevant optical signal in source is extracted from the second optical path, obtains the second road optical signal；Third optical signal extraction module, for benefit With third narrow band filter, optical signal relevant to third infrared light supply is extracted from third optical path, obtains third road Optical signal；Wherein, the first narrow band filter is that the optical signal for only allowing wavelength consistent with the wavelength of the first infrared light supply passes through Optical filter, the second narrow band filter is the filter for only the wavelength optical signal consistent with the wavelength of the second infrared light supply being allowed to pass through Mating plate, third narrow band filter are the optical filtering that the optical signal for only allowing wavelength consistent with the wavelength of third infrared light supply passes through Piece.About the specific example of the present embodiment, can refer in corresponding contents disclosed in Fig. 2 and previous embodiment about figure 2 specific descriptions, are no longer repeated herein.
In another specific embodiment, above-mentioned optical signal extraction system, comprising: the first separation module, for benefit Light separating treatment is carried out to source light path with the first short wave pass filter, is correspondingly made available the first reflected light and the first transmitted light, And the first reflected light is determined as first via optical signal；Second separation module, for utilizing the second short wave pass filter to first Transmitted light carries out light separating treatment, is correspondingly made available the second reflected light and the second transmitted light, and the second reflected light is determined as Second road optical signal；First extraction unit, for utilizing narrow band filter, will optical signal relevant to third infrared light supply from the It is extracted in two transmitted lights, obtains third road optical signal；Wherein, it is red to be located at first for the cutoff wavelength of the first short wave pass filter Between the wavelength of outer light source and the wavelength of the second infrared light supply, the cutoff wavelength of the second short wave pass filter is located at the second infrared light Between the wavelength in source and the wavelength of third infrared light supply, narrow band filter is the wavelength phase for only allowing wavelength and third infrared light supply The optical filter that consistent optical signal passes through, also, the wavelength of the first infrared light supply is greater than the wavelength of the second infrared light supply, and second is red The wavelength of outer light source is greater than the wavelength of third infrared light supply.About the specific example of the present embodiment, it can refer to and be disclosed in Fig. 3 Corresponding contents and previous embodiment in specific descriptions about Fig. 3, no longer repeated herein.
In another specific embodiment, above-mentioned optical signal extraction system, comprising: third separation module, for utilizing First long wave pass filter carries out light separating treatment to source light path, is correspondingly made available the first reflected light and the first transmitted light, and First transmitted light is determined as first via optical signal；4th separation module, for anti-to first using the second long wave pass filter It penetrates light and carries out light separating treatment, be correspondingly made available the second reflected light and the second transmitted light, and the second transmitted light is determined as the Two road optical signals；Second extraction unit, for utilizing narrow band filter, will optical signal relevant to third infrared light supply from second It is extracted in reflected light, obtains third road optical signal；Wherein, it is infrared to be located at first for the cutoff wavelength of the first long wave pass filter Between the wavelength of light source and the wavelength of the second infrared light supply, the cutoff wavelength of the second long wave pass filter is located at the second infrared light supply Wavelength and third infrared light supply wavelength between, narrow band filter be only allow wavelength and third infrared light supply a wavelength phase one The optical filter that the optical signal of cause passes through, also, the wavelength of the first infrared light supply is greater than the wavelength of the second infrared light supply, and second is infrared The wavelength of light source is greater than the wavelength of third infrared light supply.It, can be with reference to disclosed in Fig. 4 about the specific example of the present embodiment About the specific descriptions of Fig. 4 in corresponding contents and previous embodiment, no longer repeated herein.
In addition, the beam splitting type photometric stereo camera in the present embodiment, can further include the 4th optical signal and extracts mould Block, color image sensor and the data-optimized module of three-dimensional reconstruction；Wherein,
4th optical signal extraction module, for extracting optical signal relevant to visible light in environment from source light path Come, obtains the 4th road optical signal；
Color image sensor, for the 4th road optical signal to be converted into corresponding color image data；
The data-optimized module of three-dimensional reconstruction, for by color image data color information and texture information map to Three-dimensional reconstruction data, the three-dimensional reconstruction data after being optimized.
Wherein, light path design relevant to the optimization process of above-mentioned three-dimensional reconstruction data can be with reference in Fig. 5, Fig. 6 and Fig. 7 Disclosed specific embodiment, is no longer repeated herein.
As it can be seen that the embodiment of the present invention is in the infrared light that generates three infrared light supplies while after being projected to target object, The reflected light of target will be acquired by a camera lens, obtain source light path, it then will be with above three infrared light supply phase Tri- road optical signal of Guan is extracted from above-mentioned source light path, and is converted into corresponding infrared picture data respectively, obtains three parts Infrared picture data, the optical signal as corresponding to above-mentioned three parts of infrared picture datas both from above-mentioned source light path, or more The same state that three parts of infrared picture datas both correspond to target object is stated, subsequent reconstruction accuracy thus can be promoted, and And number of shots is only one in the embodiment of the present invention, can be convenient for user to avoid difficulty brought by more camera lens synchronous adjustments Actual application operating.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning Covering non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes that A little elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged Except there is also other identical elements in the process, method, article or apparatus that includes the element.
A kind of photometric stereo three-dimensional rebuilding method provided by the present invention and beam splitting type photometric stereo camera are carried out above It is discussed in detail, used herein a specific example illustrates the principle and implementation of the invention, above embodiments Explanation be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, According to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion in this specification Appearance should not be construed as limiting the invention.

