CN109035379B - A kind of 360 ° of 3D measurements of object and information acquisition device - Google Patents
A kind of 360 ° of 3D measurements of object and information acquisition device Download PDFInfo
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- CN109035379B CN109035379B CN201811050754.2A CN201811050754A CN109035379B CN 109035379 B CN109035379 B CN 109035379B CN 201811050754 A CN201811050754 A CN 201811050754A CN 109035379 B CN109035379 B CN 109035379B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/22—Matching criteria, e.g. proximity measures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T15/00—3D [Three Dimensional] image rendering
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/46—Descriptors for shape, contour or point-related descriptors, e.g. scale invariant feature transform [SIFT] or bags of words [BoW]; Salient regional features
- G06V10/462—Salient features, e.g. scale invariant feature transforms [SIFT]
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/168—Feature extraction; Face representation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/18—Eye characteristics, e.g. of the iris
- G06V40/193—Preprocessing; Feature extraction
Abstract
The present invention provides a kind of 360 ° of 3D measuring devices of object, including image collecting device, for acquiring one group of image of object with object relative motion by it；Rotating device is used for so that object and image collecting device generate relative motion；Transparent carrying platform enables image collecting device to collect the image of object Yu transparent carrying platform contact portion for carrying object；Reflective processing unit, for removing due to the reflective caused influence of noise of translucent construction；Processing unit, for obtaining the 3D information of object according to the multiple images in above-mentioned one group of image；Measuring unit, for according to the size of calibration and the geometric dimension of object 3D information measurement object.Method by removing above-mentioned reflective noise after acquisition image, improves the measurement accuracy of object.
Description
Technical field
The present invention relates to object 3D field of measuring technique, in particular to carry out object 3D acquisition and length etc. using picture
Geometric dimension field of measuring technique.
Background technique
3D acquisition at present/measuring device is mainly for a certain specific object, and after object determines, camera around object by turning
Dynamic acquisition object multiple pictures, thus the 3D rendering of synthetic body, and carry out object length, profile etc. using 3D point cloud data and survey
Amount.
Common 3D acquisition/measuring device, if the loading plate for drop target object is using common platform, object is placed
It is acquired or measures on platform, object is blocked with contact with platform region by platform, this is that device can not collect this and connect
Touch the image information in region.Therefore some existing devices replace piece common platform using transparent panel, in this way can be by saturating
The characteristic of isotropic disk light transmission, collects the image with the target object area of transparent panel flat face touching, and device can collect target
The image information of object whole completes 3D measurement and acquisition of information to carry out later period synthesis to these image informations.
But when acquisition device acquires target object image by transparent panel, acquired image is of low quality, and clarity is low, makes
3D synthesis is carried out with above-mentioned image and affects synthetic effect, can not be applied in fine measurement and to the demanding neck of the precision of images
Domain.
Summary of the invention
In view of the above problems, it proposes on the present invention overcomes the above problem or at least be partially solved in order to provide one kind
State a kind of 360 ° of 3D measurements of object and the information acquisition device of problem.
The present invention provides a kind of 360 ° of 3D measuring devices of object, including
Image collecting device, for acquiring one group of image of object with object relative motion by it；
Rotating device is used for so that object and image collecting device generate relative motion；
Transparent carrying platform enables image collecting device to collect object and holds with transparent for carrying object
The image of carrying platform contact portion；
Reflective processing unit, for removing due to the reflective caused influence of noise of translucent construction；
Processing unit, for obtaining the 3D information of object according to the multiple images in above-mentioned one group of image；
Measuring unit, for according to the size of calibration and the geometric dimension of object 3D information measurement object.
The present invention provides a kind of 3D information acquisition devices, including
Image collecting device, for acquiring one group of image of object with object relative motion by it；
Rotating device is used for so that object and image collecting device generate relative motion；
Carrying platform, for carrying object；
The carrying platform includes translucent construction, enables image collecting device to collect object and connects with translucent construction
The image in the region of touching；
Reflective processing unit, for removing due to the reflective caused influence of noise of translucent construction；
Processing unit, for obtaining the 3D information of object according to the multiple images in above-mentioned one group of image.
