CN108759669B - Indoor self-positioning three-dimensional scanning method and system - Google Patents

Indoor self-positioning three-dimensional scanning method and system Download PDF

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Publication number
CN108759669B
CN108759669B CN201810552091.8A CN201810552091A CN108759669B CN 108759669 B CN108759669 B CN 108759669B CN 201810552091 A CN201810552091 A CN 201810552091A CN 108759669 B CN108759669 B CN 108759669B
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coordinate
scanning
point
tracking
target
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CN108759669A (en
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郑顺义
王晓南
成剑华
朱锋博
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Wuhan Zhongguan Automation Technology Co ltd
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Wuhan Zhongguan Automation Technology Co ltd
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical means
    • G01B11/002Measuring arrangements characterised by the use of optical means for measuring two or more coordinates

Abstract

The invention relates to an indoor self-positioning three-dimensional scanning method and a system, wherein the method comprises the steps of acquiring the coordinates of a mark reflecting point on an indoor wall in a first coordinate system, and acquiring the pose information of a tracking camera and a stereo camera in a tracking scanner in a second coordinate system; acquiring the position of an imaging point of a mark reflecting point in a tracking camera, and acquiring the coordinate of a scanning point formed by a stereo camera scanning a target object in a second coordinate system; determining the coordinates of the scanning points in a first coordinate system, and fusing the scanning points in the first coordinate system; and repeating the steps until the target object is integrally scanned, obtaining the fusion result of the coordinates of different scanning points in the first coordinate system, and constructing the surface of the target object in the first coordinate system according to the fusion result corresponding to the different scanning points to generate the three-dimensional model of the target object. The scanning method can avoid the sticking of mark points on the surface of an object, realize the omnibearing, high-precision, high-efficiency and convenient three-dimensional reconstruction, and the indoor measurement scene can be reused.

Description

Indoor self-positioning three-dimensional scanning method and system
Technical Field
The invention relates to the technical field of optical scanning, in particular to an indoor self-positioning three-dimensional scanning method and system.
Background
The three-dimensional optical scanner can conveniently solve the high-precision measurement work of most objects with deficient surface textures, but a large number of uniformly distributed mark reflecting points must be pasted on the surface of an object to be measured for frame splicing in scanning, the process of pasting the mark points on the surface of each object to be measured is complicated, a large amount of time is spent, and the workload of scanning and measuring is increased.
Disclosure of Invention
The invention aims to solve the technical problem of providing an indoor self-positioning three-dimensional scanning method and system aiming at the defects of the prior art.
The technical scheme for solving the technical problems is as follows: an indoor self-positioning three-dimensional scanning method comprises the following steps:
step 1: acquiring coordinates of a mark reflecting point on an indoor wall in a first coordinate system, and acquiring pose information of a tracking camera and a stereo camera in a tracking scanner in a second coordinate system;
step 2: the tracking camera images the mark reflecting point to obtain the position of an imaging point of the mark reflecting point in the tracking camera, the stereo camera scans a target object, and the coordinate of a scanning point formed by the stereo camera scanning the target object in a second coordinate system is determined according to the pose information of the stereo camera in the second coordinate system;
and step 3: determining the coordinate of the scanning point in the first coordinate system according to the pose information of the tracking camera in the second coordinate system, the imaging point position of the mark reflecting point in the tracking camera, the coordinate of the mark reflecting point in the first coordinate system and the coordinate of the scanning point in the second coordinate system, and fusing the scanning points in the first coordinate system;
and 4, step 4: repeating the step 2 and the step 3 until the overall scanning of the target object is completed, obtaining a coordinate fusion result of different scanning points in the first coordinate system, and constructing the surface of the target object in the first coordinate system according to the coordinate fusion result of the different scanning points in the first coordinate system to generate a three-dimensional model of the target object;
the first coordinate is a three-dimensional coordinate system constructed by using at least four mark light reflecting points on an indoor wall, and the second coordinate is a three-dimensional coordinate system constructed by using the tracking scanner as a center.
The invention has the beneficial effects that: the indoor self-positioning three-dimensional scanning method comprises the steps of respectively scanning the mark reflecting point and a target object through a tracking camera and a stereo camera of the scanner, obtaining the position of an imaging point of the mark reflecting point and the coordinate of the scanning point in a second coordinate system, determining the coordinate of the scanning point in a first coordinate system by combining the pose information of the stereo camera in the second coordinate system and the coordinate of the mark reflecting point in the first coordinate system, constructing the surface of the target object in the first coordinate system, generating a three-dimensional model of the target object, avoiding pasting a large number of mark points on the surface of the object, realizing omnibearing, high-precision, high-efficiency and convenient three-dimensional reconstruction, and enabling an indoor measurement scene to be repeatedly used.