Claims (10)

1. a kind of photometric stereo three-dimensional rebuilding method characterized by comprising
By infrared light that the first infrared light supply, the second infrared light supply and third infrared light supply respectively generate while being projected to object Body；Wherein, the wavelength of first infrared light supply, second infrared light supply and the third infrared light supply is different；
By a camera lens, acquires by the reflected light of the target object, obtain source light path；
Will respectively optical signal relevant to first infrared light supply, second infrared light supply and the third infrared light supply from It is extracted in the source light path, obtains first via optical signal, the second road optical signal and third road optical signal；
The first via optical signal, second road optical signal and third road optical signal are converted into respectively corresponding red Outer image data obtains the first infrared picture data, the second infrared picture data and third infrared picture data；
Using first infrared picture data, the second infrared picture data and third infrared picture data, to the object The operation of photometric stereo three-dimensional reconstruction is unfolded in body, obtains the three-dimensional reconstruction data of the target object.
2. photometric stereo three-dimensional rebuilding method according to claim 1, which is characterized in that it is described will be respectively with described first Infrared light supply, second infrared light supply and the relevant optical signal of the third infrared light supply are extracted from the source light path Process, comprising:
Using spectroscope, light-splitting processing is carried out to the source light path, respectively obtains the first optical path, the second optical path and third optical path；
Using the first narrow band filter, optical signal relevant to first infrared light supply is extracted from first optical path Come, obtains the first via optical signal；
Using the second narrow band filter, optical signal relevant to second infrared light supply is extracted from second optical path Come, obtains second road optical signal；
Using third narrow band filter, optical signal relevant to the third infrared light supply is extracted from the third optical path Come, obtains third road optical signal；
Wherein, first narrow band filter is the optical signal for only allowing wavelength consistent with the wavelength of first infrared light supply By optical filter, second narrow band filter is only to allow the wavelength light consistent with the wavelength of second infrared light supply The optical filter that signal passes through, the third narrow band filter are only to allow wavelength consistent with the wavelength of the third infrared light supply The optical filter that passes through of optical signal.
3. photometric stereo three-dimensional rebuilding method according to claim 1, which is characterized in that it is described will be respectively with described first Infrared light supply, second infrared light supply and the relevant optical signal of the third infrared light supply are extracted from the source light path Process, comprising:
Light separating treatment is carried out to the source light path using the first short wave pass filter, is correspondingly made available the first reflected light and the One transmitted light, and first reflected light is determined as the first via optical signal；
Light separating treatment is carried out to first transmitted light using the second short wave pass filter, is correspondingly made available the second reflected light With the second transmitted light, and second reflected light is determined as second road optical signal；
Using narrow band filter, optical signal relevant to the third infrared light supply is extracted from second transmitted light Come, obtains third road optical signal；
Wherein, the cutoff wavelength of first short wave pass filter is located at the wavelength of first infrared light supply and described second red Between the wavelength of outer light source, the cutoff wavelength of second short wave pass filter is located at wavelength and the institute of second infrared light supply Between the wavelength for stating third infrared light supply, the narrow band filter is the wavelength phase for only allowing wavelength and the third infrared light supply The optical filter that consistent optical signal passes through, also, the wavelength of first infrared light supply is greater than the wave of second infrared light supply Long, the wavelength of second infrared light supply is greater than the wavelength of the third infrared light supply.
4. photometric stereo three-dimensional rebuilding method according to claim 1, which is characterized in that it is described will be respectively with described first Infrared light supply, second infrared light supply and the relevant optical signal of the third infrared light supply are extracted from the source light path Process, comprising:
Light separating treatment is carried out to the source light path using the first long wave pass filter, is correspondingly made available the first reflected light and the One transmitted light, and first transmitted light is determined as the first via optical signal；
Light separating treatment is carried out to first reflected light using the second long wave pass filter, is correspondingly made available the second reflected light With the second transmitted light, and second transmitted light is determined as second road optical signal；
Using narrow band filter, optical signal relevant to the third infrared light supply is extracted from second reflected light Come, obtains third road optical signal；
Wherein, the cutoff wavelength of first long wave pass filter is located at the wavelength of first infrared light supply and described second red Between the wavelength of outer light source, the cutoff wavelength of second long wave pass filter is located at wavelength and the institute of second infrared light supply Between the wavelength for stating third infrared light supply, the narrow band filter is the wavelength phase for only allowing wavelength and the third infrared light supply The optical filter that consistent optical signal passes through, also, the wavelength of first infrared light supply is greater than the wave of second infrared light supply Long, the wavelength of second infrared light supply is greater than the wavelength of the third infrared light supply.
5. photometric stereo three-dimensional rebuilding method according to any one of claims 1 to 4, which is characterized in that further include:
Optical signal relevant to visible light in environment is extracted from the source light path, obtains the 4th road optical signal；
The 4th road optical signal is converted into corresponding color image data；
By in the color image data color information and texture information map to the three-dimensional reconstruction data, optimized Three-dimensional reconstruction data afterwards.
6. a kind of beam splitting type photometric stereo camera characterized by comprising the first infrared light supply, the second infrared light supply, third are red Outer light source, a camera lens, optical signal extraction system, signal translating system and three-dimensional reconstruction system；Wherein,