The present invention provides a kind of 3D information acquisition devices, including
Image collecting device, for acquiring one group of image of object with object relative motion by it；
Rotating device is used for so that object and image collecting device generate relative motion；
Carrying platform, for carrying object；
The carrying platform includes reticular structure, so that most of image quilt in the region that object is contacted with reticular structure
Image acquisition device.
Optionally, rotating device driving carrying platform rotation.
Optionally, rotating device driving image collecting device rotation.
Optionally, image collector is set to one or more.
Optionally, reflective processing unit, for removing the image of non-targeted object from described multiple images or from the 3D
The 3D rendering of non-targeted object is removed in information.
Optionally, reflective processing unit includes before image collecting device optical path or internal including removing reflective ghost image
Optical regulator.
Optionally, which is anti-reflection film, antireflective film, polarizing coating and/or their combination.
Optionally, it includes translucent construction that reflective processing unit, which is carrying platform, and which is that one or more layers is anti-reflection/
Antireflective film optical texture.
Optionally, it includes translucent construction that reflective processing unit, which is carrying platform, which is polarization membrane structure.
Optionally, including processing unit, the 3D for obtaining object according to the multiple images in above-mentioned one group of image believe
Breath, and the target portion that supplement reticular structure blocks in multiple images or in 3D information.
The present invention provides a kind of 3D information comparison devices, including 3D information acquisition device described in above-mentioned any one.
The present invention provides a kind of mating object generating means of object, are obtained using 3D information described in above-mentioned any one
The 3D information at least one region of the object for taking device to obtain generates the mating object matched with object corresponding region.
The present invention provides a kind of 3D information acquisition methods, obtain object 3D information using any one device.
Inventive point and technical effect
1, it notices for the first time and is proposed for obtaining 360 ° of 3D measuring devices presence of object by transparent carrying platform
The problem of synthesis of 3D information caused by translucent material reflecting background quality is low, reduces object measurement accuracy.
2, matter is synthesized to 3D information to reflective noise in 360 ° of measurements of object progress and 3D information access process to overcome
The influence of amount is put forward for the first time the setting in acquisition optical path and effectively reduces reflective noise on image using optical regulator
The influence of quality improves the synthesis quality of object 3D information, improves the measurement accuracy of object.
3, it is put forward for the first time using reticular structure carrying platform, reticular structure enables image collecting device to obtain more figures
As optical information, while reducing the reflective interference of translucent material generation.
4, using the acquisition of optimization and Transmission Control Strategy, avoid the instantaneous transfer after Image Acquisition works and is fully completed big
The problem of measuring data, transmission network caused to overload.Also flow chart of data processing is optimized, makes processing unit by data processing task point
It dissipates and executes, reduce data processing amount, improve data-handling efficiency.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 is a kind of 360 ° of 3D acquisition of information/measuring device structural schematic diagrams of object of the embodiment of the present invention 1；
Fig. 2 is a kind of 360 ° of 3D acquisition of information/measuring device structural schematic diagrams of object of the embodiment of the present invention 2；
Fig. 3 is a kind of 360 ° of 3D acquisition of information/measuring device structural schematic diagrams of object of the embodiment of the present invention 3；
Description of symbols:
1 image collecting device, 2 rotating devices, 3 transparent carrying platforms, 4 processing units, 31 reticular structure carrying platforms.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
Object can be a physical objects in the present invention, or multiple objects constituent.
The 3D information of object include 3D rendering, 3D point cloud, 3D grid, part 3D feature, 3D size and all with mesh
Mark the parameter of object 3D feature.
So-called 3D, three-dimensional refer to tri- directional informations of XYZ in the present invention, especially have depth information, and only
There is two-dimensional surface information that there is essential distinction.Also it is known as 3D, panorama, holography, three-dimensional with some, but actually only includes two-dimentional letter
Breath, does not especially include that the definition of depth information has essential distinction.
Pickup area described in the present invention refers to the range that image collecting device 1 (such as camera) can be shot.
Image collecting device 1 in the present invention can be CCD, CMOS, camera, video camera, industrial camera, monitor, take the photograph
As head, mobile phone, plate, notebook, mobile terminal, wearable device, smart glasses, smart watches, Intelligent bracelet and have
Image collecting function all devices.