On the basis of the technical scheme, the invention can be further improved as follows:
further: in step 1, the acquiring pose information of the tracking camera and the stereo camera in the tracking scanner in the second coordinate system specifically includes:
and respectively calibrating a tracking camera and a stereo camera of the tracking scanner by using the coordinates of the mark reflecting points in the first coordinate system to obtain the pose information of the tracking camera and the stereo camera in the second coordinate system.
The beneficial effects of the further scheme are as follows: by calibrating the tracking camera and the stereo camera in the scanner, parameter information of the scanner, such as the length of a lens base line and internal and external parameters of the scanner, can be determined, so that the pose information of the tracking camera and the stereo camera in the scanner in the second coordinate system can be calculated according to the parameters of the scanner, and the coordinates of a scanning point formed by the stereo camera on a target object in the second coordinate system can be determined according to the pose information of the stereo camera in the second coordinate system.
Further: the step 3 specifically includes:
step 31: determining the coordinate of the scanning point in the first coordinate system according to the pose information of a tracking camera in the tracking scanner in the second coordinate system, the imaging point position of the mark reflecting point in the tracking camera of the tracking scanner, the coordinate of the mark reflecting point in the first coordinate system and the coordinate of the scanning point in the second coordinate system;
step 32: gridding the three-dimensional space where the first coordinate system is located, so that the scanning points on the target object fall into corresponding grids;
step 33: and fusing the scanning points of the first coordinate system, and calculating the approximate directed distance from the central point of each grid to the nearest scanning point on the surface of the object according to the coordinates of the scanning points in the first coordinate system.
The beneficial effects of the further scheme are as follows: the coordinate of the scanning point in the first coordinate system can be accurately calculated through the pose information of the tracking camera in the second coordinate system, the imaging point position of the marker reflecting point in the tracking camera and the coordinate of the marker reflecting point in the first coordinate system, so that the surface of the target object can be conveniently constructed according to the fusion result of the coordinate of the scanning point in the first coordinate system, a three-dimensional model of the target object is generated, and an accurate scanning result is obtained.
Further: the step 31 specifically includes:
step 311: determining pose information of a tracking camera in a tracking scanner in a first coordinate system by using a back intersection algorithm according to the coordinates of the mark reflecting points in the first coordinate system and the positions of imaging points of the mark reflecting points in the tracking camera of the tracking scanner;
step 312: determining a coordinate transformation relation between a first coordinate system and a second coordinate system according to the pose information of a tracking camera in the tracking scanner in the first coordinate system and the pose information of a tracking camera in the tracking scanner in the second coordinate system;
step 313: and converting the coordinate of the scanning point in the second coordinate system into the first coordinate system according to the coordinate conversion relation to obtain the coordinate of the scanning point in the first coordinate system.
The beneficial effects of the further scheme are as follows: the position and posture information of the tracking camera in the first coordinate system can be accurately calculated through the coordinates of the mark reflecting points in the first coordinate system and the positions of the imaging points of the mark reflecting points in the tracking camera, and then the coordinate transformation relation between the first coordinate system and the second coordinate system can be determined according to the position and posture information of the tracking camera in the first coordinate system and the position and posture information of the tracking camera in the second coordinate system, so that the coordinates of the scanning points in the first coordinate system can be accurately determined, and accurate scanning results can be conveniently obtained according to the coordinates of the scanning points in the first coordinate system.
Further: in step 4, the constructing the surface of the target object in the first coordinate system and generating the three-dimensional model of the target object specifically includes:
step 41: constructing the sub-surface of the target object in the corresponding grid according to the approximate directed distance from the central point of the different grids to the nearest scanning point on the surface of the object;
step 42: and generating a target object surface according to the target object sub-surfaces corresponding to all the grids, and generating a target object three-dimensional model.
The beneficial effects of the further scheme are as follows: through the approximate directed distance, the surface area corresponding to the target object can be constructed in each grid, so that a three-dimensional model of the target object can be finally created, an accurate scanning result is formed, and the method is rapid, efficient and wide in application range.
The invention also provides an indoor self-positioning three-dimensional scanning system, which comprises a photogrammetric component, a tracking scanner and a main controller;
the photogrammetric component is used for acquiring the coordinates of the mark reflecting points on the indoor wall in the first coordinate system;
the tracking scanner comprises a tracking camera and two stereo cameras, wherein the tracking camera is used for scanning the mark reflecting point to obtain the position of an imaging point of the mark reflecting point in the tracking camera, and the stereo cameras are used for scanning a target object;
the main controller is used for acquiring pose information of a tracking camera in a scanner and pose information of a stereo camera in a second coordinate system, determining coordinates of a scanning point formed by the stereo camera scanning the target object in the second coordinate system according to the pose information of the stereo camera in the second coordinate system, determining coordinates of the scanning point in a first coordinate system according to the pose information of the tracking camera in the second coordinate system, the imaging point position of the marker reflecting point in the tracking camera of the tracking scanner, the coordinates of the marker reflecting point in the first coordinate system and the coordinates of the scanning point in the second coordinate system in the scanner, fusing the scanning points in the first coordinate system, repeating the steps until the target object is integrally scanned, obtaining the fusion result of the coordinates of different scanning points in the first coordinate system, and constructing the surface of the target object in the first coordinate system according to the coordinate fusion result of the different scanning points in the first coordinate system, generating a three-dimensional model of the target object;
the first coordinate is a three-dimensional coordinate system constructed by using at least four mark light reflecting points on an indoor wall, and the second coordinate is a three-dimensional coordinate system constructed by using the tracking scanner as a center.