First infrared light supply, second infrared light supply and the third infrared light supply, for red by what is respectively generated Outer light is projected to target object simultaneously；Wherein, first infrared light supply, second infrared light supply and the third infrared light The wavelength in source is different；
The camera lens obtains source light path for acquiring by the reflected light of the target object；
The optical signal extraction system, for will respectively with first infrared light supply, second infrared light supply and described the The relevant optical signal of three infrared light supplies is extracted from the source light path, obtain first via optical signal, the second road optical signal and Third road optical signal；
The signal translating system, for respectively by the first via optical signal, second road optical signal and the third Road optical signal is converted into corresponding infrared picture data, obtains the first infrared picture data, the second infrared picture data and third Infrared picture data；
The three-dimensional reconstruction system, for infrared using first infrared picture data, the second infrared picture data and third Image data obtains the three-dimensional reconstruction number of the target object to target object expansion photometric stereo three-dimensional reconstruction operation According to.
7. beam splitting type photometric stereo camera according to claim 6, which is characterized in that the optical signal extraction system, packet It includes:
It is divided mirror system, for utilizing spectroscope, light-splitting processing is carried out to the source light path, respectively obtains the first optical path, the Two optical paths and third optical path；
First optical signal extraction module will light letter relevant to first infrared light supply for utilizing the first narrow band filter It number is extracted from first optical path, obtains the first via optical signal；
Second optical signal extraction module will light letter relevant to second infrared light supply for utilizing the second narrow band filter It number is extracted from second optical path, obtains second road optical signal；
Third optical signal extraction module will light letter relevant to the third infrared light supply for utilizing third narrow band filter It number is extracted from the third optical path, obtains third road optical signal；
Wherein, first narrow band filter is the optical signal for only allowing wavelength consistent with the wavelength of first infrared light supply By optical filter, second narrow band filter is only to allow the wavelength light consistent with the wavelength of second infrared light supply The optical filter that signal passes through, the third narrow band filter are only to allow wavelength consistent with the wavelength of the third infrared light supply The optical filter that passes through of optical signal.
8. beam splitting type photometric stereo camera according to claim 6, which is characterized in that the optical signal extraction system, packet It includes:
First separation module, for carrying out light separating treatment to the source light path using the first short wave pass filter, correspondingly The first reflected light and the first transmitted light are obtained, and first reflected light is determined as the first via optical signal；
Second separation module, for carrying out light separating treatment, phase to first transmitted light using the second short wave pass filter It obtains the second reflected light and the second transmitted light with answering, and second reflected light is determined as second road optical signal；
First extraction unit, for utilizing narrow band filter, will optical signal relevant to the third infrared light supply from described the It is extracted in two transmitted lights, obtains third road optical signal；
Wherein, the cutoff wavelength of first short wave pass filter is located at the wavelength of first infrared light supply and described second red Between the wavelength of outer light source, the cutoff wavelength of second short wave pass filter is located at wavelength and the institute of second infrared light supply Between the wavelength for stating third infrared light supply, the narrow band filter is the wavelength phase for only allowing wavelength and the third infrared light supply The optical filter that consistent optical signal passes through, also, the wavelength of first infrared light supply is greater than the wave of second infrared light supply Long, the wavelength of second infrared light supply is greater than the wavelength of the third infrared light supply.
9. beam splitting type photometric stereo camera according to claim 6, which is characterized in that the optical signal extraction system, packet It includes:
Third separation module, for carrying out light separating treatment to the source light path using the first long wave pass filter, correspondingly The first reflected light and the first transmitted light are obtained, and first transmitted light is determined as the first via optical signal；
4th separation module, for carrying out light separating treatment, phase to first reflected light using the second long wave pass filter It obtains the second reflected light and the second transmitted light with answering, and second transmitted light is determined as second road optical signal；
Second extraction unit, for utilizing narrow band filter, will optical signal relevant to the third infrared light supply from described the It is extracted in two reflected lights, obtains third road optical signal；
Wherein, the cutoff wavelength of first long wave pass filter is located at the wavelength of first infrared light supply and described second red Between the wavelength of outer light source, the cutoff wavelength of second long wave pass filter is located at wavelength and the institute of second infrared light supply Between the wavelength for stating third infrared light supply, the narrow band filter is the wavelength phase for only allowing wavelength and the third infrared light supply The optical filter that consistent optical signal passes through, also, the wavelength of first infrared light supply is greater than the wave of second infrared light supply Long, the wavelength of second infrared light supply is greater than the wavelength of the third infrared light supply.
10. according to the described in any item beam splitting type photometric stereo cameras of claim 6 to 9, which is characterized in that further include:
4th optical signal extraction module, for extracting optical signal relevant to visible light in environment from the source light path Come, obtains the 4th road optical signal；
Color image sensor, for the 4th road optical signal to be converted into corresponding color image data；
The data-optimized module of three-dimensional reconstruction, for by the color image data color information and texture information map to The three-dimensional reconstruction data, the three-dimensional reconstruction data after being optimized.
CN201710192400.0A 2017-03-28 2017-03-28 A kind of photometric stereo three-dimensional rebuilding method and beam splitting type photometric stereo camera Active CN106773509B (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201710192400.0A CN106773509B (en) 2017-03-28 2017-03-28 A kind of photometric stereo three-dimensional rebuilding method and beam splitting type photometric stereo camera
PCT/CN2017/081612 WO2018176534A1 (en) 2017-03-28 2017-04-24 Photometric stereoscopic three-dimensional reconstruction method and spectrophotometric stereoscopic camera