Embodiment 1
In order to solve the above technical problems, one embodiment of the invention provides a kind of 360 ° of 3D acquisition of information/surveys of object
Measure device.As shown in Figure 1, specifically including: image collecting device 1, rotating device 2, the transparent carrying being mounted on rotating device 2
Platform 3, and the processing unit 4 connecting with image collecting device 1, image collecting device 1 are set to transparent carrying platform 3 one
Side.
In device use process, object is placed on transparent carrying platform 3, image collecting device 1 is flat from transparent carrying
3 side of platform penetrates transparent carrying platform 3, collects the image of object, and rotating device 2 rotates, and transparent carrying platform 3 is driven to revolve
Turn, so that object be made also to be rotated accordingly, rotating device 2 drives carrying platform rotation.Whenever 3 turns of transparent carrying platform
Certain angle is crossed, image collecting device 1 acquires the image of a width object, when transparent carrying platform 3 is in the drive of rotating device 2
Lower rotation is completed one week, i.e. object rotates a circle also relative to image collecting device 1, at this point, image collecting device 1 can acquire
To 360 ° of object of one group of image.Image collecting device 1 may include multiple cameras, such as 2 cameras, be separately positioned on transparent
The upper and lower of carrying platform 3 can be shot simultaneously, can also interval shooting, can be configured according to acquisition condition.
Since transparent carrying platform 3 has translucent material to be made, translucent material is different from the refractive index of air, has portion
Light splitter is reflected or is scattered by translucent material, and the light of these reflections or scattering can also be collected by image collecting device 1,
Object inverted image is formed on the image of acquisition, is become noise image, when carrying out 3D synthesis, can also be synthesized into 3D and scheme
Picture affects the bandwagon effect and measurement accuracy of object 3D rendering.
Therefore, one group of image for collecting 360 ° of object is transferred to processing unit 4 by image collecting device 1, is located
Reason is got rid of due to the reflective caused optical noise image of the translucent material of transparent carrying platform 3, completes the process of denoising filtering,
The 3D information of object.
The process of denoising filtering can be deleted manually using manual identified, can also be automatic using corresponding software program
It identifies and is automatically deleted.Specifically, can be after image collecting device 1 collects the multiple image of object, directly from every width
Synthesis processing is carried out after removing the image of non-targeted object in image；It can also be from the 3D for removing non-targeted object after synthesis in 3D information
Image.
In addition, the present invention has found that the inverted image image usually reflected is above carried platform by long-term a large number of experiments
Camera is collected, be due to transparent carrying platform it is reflective caused by.It is therefore proposed that in the light transmission material of transparent carrying platform
Expect that one layer of anti-reflection film/antireflective film is plated in upper surface, so that the light of object is all transmitted through below without being reflected, prevents
Noise image, and the object image intensity for enabling to following camera to receive is stronger, and image is apparent.Usual anti-reflection film/
Anti-reflection/anti-reflection effect of antireflective film be it is related with the wavelength of light, single film generally directed to specific band light have anti-reflection/anti-reflection
Effect.So if subsequent 3D again needs to obtain 3D rendering rather than just 3D point cloud, then needing to improve color when synthesizing
Reduction degree, lighting source should use white light.At this moment anti-reflection film/antireflective film guarantees it is preferable to use the membrane system of 3-tier architecture wider
Spectral region in realize anti-reflection/anti-reflection effect.Such as the translucent material of carrying platform 3 uses the transparent of refractive index n=1.52
Glass, three layers of anti-reflection film can be selected as MgF2、ZrO2、CeF3, can make residual reflection coefficient within the scope of 450nm-860nm
It is maintained at 1% or less.
Although being held it is appreciated that being adopted as translucent material plating anti-reflection film/antireflective film mode above reduces reflected image
The translucent material of carrying platform 3 itself can be directly used the different multilayered structure of refractive index and form anti-reflection/anti-reflection material, that is, carry
Platform 3 does not use conventional clear glass, but the multilayered structure for using refractive index different, itself realizes anti-reflection/anti-reflection effect.