According to the indoor self-positioning three-dimensional scanning system, the mark reflecting point and the target object are respectively scanned by the tracking camera and the stereo camera of the scanner, the position of the imaging point of the mark reflecting point and the coordinate of the scanning point in the second coordinate system are obtained, and the coordinate of the scanning point in the first coordinate system is determined by combining the pose information of the stereo camera in the second coordinate system and the coordinate of the mark reflecting point in the first coordinate system, so that the surface of the target object is constructed in the first coordinate system, a three-dimensional model of the target object is generated, a large number of mark points can be prevented from being pasted on the surface of the object, omnibearing, high-precision, high-efficiency and convenient three-dimensional reconstruction is realized, and an indoor measurement scene can be repeatedly used.
On the basis of the technical scheme, the invention can be further improved as follows:
further: the method for acquiring the pose information of the tracking camera and the stereo camera in the second coordinate system in the tracking scanner by the main controller specifically comprises the following steps:
and respectively calibrating a tracking camera and a stereo camera of the tracking scanner by using the coordinates of the mark reflecting points in the first coordinate system to obtain the pose information of the tracking camera and the stereo camera in the second coordinate system.
The beneficial effects of the further scheme are as follows: by calibrating the tracking camera and the stereo camera in the scanner, parameter information of the scanner, such as a lens baseline length and internal and external parameters of the scanner, can be determined, so that pose information of the tracking camera and the stereo camera in the scanner in the second coordinate system can be obtained according to the parameters of the scanner, the coordinates of a scanning point formed by the stereo camera on a target object in the second coordinate system can be determined subsequently according to the pose information of the stereo camera in the second coordinate system, a conversion relation between the first coordinate system and the second coordinate system can be calculated according to the pose information of the tracking camera in the first coordinate system, and the coordinates of the scanning point in the first coordinate system can be determined by combining the coordinates of the scanning point in the second coordinate system.
Further: the master controller is specifically configured to:
determining the coordinate of the scanning point in the first coordinate system according to the pose information of a tracking camera in the tracking scanner in the second coordinate system, the imaging point position of the mark reflecting point in the tracking camera of the tracking scanner, the coordinate of the mark reflecting point in the first coordinate system and the coordinate of the scanning point in the second coordinate system;
gridding the three-dimensional space where the first coordinate system is located, so that the scanning points on the target object fall into corresponding grids;
and fusing the scanning points of the first coordinate system, and calculating the approximate directed distance from the central point of each grid to the nearest scanning point on the surface of the object.
The beneficial effects of the further scheme are as follows: the coordinate of the scanning point in the first coordinate system can be accurately calculated through the pose information of the tracking camera in the second coordinate system, the imaging point position of the marker reflecting point in the tracking camera and the coordinate of the marker reflecting point in the first coordinate system, so that the surface of the target object can be conveniently constructed according to the fusion result of the coordinate of the scanning point in the first coordinate system, a three-dimensional model of the target object is generated, and an accurate scanning result is obtained.
Further: the main controller determines the coordinates of the scanning point in the first coordinate system to be specifically realized as follows:
determining pose information of a tracking camera in a tracking scanner in a first coordinate system by using a back intersection algorithm according to the coordinates of the mark reflecting points in the first coordinate system and the positions of imaging points of the mark reflecting points in the tracking camera of the tracking scanner;
determining a coordinate transformation relation between a first coordinate system and a second coordinate system according to the pose information of a tracking camera in the tracking scanner in the first coordinate system and the pose information of a tracking camera in the tracking scanner in the second coordinate system;
and converting the coordinate of the scanning point in the second coordinate system into the first coordinate system according to the coordinate conversion relation to obtain the coordinate of the scanning point in the first coordinate system.
The beneficial effects of the further scheme are as follows: the position and posture information of the tracking camera in the first coordinate system can be accurately calculated through the coordinates of the mark reflecting points in the first coordinate system and the positions of the imaging points of the mark reflecting points in the tracking camera, and then the coordinate transformation relation between the first coordinate system and the second coordinate system can be determined according to the position and posture information of the tracking camera in the first coordinate system and the position and posture information of the tracking camera in the second coordinate system, so that the coordinates of the scanning points in the first coordinate system can be accurately determined, and accurate scanning results can be conveniently obtained according to the coordinates of the scanning points in the first coordinate system.