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710192400.0A CN106773509B (en) 2017-03-28 2017-03-28 A kind of photometric stereo three-dimensional rebuilding method and beam splitting type photometric stereo camera

Publications (2)

Publication Number Publication Date
CN106773509A CN106773509A (en) 2017-05-31
CN106773509B true CN106773509B (en) 2019-07-09

Family

ID=58967850

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710192400.0A Active CN106773509B (en) 2017-03-28 2017-03-28 A kind of photometric stereo three-dimensional rebuilding method and beam splitting type photometric stereo camera

Country Status (2)

Country Link
CN (1) CN106773509B (en)
WO (1) WO2018176534A1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112342970A (en) * 2019-08-07 2021-02-09 三赢科技（深圳）有限公司 Intelligent environment cleaning robot
CN111983874A (en) * 2020-08-19 2020-11-24 四川迈视崔数字科技有限公司 Method for obtaining object surface texture based on photometric stereo method and photostudio

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104634276A (en) * 2015-02-12 2015-05-20 北京唯创视界科技有限公司 Three-dimensional measuring system, photographing device, photographing method, depth calculation method and depth calculation device
CN105333837A (en) * 2015-10-21 2016-02-17 上海集成电路研发中心有限公司 Three dimension scanning device
CN105991990A (en) * 2015-01-23 2016-10-05 江苏南大五维电子科技有限公司 3D information obtaining device, 3D information obtaining method, imaging device and electronic device