In addition, above-mentioned translucent material upper surface can plate one or more layers polarizing coating so that translucent material reflection with polarizing coating optical axis
Inconsistent reflected light is filtered, to prevent object reflective in translucent material.It is similar to the above, translucent material itself
Polarization membrane structure can be directly used.It is corresponding to use when being shot to object when reducing reflecting background using polarizing coating
White light source can be used in light source, can also be selected to use polarizing light source according to reflective situation.
In practical applications, image collecting device 1 can using optimization acquisition and transmission strategy complete Image Acquisition and
Transmit work.
For example, image collecting device 1, which rotates beginning initial position in object, collects the first image, hereafter, rotating dress
It sets 2 to continue to rotate, image collecting device 1 transmits collected first image before rotating device 2 rotates to the next position
It is handled to processing unit 4.When rotating device 2 goes to the preset second position, image collecting device 1 is acquired again in the mesh
The second image of object in the position is marked, and so on, it is single that the every acquisition piece image of image collecting device 1 is just transferred directly to processing
Member 4, improves Image Acquisition and efficiency of transmission；Meanwhile processing unit 4 can also be just vertical after often receiving piece image data
It is handled, completes the process of denoising, thus be avoided that the instantaneous transfer mass data after Image Acquisition work is fully completed, make
The problem of overloading at transmission network.Also flow chart of data processing is optimized, processing unit 4 is made to disperse to execute by data processing task,
Data processing amount is reduced, data-handling efficiency is improved.
After obtaining multiple target object images, processing unit 4 handles above-mentioned image synthesis 3D.Utilize the more of multiple angles
The method for carrying out image mosaic according to adjacent image characteristic point can be used in a image synthesis 3D point cloud or image, also can be used
Other methods.
The method of image mosaic includes:
(1) multiple images are handled, extracts respective characteristic point；The feature of respective characteristic point can in multiple images
To be retouched using SIFT (Scale-Invariant Feature Transform, scale invariant feature conversion) Feature Descriptor
It states.SIFT feature description has 128 feature description vectors, and the 128 of any characteristic point can be described on direction and scale
The feature of a aspect significantly improves the precision to feature description, while Feature Descriptor has independence spatially.
(2) based on the multiple images of extraction, characteristic point, feature point cloud data and the iris for generating face characteristic respectively be special
The feature point cloud data of sign.It specifically includes:
(2-1) carries out the spy of plurality of pictures according to the feature of the respective characteristic point of each image in the multiple images of extraction
The matching for levying point, establishes matched facial feature points data set；According to the respective feature of each image in the multiple images of extraction
The feature of point, carries out the matching of the characteristic point of plurality of pictures, establishes matched iris feature point data collection；
(2-2) according to the optical information of camera, obtain multiple images when camera different location, calculate each position phase
Relative position of the machine relative to characteristic point spatially, and the space of the characteristic point in multiple images is calculated depending on the relative position
Depth information.Similarly, the spatial depth information of the characteristic point in multiple images can be calculated.Bundle adjustment can be used in calculating
Method.
The spatial depth information for calculating characteristic point may include: spatial positional information and colouring information, that is, can be feature
Point is in the X axis coordinate of spatial position, characteristic point in the Y axis coordinate of spatial position, characteristic point in the Z axis coordinate of spatial position, spy
Levy the channel B of the colouring information of the value in the channel R of the colouring information of point, the value in the channel G of the colouring information of characteristic point, characteristic point
Value, the value in the channel Alpha of colouring information of characteristic point etc..In this way, containing feature in the feature point cloud data generated
The spatial positional information and colouring information of point, the format of feature point cloud data can be as follows:
X1 Y1 Z1 R1 G1 B1 A1
X2 Y2 Z2 R2 G2 B2 A2
……
Xn Yn Zn Rn Gn Bn An
Wherein, Xn indicates characteristic point in the X axis coordinate of spatial position；Yn indicates characteristic point in the Y axis coordinate of spatial position；
Zn indicates characteristic point in the Z axis coordinate of spatial position；Rn indicates the value in the channel R of the colouring information of characteristic point；Gn indicates feature
The value in the channel G of the colouring information of point；Bn indicates the value of the channel B of the colouring information of characteristic point；The color of An expression characteristic point
The value in the channel Alpha of information.
(2-3) generates object according to the spatial depth information of multiple images matched characteristic point data collection and characteristic point
The feature point cloud data of feature.
(2-4) constructs object 3D model according to feature point cloud data, to realize the acquisition of object point cloud data.
Collected object color, texture are attached on point cloud data by (2-5), form object 3D rendering.
Wherein it is possible to 3D rendering is synthesized using all images in one group of image, it can also be higher from wherein selection quality
Image synthesized.
Above-mentioned joining method is limited citing, however it is not limited to which this, several with good grounds multi-angle two dimensional images of institute generate three
The method of dimension image can be used.
In addition, the image for synthesizing 3D information is deposited and needs to meet following relationship: adopting in above-mentioned relative movement
Collection position is determined that two neighboring position at least meets following item by the position of image collecting device 1 when acquisition target object image
Part:
H* (1-cosb)=L*sin2b；
A=m*b；
0<m<1.5
Wherein L be image collecting device 1 arrive object distance, usually image collecting device 1 at first position away from
With a distance from object face collected region, m is coefficient.
H is object actual size in acquired image, and image is usually the bat at first position of image collecting device 1
The picture taken the photograph, the object in the picture have true geometric dimension (not being the size in picture), edge when measuring the size
Orientation measurement of the first position to the second position.Such as first position and the second position are the relationships moved horizontally, then should
Size is measured along the horizontal cross of object.Such as the object left end that can show that in picture be A, right end B,
The linear distance of A to B on object is then measured, is H.Measurement method can be according to A, B distance in picture, and combining camera camera lens is burnt
Away from carry out actual distance calculation, A, B can also be identified on object, directly measured using other measurement means AB straight line away from
From.
A is two neighboring location drawing picture acquisition device optical axis included angle.
M is coefficient
Since article size, concave-convex situation are different, the value of a can not be limited with strict formula, needs rule of thumb to carry out
It limits.According to many experiments, the value of m preferably can be within 0.8 within 1.5.Specific experiment data are referring to such as
Lower table:
| Object | M value | Synthetic effect | Synthetic ratio |
| Human body head | 0.1、0.2、0.3、0.4 | It is very good | > 90% |
| Human body head | 0.5、0.6 | It is good | > 85% |
| Human body head | 0.7、0.8 | It is relatively good | > 80% |
| Human body head | 0.9、1.0 | Generally | > 70% |
| Human body head | 1.0、1.1、1.2 | Generally | > 60% |
| Human body head | 1.2、1.3、1.4、1.5 | Synthesis reluctantly | > 50% |
| Human body head | 1.6、1.7 | It is difficult to synthesize | < 40% |
After object and image collecting device 1 determine, the value of a can be calculated according to above-mentioned empirical equation, according to a value
It can determine the parameter of virtual matrix, i.e. positional relationship between matrix dot.
In general, virtual matrix is one-dimensional matrix, such as along the multiple matrix dots of horizontal direction arrangement (acquisition position
It sets).But when some target objects are larger, two-dimensional matrix is needed, then two adjacent in vertical direction positions equally meet
Above-mentioned a value condition.
Under some cases, even from above-mentioned empirical equation, also it is not easy to determine a value under some occasions, needs basis at this time
Experiment adjustment matrix parameter, experimental method are as follows: calculating prediction matrix parameter a according to above-mentioned formula, and according to matrix parameter control
Camera processed is moved to corresponding matrix dot, such as camera shoots picture P1 in position W1, shoots picture P2 after being moved to position W2,
Whether in picture P1 and picture P2 have the part that indicates object the same area, i.e., P1 ∩ P2 non-empty is (such as simultaneously if comparing at this time
Comprising human eye angle part, but photograph taking angle is different), if readjusting a value without if, re-move to position W2 ', weight
Multiple above-mentioned comparison step.If P1 ∩ P2 non-empty, camera is continued to move to the position W3 according to a value (adjustment or unadjusted),
Picture P3 is shot, whether compare again has the part for indicating object the same area, i.e. P1 in picture P1, picture P2 and picture P3
∩ P2 ∩ P3 non-empty.It recycles plurality of pictures to synthesize 3D, tests 3D synthetic effect, meet 3D information collection and measurement request i.e.