Further: the method for constructing the surface of the target object in the first coordinate system and generating the three-dimensional model of the target object is specifically realized as follows:
constructing the sub-surface of the target object in the corresponding grid according to the approximate directed distance from the central point of the different grids to the nearest scanning point on the surface of the object;
and generating a target object surface according to the target object sub-surfaces corresponding to all the grids, and generating a target object three-dimensional model.
The beneficial effects of the further scheme are as follows: through the approximate directed distance, the surface area corresponding to the target object can be constructed in each grid, so that a three-dimensional model of the target object can be finally created, an accurate scanning result is formed, and the method is rapid, efficient and wide in application range.
Drawings
FIG. 1 is a schematic flow chart of an indoor self-positioning three-dimensional scanning method according to the present invention;
fig. 2 is a schematic structural diagram of an indoor self-positioning three-dimensional scanning system according to the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, an indoor self-positioning three-dimensional scanning method includes the following steps:
step 1: acquiring coordinates of a mark reflecting point on an indoor wall in a first coordinate system, and acquiring pose information of a tracking camera and a stereo camera in a tracking scanner in a second coordinate system;
step 2: the tracking camera images the mark reflecting point to obtain the position of an imaging point of the mark reflecting point in the tracking camera, the stereo camera scans a target object, and the coordinate of a scanning point formed by the stereo camera scanning the target object in a second coordinate system is determined according to the pose information of the stereo camera in the second coordinate system;
and step 3: determining the coordinate of the scanning point in the first coordinate system according to the pose information of the tracking camera in the second coordinate system, the imaging point position of the mark reflecting point in the tracking camera, the coordinate of the mark reflecting point in the first coordinate system and the coordinate of the scanning point in the second coordinate system, and fusing the scanning points in the first coordinate system;
and 4, step 4: repeating the step 2 and the step 3 until the overall scanning of the target object is completed, obtaining a coordinate fusion result of different scanning points in the first coordinate system, and constructing the surface of the target object in the first coordinate system according to the coordinate fusion result of the different scanning points in the first coordinate system to generate a three-dimensional model of the target object;
the first coordinate is a three-dimensional coordinate system constructed by using at least four mark light reflecting points on an indoor wall, and the second coordinate is a three-dimensional coordinate system constructed by using the tracking scanner as a center.
According to the indoor self-positioning three-dimensional scanning method provided by the embodiment of the invention, the mark reflecting point and the target object are respectively scanned by the tracking camera and the stereo camera of the scanner, the position of the imaging point of the mark reflecting point and the coordinate of the scanning point in the second coordinate system are obtained, and the coordinate of the scanning point in the first coordinate system is further determined by combining the pose information of the stereo camera in the second coordinate system and the coordinate of the mark reflecting point in the first coordinate system, so that the surface of the target object is constructed in the first coordinate system, a three-dimensional model of the target object is generated, a large number of mark points can be prevented from being pasted on the surface of the object, the omnibearing, high-precision, high-efficiency and convenient three-dimensional reconstruction is realized, and the indoor measurement scene can be repeatedly used.
Compared with the prior art that complicated operations such as sticking a plurality of mark reflecting points on the surface of a target object are carried out, the method and the device do not need to stick the mark reflecting points on the surface of the target object, can realize omnibearing, efficient and high-precision scanning of the target object by means of the mark reflecting points arranged on the wall in an indoor scene and a photogrammetric component, and can repeatedly use the indoor scene.
In an embodiment of the present invention, in step 1, the acquiring pose information of the tracking camera and the stereo camera in the tracking scanner in the second coordinate system specifically includes:
and respectively calibrating a tracking camera and a stereo camera of the tracking scanner by using the coordinates of the mark reflecting points in the first coordinate system to obtain the pose information of the tracking camera and the stereo camera in the second coordinate system.
In the above embodiment, by calibrating the tracking camera and the stereo camera in the scanner, parameter information of the scanner, such as a lens baseline length and internal and external parameters of the scanner, can be determined, so that pose information of the tracking camera and the stereo camera in the scanner in the second coordinate system can be obtained according to the parameters of the scanner, and it is convenient to subsequently determine coordinates of a scanning point formed by the stereo camera on the target object in the second coordinate system according to the pose information of the stereo camera in the second coordinate system.
Compared with the prior art that repeated calibration is needed due to movement, transportation or touch when the scanner is used, the scanner is calibrated once in the application, the pose information of the tracking camera and the stereo camera in the tracking scanner in the second coordinate system is determined, and the tracking camera and the stereo camera in the tracking scanner are not needed to be repeatedly calibrated subsequently, so that the workload of scanning measurement is greatly reduced, and the scanning measurement efficiency is improved.
In an embodiment of the present invention, step 3 specifically includes:
step 31: determining the coordinate of the scanning point in the first coordinate system according to the pose information of a tracking camera in the tracking scanner in the second coordinate system, the imaging point position of the mark reflecting point in the tracking camera of the tracking scanner, the coordinate of the mark reflecting point in the first coordinate system and the coordinate of the scanning point in the second coordinate system;
step 32: gridding the three-dimensional space where the first coordinate system is located, so that the scanning points on the target object fall into corresponding grids;
step 33: and fusing the scanning points of the first coordinate system, and calculating the approximate directed distance from the central point of each grid to the nearest scanning point on the surface of the object according to the coordinates of the scanning points in the first coordinate system.
In the above embodiment, the coordinates of the scanning point in the first coordinate system can be accurately calculated through the pose information of the tracking camera in the second coordinate system, the imaging point position of the marker reflecting point in the tracking camera, and the coordinates of the marker reflecting point in the first coordinate system, so that the surface of the target object can be conveniently constructed according to the fusion result of the coordinates of the scanning point in the first coordinate system, the three-dimensional model of the target object can be generated, and the accurate scanning result can be obtained.
Preferably, the step 31 specifically includes:
step 311: determining pose information of a tracking camera in a tracking scanner in a first coordinate system by using a back intersection algorithm according to the coordinates of the mark reflecting points in the first coordinate system and the positions of imaging points of the mark reflecting points in the tracking camera of the tracking scanner;
step 312: determining a coordinate transformation relation between a first coordinate system and a second coordinate system according to the pose information of a tracking camera in the tracking scanner in the first coordinate system and the pose information of a tracking camera in the tracking scanner in the second coordinate system;
step 313: and converting the coordinate of the scanning point in the second coordinate system into the first coordinate system according to the coordinate conversion relation to obtain the coordinate of the scanning point in the first coordinate system.
In the above embodiment, the position and posture information of the tracking camera in the first coordinate system can be accurately calculated through the coordinates of the marker reflecting point in the first coordinate system and the position of the imaging point of the marker reflecting point in the tracking camera, and then the coordinate transformation relationship between the first coordinate system and the second coordinate system can be determined according to the position and posture information of the tracking camera in the first coordinate system and the position and posture information of the tracking camera in the second coordinate system, so that the coordinates of the scanning point in the first coordinate system can be accurately determined, and an accurate scanning result can be obtained according to the coordinates of the scanning point in the first coordinate system.
In an embodiment of the present invention, in step 4, the constructing a surface of the target object in the first coordinate system, and generating a three-dimensional model of the target object specifically includes:
step 41: constructing the sub-surface of the target object in the corresponding grid according to the approximate directed distance from the central point of the different grids to the nearest scanning point on the surface of the object;
step 42: and generating a target object surface according to the target object sub-surfaces corresponding to all the grids, and generating a target object three-dimensional model.
In the above embodiment, through the approximate directional distance, the surface area corresponding to the target object may be constructed in each grid, so that a three-dimensional model of the target object may be finally created, an accurate scanning result is formed, and the method is fast and efficient, and has a wide application range.
In practice, the space of the first coordinate system may be divided into 0.5mm by 0.5mm grids, when a frame of data scanned by the tracking camera falls into a certain grid, a plurality of multi-segment lines are present in a frame of data, assuming that the points of one multi-segment line are deconstructed into { p1, p2, …, pn }, each multi-segment line may calculate the tangent lines of other points except the multi-segment line points, for each line segment t, calculating the tangent lines of the end points at both ends of each line segment in the multi-segment line, assuming ti and tj,
obtaining tangents to points on the polyline other than the endpoints:
and determining the influence range of each line segment, and solving the approximate directed distance of the scanning points in the influence range. This method is prior art and will not be described herein.
As shown in fig. 2, the present invention further provides an indoor self-positioning three-dimensional scanning system, which comprises a photogrammetric component, a tracking scanner and a main controller;
the photogrammetric component is used for acquiring the coordinates of the mark reflecting points on the indoor wall in the first coordinate system;
the tracking scanner comprises a tracking camera and two stereo cameras, wherein the tracking camera is used for scanning the mark reflecting point to obtain the position of an imaging point of the mark reflecting point in the tracking camera, and the stereo cameras are used for scanning a target object;
the main controller is used for acquiring pose information of a tracking camera in a scanner and pose information of a stereo camera in a second coordinate system, determining coordinates of a scanning point formed by the stereo camera scanning the target object in the second coordinate system according to the pose information of the stereo camera in the second coordinate system, determining coordinates of the scanning point in a first coordinate system according to the pose information of the tracking camera in the second coordinate system, the imaging point position of the marker reflecting point in the tracking camera of the tracking scanner, the coordinates of the marker reflecting point in the first coordinate system and the coordinates of the scanning point in the second coordinate system in the scanner, fusing the scanning points in the first coordinate system, repeating the steps until the target object is integrally scanned, obtaining the fusion result of the coordinates of different scanning points in the first coordinate system, and constructing the surface of the target object in the first coordinate system according to the coordinate fusion result of the different scanning points in the first coordinate system, generating a three-dimensional model of the target object;
the first coordinate is a three-dimensional coordinate system constructed by using at least four mark light reflecting points on an indoor wall, and the second coordinate is a three-dimensional coordinate system constructed by using the tracking scanner as a center.