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011114363A (en) * 2009-11-24 2011-06-09 3D Media Co Ltd Imaging apparatus
CN102760234B (en) * 2011-04-14 2014-08-20 财团法人工业技术研究院 Depth image acquisition device, system and method
CN102750046B (en) * 2012-05-30 2015-09-09 浙江大学 Based on quick three-dimensional display interactive device and the method for the infrared identification of double structure light
CN102999939B (en) * 2012-09-21 2016-02-17 魏益群 Coordinate acquiring device, real-time three-dimensional reconstructing system and method, three-dimensional interactive device
US9544510B2 (en) * 2013-01-10 2017-01-10 Phase Sensitive Innovations, Inc. Three-dimensional reconstruction of a millimeter-wave scene by optical up-conversion and cross-correlation detection
JP6082321B2 (en) * 2013-06-10 2017-02-15 住友電気工業株式会社 Surgical microscope system
US9392262B2 (en) * 2014-03-07 2016-07-12 Aquifi, Inc. System and method for 3D reconstruction using multiple multi-channel cameras
CN103885279A (en) * 2014-03-27 2014-06-25 大连理工大学 Space three-dimensional image acquisition system
CN204351832U (en) * 2014-12-19 2015-05-27 深圳市云之梦科技有限公司 A kind of human body three-dimensional data acquisition equipment
CN105987693B (en) * 2015-05-19 2019-04-30 北京蚁视科技有限公司 A kind of vision positioning device and three-dimensional mapping system and method based on the device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105991990A (en) * 2015-01-23 2016-10-05 江苏南大五维电子科技有限公司 3D information obtaining device, 3D information obtaining method, imaging device and electronic device
CN104634276A (en) * 2015-02-12 2015-05-20 北京唯创视界科技有限公司 Three-dimensional measuring system, photographing device, photographing method, depth calculation method and depth calculation device
CN105333837A (en) * 2015-10-21 2016-02-17 上海集成电路研发中心有限公司 Three dimension scanning device

Also Published As

Publication number Publication date
CN106773509A (en) 2017-05-31
WO2018176534A1 (en) 2018-10-04

Similar Documents

Publication Publication Date Title
US11693242B2 (en) Head-mounted display for virtual and mixed reality with inside-out positional, user body and environment tracking
CN104634276A (en) Three-dimensional measuring system, photographing device, photographing method, depth calculation method and depth calculation device
CN107124604A (en) A kind of utilization dual camera realizes the method and device of 3-D view
CN203746012U (en) Three-dimensional virtual scene human-computer interaction stereo display system
CN102368137B (en) Embedded calibrating stereoscopic vision system
CN106773509B (en) A kind of photometric stereo three-dimensional rebuilding method and beam splitting type photometric stereo camera
CN109379578A (en) Omnidirectional three-dimensional video-splicing method, apparatus, equipment and storage medium
CN101581874A (en) Tele-immersion teamwork device based on multi-camera acquisition
CN102495463A (en) Visual three-dimensional stereoscopic imaging method and operation microscope utilizing same
CN106611430A (en) An RGB-D image generation method, apparatus and a video camera
CN106296789A (en) A kind of it is virtually implanted method and the terminal that object shuttles back and forth in outdoor scene
CN106817577A (en) One kind is based on RGB D cameras and stereosonic visually impaired people's barrier early warning glasses
CN104463956A (en) Construction method and device for virtual scene of lunar surface
JP2008017386A (en) Key image generation device
CN109766806A (en) Efficient face identification method and electronic equipment
CN105988638B (en) Position detecting device and its control method and display device and its control method
CN103412461B (en) 3D imaging system based on light splitting piece
CN106604016A (en) Stereoscopic video capture system
CN206193386U (en) Alert glasses equipment of using
CN206331183U (en) A kind of augmented reality and the dual-purpose display device of virtual reality and wearable device
CN101594548A (en) Free stereo display method based on the DLP projection
CN114898440A (en) Driving method of liquid crystal grating, display device and display method thereof
CN106231202A (en) The multispectral full optical image acquisition method of panorama and system
CN210109743U (en) VR interactive system based on motion capture
TWI489152B (en) Projection system and projection method thereof

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant