CN107869967A - A kind of human foot quick three-dimensional scan method - Google Patents
A kind of human foot quick three-dimensional scan method Download PDFInfo
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- CN107869967A CN107869967A CN201711062734.2A CN201711062734A CN107869967A CN 107869967 A CN107869967 A CN 107869967A CN 201711062734 A CN201711062734 A CN 201711062734A CN 107869967 A CN107869967 A CN 107869967A
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
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- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D1/00—Foot or last measuring devices; Measuring devices for shoe parts
- A43D1/02—Foot-measuring devices
- A43D1/025—Foot-measuring devices comprising optical means, e.g. mirrors, photo-electric cells, for measuring or inspecting feet
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
Abstract
The invention discloses a kind of human foot quick three-dimensional scan method, is related to 3-D scanning and digital assay technical field, and methods described is demarcated by the way of the inside and outside parameter bundle adjustment of camera to the measurement head；Speckle is projected to foot, gathers foot image file, carries out speckle matching；Three-dimensional point off density cloud is carried out using the measurement head demarcated to rebuild, and obtains foot threedimensional model；Foot moulded dimension is extracted according to the foot threedimensional model.Human foot quick three-dimensional scan method provided by the invention can obtain the foot key point coordinates such as the internal malleolus point of human foot, external malleolus point, heel point, toe cusp, and then complete foot bottoms, pin are long, external malleolus is long, pin it is wide enclose, heel encloses equidimension automatically extracts resolving, sweep speed is fast, and precision is high.
Description
Technical field
The present invention relates to 3-D scanning and digital assay technical field, and in particular to a kind of foot quick three-dimensional scanning side
Method.
Background technology
With the improvement of living standards, requirement of the people to footwear is also gradually from the simple beautiful mistake for pursuing style
Cross to the requirement to comfort level.China is vast in territory, because region is different, growing environment is different, the sufficient type of each department crowd
Respective feature is had, therefore footwear enterprise just needs to be directed to consumer objects, is designed research and development and sale, enables the customer to
The footwear for being more suitable for their foot type is bought, but sufficient type feature base research of the domestic shoe-making industry to each department group is still
Not enough.Leather shoes are divided into several classes of Men's Shoes, women's shoes, children's footwear by traditional shoe industry, and the length of people's pin is divided into several correspondences
Section, then for every a kind of footwear be one yardage of the long section definition of each pin, it is specified that pin length positioned at the section pin it is equal
The shoes of code length corresponding to the section should be worn.In the shoes of same code length, difference is also divided into according to the difference that pin is wide
Girth of a garment type.During production, the standard shoe tree of specific footwear sizes and style, Ran Hougen are produced according to code length and girth of a garment type
The shoes of different size difference pattern are fabricated to according to these standard shoe trees.People usually need to try on not when shoes are bought
The footwear of oneself foot type as suitable as possible are found with the shoes of model, so that in most cases, people's pin must be passive
Ground adapts to the size and dimension that shoes are fixed.In fact, belong to the foot type shape difference in the long section of pin corresponding to same code length
It is very big, even it is complete specular that the left and right pin of same person, which is not, yet, it is also possible to length, fat or thin, sufficient be present
The different degrees of differences such as bow height, or even the left and right pin of same person are not belonging to Jiao Chang areas corresponding to same shoes code length
Between situation it is also relatively conventional.Therefore, many people have to endure leather shoes press against one's foot, mill pin or the pain do not fitted well.In order to change
The present situation of this " trimming the feet to fit the shoes ", it is inevitable to carry out shoes customization according to the foot type shape of user.
Specific professional personnel such as sportsman, performer etc. need the dynamic shape and gait pressure to foot type in training process
Power is studied.In order to reach more preferable training effect, it is sometimes desirable to carry out action appearance to sportsman or dancer etc.
The adjustment of gesture, and pin rises certainly as the impetus, its posture to land, angle etc. of the whole body of support to the completion entirely acted
Qualitative effect, so it is generally necessary to them in motion process, the change in shape in short time that pin lands is analyzed, from
And instruct training.In field of medical research, the measurement of foot type shape can be biodynamics, and the research of human cinology provides
More fully data information, it can help to study the growth course of children's foot type, ill foot type rehabilitation effect is observed in help, separately
Outside, it can also carry out aiding in artificial limb reconstruction and medical simulation experiment etc..
Traditional sufficient type data acquisition using hand dipping mode, although this method is simple to operate, cost is cheap,
But accuracy is low, efficiency is low etc. be present, and because hand dipping can only be directed to foot characteristic point, lack to foot shape
The description of the global feature information of state.In face of the sufficient type data acquisition of big quantity, if advising and measuring using tape measure, height gauge, foot-measuring
The instruments such as sole measure the size of foot critical points of measurement one by one, and the levels of precision of measurement data is highly prone to the behaviour of gauger
Make the influence of gimmick and measured's posture, and to obtain complete data to devote a tremendous amount of time, the shortcomings that its is inefficient stands
Quarter shows.In addition, a small number of parameters obtained by original hand dipping can not be described entirely by foot exactly.Research knot
Fruit shows that everyone high arch of foot and toe and plantar surface angle are dramatically different, and this aspect is not embodied in China
In existing standard, i.e., shoe style is determined according to pin length and wide two characteristic sizes of pin, can accurately not reflect and belong to same
The difference of the Different Individual foot type of No.1 type.This illustrates to need a kind of new foot shape measurement mode and expression from another point of view
Quickly and conveniently to obtain and comprehensively express the shape of foot type.
The content of the invention
In view of this, the technical problem to be solved in the present invention is, for existing human foot appearance profile three-dimensionalreconstruction
Method precision is low, sweep speed is slow, poor robustness, cost are high, do not meet foot physilogical characteristics and is difficult to marketization popularization
Problem.
The present invention is solved the above problems by following technological means：
A kind of human foot quick three-dimensional scan method, methods described are applied to the foot 3-D scanning dress for including measurement head
In putting, the measurement head, which includes two cameras and the speckle projector, methods described, to be included：
Adjust the measurement head visual field；
The measurement head is demarcated by the way of the inside and outside parameter bundle adjustment of camera；
Speckle is projected to foot, gathers foot image file, carries out speckle matching；
Three-dimensional point off density cloud is carried out using the measurement head demarcated to rebuild, and obtains foot threedimensional model；
Foot moulded dimension is extracted according to the foot threedimensional model.
Further, the measurement head be two, it is described by the way of the inside and outside parameter bundle adjustment of camera to the survey
Amount head, which carries out demarcation, to be included：
Scaling board with encoded point and non-coding index point is positioned under the visual field of camera, obtained by mobile scaling board
Scaling board is taken in eight diverse locations and the camera image of posture；
By image procossing, encoded radio corresponding to the image coordinate of non-coding point and encoded point in eight groups of images is identified；
The relative position relation of preceding two groups of images is calculated by photogrammetric middle relative orientation algorithm, and reconstructs coding
Index point object coordinates；
Other groups of picture positions are directed out by Method of Direct Liner Transformation and pyramid method, reconstruct the thing of non-coding index point
Square coordinate：
Camera internal parameter, external parameter, object space feature point coordinates are carried out by bundle adjustment optimized algorithm overall
Iteration optimization, obtain the inside and outside parameter between described two measurement head cameras.
Further, the speckle matching includes：
Slightly matched using seed point method of diffusion；
Fine match is carried out using loading by means of digital image correlation method.
Further, it is described to carry out three-dimensional point off density cloud reconstruction using the measurement head demarcated, obtain foot three-dimensional mould
Type includes：
Distributed dense reconstruction three-dimensional point cloud, then the point cloud model to multiple measurement heads are carried out with the measurement head demarcated
Merged, obtain foot point cloud skeleton pattern；
Triangle gridding encapsulation and filling-up hole are carried out to the foot point cloud skeleton pattern, obtain the foot threedimensional model.
Human foot quick three-dimensional scan method provided by the invention, by projective structure light to body surface, by structure
The three-dimensional information of geological information and then extraction body surface in light, has the following advantages that compared to prior art：
1st, the method that the inventive method uses laser speckle projection measurement, harmless to human body skin, health is radiationless.
2nd, the projection device of the inventive method and camera heights integrate module, reduce hardware volume, realize Millisecond point
Cloud acquisition time.
3rd, instant invention overcomes traditional measurement method measurement range, measurement efficiency and measurement accuracy etc. limitation
Property, realize non-contact quick measurement.
4th, sweep speed of the present invention is fast, once projects polyphaser and gathers image simultaneously, you can completes scanning, acquisition time exists
Microsecond grade, scanned person do not have to remain stationary as posture in a long time, embody human oriented design.
5th, the multiple measurement head composition 360 ° omni-directional foot type scanning systems of the present invention, are aided with high-precision polyphaser demarcation side
Method, scan data need not be spliced in the later stage, and automation generates complete human foot model.
6th, camera is integrated in measurement head by the present invention, in measurement head calibration process, is tied using the inside and outside parameter of camera
The mode for tying up adjustment is demarcated to the measurement head, it is only necessary to which carrying out the demarcation of the outer parameter of one-shot measurement head can start to survey
Amount, enormously simplify peg model, also improves stated accuracy.
Brief description of the drawings
Fig. 1 is the structural representation of foot measurement device of the embodiment of the present invention；
Fig. 2 is the single measurement head structural representation of the embodiment of the present invention；
Fig. 3 is speckle projector light path design figure of the embodiment of the present invention；
Fig. 4 is a kind of human foot quick three-dimensional scan method flow chart of the embodiment of the present invention；
Fig. 5 is that measurement head of the embodiment of the present invention demarcates schematic diagram；
Fig. 6 is foot three-dimensional entity model schematic diagram of the embodiment of the present invention；
Fig. 7 is foot threedimensional model schematic diagram of the embodiment of the present invention.
Embodiment
Below with reference to accompanying drawing, the present invention is described in detail, but should not have any limit to protection scope of the present invention
Make and use.
A kind of human foot quick three-dimensional scan method provided by the invention is applied to human foot quick three-dimensional scanning dress
In putting, the device includes foot measurement device, control cabinet, scaling board and computer.As shown in figure 1, the foot measurement dress
Put including：Support, the pedal plane 131 positioned at the frame bottom and the top measurement head 2 positioned at the cradle top.Its
In, support includes four vertical stent struts 11 and transmission plane 12 and pedal horizontal between four stent struts 11
Plane 131.Pedal plane 131 is provided with bottom measurement head (not shown), and four tops of stent strut 11 are respectively equipped with
Top measurement head 2；U-shaped hole is provided with stent strut 11, can adjust the upper lower angle of top measurement head 2, stent strut 11 is additionally provided with water
Flat fixed plate, U-shaped hole is provided with fixed plate, can adjust the top angle of measurement head 2 or so.
Fig. 2 show single measurement head hardware schematic, and the measurement head is by two black and white cameras and a speckle projection
Device forms；The speckle projector includes Vcsel laser arrays, biconvex mirror, condenser, speckle slide and camera lens.Fig. 3 show speckle
Projector light path design figure.The light launched from LED light source pools the diverging light with certain angle by collector lens
Beam, light path is adjusted by Fresnel lenses, it is directional light that diverging light, which is arranged, through designed speckle shade piece, is formed and surveyed
Speckle projection pattern needed for amount, then light beam is adjusted by Fresnel lenses, camera lens, tested foot surfaces are projected, tested
Instantaneous speckle characteristics are prepared on surface, are calculated for the later stage.The whole projector to light path design ability, manufacturing process requirement compared with
Height, designed light path will can project clear, brightness uniformity, the suitable speckle pattern of light intensity, whole projection on measured object surface
Device will be manufactured and be packaged under dustfree environment.Pin is placed on pedal plane 131 during measurement, you can realizes on instep without dead angle
Measurement.
Referring to Fig. 1 and Fig. 4, a kind of human foot quick three-dimensional scan method provided by the invention, including：
S401, the adjustment measurement head visual field.
In view of single measurement head visual field is limited, it is not enough to cover foot.Measured in this step by adjusting bottom
The angle and distance of head and four top measurement heads 2, wherein 4 top measurement heads are arranged around foot, the measurement of another bottom
Head is scanning vola position.On the one hand, ensure that whole foot table should be able to be completely covered in the visual field that all measurement heads are formed
Face；On the other hand, ensure that adjacent measurement head acquired image has overlapping region, so as to ensure the smooth complete of later stage global splicing
Into.
In this step, in order to ensure a precision for cloud measurement, in terms of measurement head：1) the uniform steady of environment light source is kept
It is fixed, reduce fluctuation as far as possible；2) CCD optical axises and human foot are solved using high-precision camera calibration technology and distortion correction model
Measurement error caused by the problem of surface out of plumb and lens distortion；3) sensed using the ccd image of high quality, low noise
Device, improve the contrast of simulation speckle pattern.
Foot scan is carried out using digital projection speckle correlation technique in the embodiment of the present invention, using the speckle projector by mould
After plan speckle projects human foot surface, taken pictures rapidly, therefore the image acquisition time of single measurement head is almost CCD
The time for exposure of camera, is Millisecond, and it is static that human foot is considered rigid body in so of short duration time interval,
Therefore the partial points cloud that single measurement head obtains has higher precision, so as to ensure that the accuracy registration of global point cloud.
S402, the measurement head is demarcated by the way of the inside and outside parameter bundle adjustment of camera；
In the measurement head of a very little, the relative position such as angle between camera can not change being integrated of camera in the present invention
Become, which increase the difficulty of more measurement head integral layouts and the difficulty of camera calibration.The present invention uses ten parameter calibration models, first
The intrinsic parameter of two black and white cameras inside each measurement head is completed in demarcation, simplifies peg model, before actually measuring, it is only necessary to enter
The demarcation of the outer parameter of row one-shot measurement head can start to measure, and enormously simplify peg model, and not only calibration process is smoothed out,
Also improve stated accuracy so that demarcation state is in 10 photos or so, it is possible to completes being accurately positioned for all measurement positions.
In exemplary embodiment of the present using plane reference plate as shown in Figure 5 to camera in five measurement heads inside and outside
Parameter is demarcated.The advance silk-screen encoded point of scaling board and non-coding point, scaling board is placed in five measurement heads during demarcation
Heart position, put for 1 in figure, 2,3 positions.4 top measurement heads 2 in Fig. 1 are designated as 1. number, 2. number, 3. number and 4. number surveying
Measure head, 1 bottom measurement head is designated as 5. measurement head, during measurement, can will 1. number and 2. number measurement head, 2. and 3. number measurement head,
4. and 5. 3. 4. number measurement head, measurement head are one group, scaling board image is gathered respectively, then identifies three-dimensional point letter on scaling board
Breath, outer parameter is resolved, is then transmitted by outer parameter, obtain the absolute outer parameter of five gauge heads.
For the calibration process of two measurement heads (such as 1. number and 2. number measurement head), this step specifically includes：
1st, the scaling board with encoded point and non-coding index point is positioned under the visual field of camera, passes through mobile scaling board
Scaling board is obtained in eight diverse locations and the camera image of posture；
2nd, by image procossing, identify in eight groups of images and encoded corresponding to the image coordinate of non-coding point and encoded point
Value；
3rd, the relative position relation of preceding two groups of images is calculated by photogrammetric middle relative orientation algorithm, and reconstructs volume
Code mark point object coordinates；
4th, other groups of picture positions are directed out by Method of Direct Liner Transformation and pyramid method, reconstruct non-coding index point
Object coordinates；
5th, camera internal parameter, external parameter, object space feature point coordinates are carried out by bundle adjustment optimized algorithm overall
Iteration optimization, optimization terminate just to have obtained the inside and outside parameter between two measurement head cameras afterwards.
By the above method, other group of measurement head can be completed and demarcated.
S403, speckle is projected to foot, collection foot image file, carry out speckle matching；
Specifically, this step in order to accelerate the matching of the speckle of left images, is carried out thick using seed point dispersal direction first
Matching.
In the first stage of relevant search in exemplary embodiment of the present, random generation one is accurate in speckle image
Seed point, then centered on the seed, towards its four adjacent diffusions, so repeatedly, until all grid element centers are all
Matching obtains corresponding points pair.This matching process based on seed point can provide more accurately initial value for adjacent subarea, with
Shorten the iterative search time.It is mostly multinuclear in view of current CPU, therefore uses multi-core parallel concurrent computing, of each measurement head
A core is taken with calculating, so takes full advantage of the computing capability of computer, largely improves the formation speed of point cloud.
After the completion of thick matching, fine match is carried out using loading by means of digital image correlation method.
Specifically, in terms of digital picture correlation computations, in order to ensure a precision for cloud measurement：1) antijamming capability is used
Most strong standard cross-correlation function or normalization minimum squared distance correlation function can avoid the even caused measurement of uneven illumination
Error；2) correlation function is optimized using the least square method based on shade of gray iteration；3) high-order interpolation method is selected, it is such as double
Cubic spline interpolation；4) on the premise of operation efficiency is considered, sizeable image is selected to calculate sub-district.
In foot quick three-dimensional scanning system of the present invention, the basic problem of the loading by means of digital image correlation method is to a left side
Speckle image caused by right two cameras carries out correlation computations.Wherein using left image as reference picture, right image is deformation pattern,
In a reference image, the rectangle subgraphs of (2M+1) × (2M+1) sizes using centered on point C to be matched is taken as referring to subgraph
Picture, in deformation pattern, correlation computations are carried out by certain searching method, and according to pre-defined coefficient correlation, are found
With the target subgraph centered on C` with reference to subgraph similarity maximum, then point C is pairs of the point C` in deformation pattern
Ying Dian.
In foot quick three-dimensional scanning system of the present invention, tell that correlation function is as follows：
Wherein r0And r1Two parameters are used to compensate the gray scale linear change caused by illumination, and the coefficient correlation equally has
There is stronger antijamming capability, meaning is simpler compared with other coefficient correlations understands, optimization process is more efficient.
S404, carry out three-dimensional point off density cloud using the measurement head demarcated and rebuild, obtain foot threedimensional model；
Specifically, in this step, carried out using the foot three-dimensional scanner for the more measurement heads demarcated distributed close
Collection rebuilds three-dimensional point cloud, then the point cloud model of multiple measurement heads is merged, and foot point cloud skeleton pattern is obtained, then to foot
Portion's point cloud skeleton pattern carries out triangle gridding encapsulation and filling-up hole, three-dimensional entity model as shown in Figure 6 is generated, finally to three-dimensional
Physical model obtains foot threedimensional model as shown in Figure 7 after carrying out the follow-up optimization processing such as smoothing denoising.
S405, according to the foot threedimensional model extract foot moulded dimension.
In this step, according to the characteristic parameter on foot threedimensional model, for the basic size number required for shoe-making industry
According to, and definition of these sizes on threedimensional model, the sized data that can be used for downstream industry can be extracted exactly.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with
The present invention is described in detail good embodiment, it will be understood by those within the art that, can be to the skill of the present invention
Art scheme is modified or equivalent substitution, and without departing from the objective and scope of technical solution of the present invention, it all should cover at this
Among the right of invention.
Claims (4)
1. a kind of human foot quick three-dimensional scan method, it is characterised in that methods described is applied to the foot for including measurement head
In three-dimensional scanner, the measurement head, which includes two cameras and the speckle projector, methods described, to be included：
Adjust the measurement head visual field；
The measurement head is demarcated by the way of the inside and outside parameter bundle adjustment of camera；
Speckle is projected to foot, gathers foot image file, carries out speckle matching；
Three-dimensional point off density cloud is carried out using the measurement head demarcated to rebuild, and obtains foot threedimensional model；
Foot moulded dimension is extracted according to the foot threedimensional model.
2. method according to claim 1 or 2, it is characterised in that the measurement head is two, in the use camera,
The mode of outer parameter bundle adjustment carries out demarcation to the measurement head to be included：
Scaling board with encoded point and non-coding index point is positioned under the visual field of camera, mark is obtained by mobile scaling board
Fixed board is in eight diverse locations and the camera image of posture；
By image procossing, encoded radio corresponding to the image coordinate of non-coding point and encoded point in eight groups of images is identified；
The relative position relation of preceding two groups of images is calculated by photogrammetric middle relative orientation algorithm, and reconstructs coding maker
Point object coordinates；
Other groups of picture positions are directed out by Method of Direct Liner Transformation and pyramid method, the object space for reconstructing non-coding index point is sat
Mark；
Overall iteration is carried out to camera internal parameter, external parameter, object space feature point coordinates by bundle adjustment optimized algorithm
Optimization, obtains the inside and outside parameter between described two measurement head cameras.
3. method according to claim 1 or 2, it is characterised in that：The speckle matching includes：
Slightly matched using seed point method of diffusion；
Fine match is carried out using loading by means of digital image correlation method.
4. method according to claim 1 or 2, it is characterised in that：It is described to carry out three-dimensional using the measurement head demarcated
Point off density cloud is rebuild, and obtaining foot threedimensional model includes：
Distributed dense reconstruction three-dimensional point cloud is carried out with the measurement head demarcated, then the point cloud model of multiple measurement heads is carried out
Fusion, obtains foot point cloud skeleton pattern；
Triangle gridding encapsulation and filling-up hole are carried out to the foot point cloud skeleton pattern, obtain the foot threedimensional model.
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| CN108759720A (en) * | 2018-06-07 | 2018-11-06 | 合肥工业大学 | Smooth surface surface type measurement method |
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