It should be noted that, in the present invention, the tracking scanner includes a tracking camera, a stereo camera, a scanner (including but not limited to a laser projector or a three-class projector), a tripod and a cross bar, the middle of the cross bar is movably connected to the top end of the tripod, two stereo cameras are respectively disposed at two ends of the cross bar, the center of the entire tracking scanner can be selected as the central point of the cross bar, the tracking camera and the projector are disposed at the middle of the cross bar, the stereo camera is disposed toward a wall during calibration, a plurality of (at least four) mark light-reflecting points are disposed on the wall, after calibration is completed, the stereo camera is disposed toward a target object and scans the target object, the tracking camera faces the mark light-reflecting points on the wall and images the mark light-reflecting points, and the projector is disposed toward the target object.
The photogrammetric subassembly includes camera, sign reflection of light point and scale on the wall etc. through shooing reference mark point then calculate the coordinate of sign reflection of light point at first coordinate system on the wall, and specific algorithm is prior art, and it is no longer repeated here.
According to the indoor self-positioning three-dimensional scanning system provided by the embodiment of the invention, the mark reflecting point and the target object are respectively scanned by the tracking camera and the stereo camera of the scanner, the position of the imaging point of the mark reflecting point and the coordinate of the scanning point in the second coordinate system are obtained, and the coordinate of the scanning point in the first coordinate system is further determined by combining the pose information of the stereo camera in the second coordinate system and the coordinate of the mark reflecting point in the first coordinate system, so that the surface of the target object is constructed in the first coordinate system, a three-dimensional model of the target object is generated, a large number of mark points can be prevented from being pasted on the surface of the object, the omnibearing, high-precision, high-efficiency and convenient three-dimensional reconstruction is realized, and the indoor measurement scene can be repeatedly used.
In the above embodiment, the acquiring, by the master controller, pose information of the tracking camera and the stereo camera in the tracking scanner in the second coordinate system specifically includes:
and respectively calibrating a tracking camera and a stereo camera of the tracking scanner by using the coordinates of the mark reflecting points in the first coordinate system to obtain the pose information of the tracking camera and the stereo camera in the second coordinate system.
In the above embodiment, by calibrating the tracking camera and the stereo camera in the scanner, parameter information of the scanner, such as a lens baseline length and inside and outside parameters of the scanner, can be determined, so that pose information of the tracking camera and the stereo camera in the scanner in the second coordinate system can be obtained according to the parameters of the scanner, and it is convenient to subsequently determine coordinates of a scanning point formed by the stereo camera on the target object in the second coordinate system according to the pose information of the stereo camera in the second coordinate system, calculate a conversion relationship between the first coordinate system and the second coordinate system according to the pose information of the tracking camera in the first coordinate system, and determine the coordinates of the scanning point in the first coordinate system by combining the coordinates of the scanning point in the second coordinate system.
In practice, a plurality of wall photos are shot through the tracking camera, when data are collected, the reflecting points of the wall marks are clearly imaged in the tracking camera and the two stereo cameras, the projection of the imaging points is basically unchanged and is opposite (the contact ratio is more than 90%), and the relative pose information of the tracking camera and the two stereo cameras in a second coordinate system is obtained through camera calibration.
Specifically, after scanning is started, the tracking camera in the tracking scanner obtains the pose information of the tracking camera in the second coordinate system through back intersection, and since the relative pose information of the three cameras of the tracking scanner is obtained through the calibration, after the position and the posture of the tracking camera in the second coordinate system are obtained, the pose information of the other two stereo cameras in the tracking scanner in the second coordinate system can be obtained. The pose information may be used to position the spatial position pose of the stereo camera.
When the scanning instrument is used for scanning after the pose information of the stereo camera in the second coordinate system is obtained, firstly, the scanner is triggered to project patterns, then the stereo camera is used for obtaining the patterns at certain intervals (for example, 2 milliseconds), meanwhile, the tracking camera images the reflecting points of the wall surface markers, and the stereo camera and the tracking camera are controlled to be synchronous through hard triggering on hardware (data are collected at the same time).
In an embodiment of the present invention, the main controller is specifically configured to:
determining the coordinate of the scanning point in the first coordinate system according to the pose information of a tracking camera in the tracking scanner in the second coordinate system, the imaging point position of the mark reflecting point in the tracking camera of the tracking scanner, the coordinate of the mark reflecting point in the first coordinate system and the coordinate of the scanning point in the second coordinate system;
gridding the three-dimensional space where the first coordinate system is located, so that the scanning points on the target object fall into corresponding grids;
and fusing the scanning points of the first coordinate system, and calculating the approximate directed distance from the central point of each grid to the nearest scanning point on the surface of the object.
In the above embodiment, the coordinates of the scanning point in the first coordinate system can be accurately calculated through the pose information of the tracking camera in the second coordinate system, the imaging point position of the marker reflecting point in the tracking camera, and the coordinates of the marker reflecting point in the first coordinate system, so that the surface of the target object can be conveniently constructed according to the fusion result of the coordinates of the scanning point in the first coordinate system, the three-dimensional model of the target object can be generated, and the accurate scanning result can be obtained.
In the embodiment of the present invention, the determining, by the master controller, the coordinates of the scanning point in the first coordinate system is specifically implemented as:
determining pose information of a tracking camera in a tracking scanner in a first coordinate system by using a back intersection algorithm according to the coordinates of the mark reflecting points in the first coordinate system and the positions of imaging points of the mark reflecting points in the tracking camera of the tracking scanner;
determining a coordinate transformation relation between a first coordinate system and a second coordinate system according to the pose information of a tracking camera in the tracking scanner in the first coordinate system and the pose information of a tracking camera in the tracking scanner in the second coordinate system;
and converting the coordinate of the scanning point in the second coordinate system into the first coordinate system according to the coordinate conversion relation to obtain the coordinate of the scanning point in the first coordinate system.
In the above embodiment, the position and posture information of the tracking camera in the first coordinate system can be accurately calculated through the coordinates of the marker reflecting point in the first coordinate system and the position of the imaging point of the marker reflecting point in the tracking camera, and then the coordinate transformation relationship between the first coordinate system and the second coordinate system can be determined according to the position and posture information of the tracking camera in the first coordinate system and the position and posture information of the tracking camera in the second coordinate system, so that the coordinates of the scanning point in the first coordinate system can be accurately determined, and an accurate scanning result can be obtained according to the coordinates of the scanning point in the first coordinate system.
In the embodiment of the present invention, the constructing the surface of the target object in the first coordinate system and the generating the three-dimensional model of the target object are specifically implemented as follows:
constructing the sub-surface of the target object in the corresponding grid according to the approximate directed distance from the central point of the different grids to the nearest scanning point on the surface of the object;
and generating a target object surface according to the target object sub-surfaces corresponding to all the grids, and generating a target object three-dimensional model.
In the above embodiment, through the approximate directional distance, the surface area corresponding to the target object may be constructed in each grid, so that a three-dimensional model of the target object may be finally created, an accurate scanning result is formed, and the method is fast and efficient, and has a wide application range.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (10)

1. An indoor self-positioning three-dimensional scanning method is characterized by comprising the following steps:
step 1: acquiring coordinates of a mark reflecting point on an indoor wall in a first coordinate system, and acquiring pose information of a tracking camera and a stereo camera in a tracking scanner in a second coordinate system;
step 2: the tracking camera images the mark reflecting point to obtain the position of an imaging point of the mark reflecting point in the tracking camera, the stereo camera scans a target object, and the coordinate of a scanning point formed by the stereo camera scanning the target object in a second coordinate system is determined according to the pose information of the stereo camera in the second coordinate system;
and step 3: determining the coordinate of the scanning point in the first coordinate system according to the pose information of the tracking camera in the second coordinate system, the imaging point position of the mark reflecting point in the tracking camera, the coordinate of the mark reflecting point in the first coordinate system and the coordinate of the scanning point in the second coordinate system, and fusing the scanning points in the first coordinate system;
and 4, step 4: repeating the step 2 and the step 3 until the overall scanning of the target object is completed, obtaining a coordinate fusion result of different scanning points in the first coordinate system, and constructing the surface of the target object in the first coordinate system according to the coordinate fusion result of the different scanning points in the first coordinate system to generate a three-dimensional model of the target object;
the first coordinate is a three-dimensional coordinate system constructed by using at least four mark light reflecting points on an indoor wall, and the second coordinate is a three-dimensional coordinate system constructed by using the tracking scanner as a center.
2. The indoor self-positioning three-dimensional scanning method according to claim 1, wherein in the step 1, the acquiring pose information of the tracking camera and the stereo camera in the tracking scanner in the second coordinate system specifically comprises:
and respectively calibrating a tracking camera and a stereo camera of the tracking scanner by using the coordinates of the mark reflecting points in the first coordinate system to obtain the pose information of the tracking camera and the stereo camera in the second coordinate system.
3. The indoor self-positioning three-dimensional scanning method according to claim 1, characterized in that: the step 3 specifically includes:
step 31: determining the coordinate of the scanning point in the first coordinate system according to the pose information of the tracking camera in the second coordinate system, the imaging point position of the mark reflecting point in the tracking camera, the coordinate of the mark reflecting point in the first coordinate system and the coordinate of the scanning point in the second coordinate system;
step 32: gridding the three-dimensional space where the first coordinate system is located, so that the scanning points on the target object fall into corresponding grids;
step 33: and fusing the scanning points of the first coordinate system, and calculating the approximate directed distance from the central point of each grid to the nearest scanning point on the surface of the object according to the coordinates of the scanning points in the first coordinate system.
4. The indoor self-positioning three-dimensional scanning method according to claim 3, characterized in that: the step 31 specifically includes:
step 311: determining the pose information of the tracking camera in the first coordinate system by using a back intersection algorithm according to the coordinates of the mark reflecting points in the first coordinate system and the positions of the imaging points of the mark reflecting points in the tracking camera;
step 312: determining a coordinate transformation relation between a first coordinate system and a second coordinate system according to the pose information of the tracking camera in the first coordinate system and the pose information of the tracking camera in the second coordinate system;
step 313: and converting the coordinate of the scanning point in the second coordinate system into the first coordinate system according to the coordinate conversion relation to obtain the coordinate of the scanning point in the first coordinate system.
5. The indoor self-positioning three-dimensional scanning method according to claim 3, characterized in that: in step 4, the constructing the surface of the target object in the first coordinate system and generating the three-dimensional model of the target object specifically includes:
step 41: constructing the sub-surface of the target object in the corresponding grid according to the approximate directed distance from the central point of the different grids to the nearest scanning point on the surface of the object;
step 42: and generating a target object surface according to the target object sub-surfaces corresponding to all the grids, and generating a target object three-dimensional model.
6. An indoor self-align three-dimensional scanning system which characterized in that: the device comprises a photogrammetric component, a tracking scanner and a main controller;
the photogrammetric component is used for acquiring the coordinates of the mark reflecting points on the indoor wall in the first coordinate system;
the tracking scanner comprises a tracking camera and a stereo camera, wherein the tracking camera is used for scanning the mark reflecting point to obtain the position of an imaging point of the mark reflecting point in the tracking camera, and the stereo camera is used for scanning a target object;
the main controller is used for acquiring pose information of a tracking camera in a tracking scanner and pose information of a stereo camera in a second coordinate system, determining coordinates of a scanning point formed by the stereo camera scanning the target object in the second coordinate system according to the pose information of the stereo camera in the second coordinate system, determining coordinates of the scanning point in a first coordinate system according to the pose information of the tracking camera in the second coordinate system, the imaging point position of the marker reflecting point in the tracking camera of the tracking scanner, the coordinates of the marker reflecting point in the first coordinate system and the coordinates of the scanning point in the second coordinate system in the scanner, fusing the scanning points in the first coordinate system, repeating the steps until the target object is integrally scanned, obtaining the fusion result of the coordinates of different scanning points in the first coordinate system, and constructing the surface of the target object in the first coordinate system according to the coordinate fusion result of the different scanning points in the first coordinate system, generating a three-dimensional model of the target object;
the first coordinate is a three-dimensional coordinate system constructed by using at least four mark light reflecting points on an indoor wall, and the second coordinate is a three-dimensional coordinate system constructed by using the tracking scanner as a center.
7. The indoor self-positioning three-dimensional scanning system of claim 6, wherein: the specific implementation of the main controller for acquiring the coordinates of the tracking camera and the stereo camera in the second coordinate system in the tracking scanner is as follows:
and respectively calibrating a tracking camera and a stereo camera of the tracking scanner by using the coordinates of the mark reflecting points in the first coordinate system to obtain the pose information of the tracking camera and the stereo camera in the second coordinate system.
8. The indoor self-positioning three-dimensional scanning system of claim 6, wherein: the master controller is specifically configured to:
determining the coordinate of the scanning point in the first coordinate system according to the pose information of the tracking camera in the second coordinate system, the imaging point position of the mark reflecting point in the tracking camera, the coordinate of the mark reflecting point in the first coordinate system and the coordinate of the scanning point in the second coordinate system;
gridding the three-dimensional space where the first coordinate system is located, so that the scanning points on the target object fall into corresponding grids;
and fusing the scanning points of the first coordinate system, and calculating the approximate directed distance from the central point of each grid to the nearest scanning point on the surface of the object.
9. The indoor self-positioning three-dimensional scanning system of claim 8, wherein: the main controller determines the coordinates of the scanning point in the first coordinate system to be specifically realized as follows:
determining the pose information of the tracking camera in the first coordinate system by using a back intersection algorithm according to the coordinates of the mark reflecting points in the first coordinate system and the positions of the imaging points of the mark reflecting points in the tracking camera;
determining a coordinate transformation relation between a first coordinate system and a second coordinate system according to the pose information of the tracking camera in the first coordinate system and the pose information of the tracking camera in the second coordinate system;
and converting the coordinate of the scanning point in the second coordinate system into the first coordinate system according to the coordinate conversion relation to obtain the coordinate of the scanning point in the first coordinate system.
10. The indoor self-positioning three-dimensional scanning system of claim 8, wherein: the method for constructing the surface of the target object in the first coordinate system and generating the three-dimensional model of the target object is specifically realized as follows:
constructing the sub-surface of the target object in the corresponding grid according to the approximate directed distance from the central point of the different grids to the nearest scanning point on the surface of the object;
and generating a target object surface according to the target object sub-surfaces corresponding to all the grids, and generating a target object three-dimensional model.
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