It can.That is, the structure of matrix is determined by the position of image collecting device 1 when acquisition multiple images, adjacent three positions
It sets three images for meeting and acquiring on corresponding position and at least there is the part for indicating object the same area.
Embodiment 2
In order to solve the above technical problems, the embodiment of the invention also provides a kind of 360 ° of 3D information acquisition devices of object.
It specifically includes, image collecting device 1, rotating device 2, transparent carrying platform 3 and processing unit 4.
Image collecting device 1 is mounted on rotating device 2, is rotated with rotating device 2；Rotating device 2 drives Image Acquisition
Device 1 rotates, and, image acquisition units and processing unit fixed in 1 side of image collecting device is arranged in transparent carrying platform 3
4 connections.
In the device use process, object setting is motionless on transparent carrying platform 3, and image collecting device 1 is with rotation
Device 2 rotates, and surrounding target object acquires image, often turns an angle, acquires an image.It rotates one week and collects different views
One group of image of the object at angle, after be transferred to processing unit 4 and handled.
Image collecting device 1 can be rotated can carry out simultaneously with shutter, i.e., 1 rotation process of image collecting device not in
Shutter is controlled under the premise of disconnected to take pictures.
It can also stop after image collecting device 1 turns to some position, control shutter is taken pictures, after taking pictures
Continue to rotate process.Control shutter is constantly interrupted during rotation to take pictures.
Processing unit 4 receives one group of image that image collecting device 1 is sent, and filters out from image group respectively multiple
Image.
Treatment process can refer to embodiment 1.
Embodiment 3
In order to solve the above technical problems, the embodiment of the invention also provides a kind of 360 ° of 3D information acquisition devices of object.
Specifically include: image collecting device 1, rotating device 2, reticular structure carrying platform 31, image collecting device 1 are mounted on rotating dress
It sets on 2, reticular structure carrying platform 31 is arranged on the acquisition direction of image collecting device 1, and rotating device 2 drives Image Acquisition
Device 1 acquires during rotation around netted carrying platform and the object being placed on platform rotation, image collecting device 1
Most of image of the multiple image of object, the region that reticular structure can be such that object contacts with reticular structure is adopted by image
Acquisition means 1 acquire.Reticular structure can also realize the precise measurement of object size as scale simultaneously.
The mesh shape of reticular structure can be rectangular, triangle, hexagon or other mesh shapes.Reticular structure can also
Using translucent material networking, non-transparent material networking can also be used, the small flexible material of hardness can be used in the material of reticular structure,
The big rigid material of hardness can also be used, can adjust according to the needs of practical application.
Reticular structure is made for example, by using carbon fiber, reinforcing nylon, reinforced plastic glass fibre, titanium alloy etc materials, it is flat to carry
Platform bearing capacity and transmittancy are balance, and sealike colour can be several nanometers, and than hairline, also thin twine, is also possible to
Millimeter centimetre even cable of several cm diameters, such as when measuring larger object, using the cable networking of 10 cm diameters, with
Improve platform intensity.In addition, can also be adjusted according to practical application at mesh density in web frame.
It should be noted that sealike colour is smaller, mesh density is smaller, and with regard to smaller, image is adopted in the region of shelter target object
Acquisition means 1 can directly collect more object image information datas, to improve the precision of images and measurement accuracy.But it is another
On the one hand, sealike colour is smaller, and mesh density is smaller, and the bearing capacity of carrying platform is poorer, and platform bearer reliability reduces.
Therefore, it is necessary to be required according to measurement object and measurement accuracy come configuration mesh structure.
The preferably very thin twine of reticular structure twine subtracts as far as possible when object is placed on reticular structure carrying platform 31
Few image collecting device 1 acquires shield portions when image.Image collecting device 1 is set to obtain more imagery optical letters
Breath, while reducing the reflective interference of translucent material generation.
Preferably, processing unit 4 can obtain mesh according to the multiple images in 1 collected one group of image of image collecting device
The 3D information of object is marked, and the target portion that supplement reticular structure blocks in multiple images or in 3D information.Processing unit 4
It can complete to supplement by algorithm, be achieved with the complete 3D information of object in this way.
Embodiment 4
In order to solve the above technical problems, the embodiment of the invention also provides a kind of 360 ° of 3D information acquisition devices of object,
It further include optical regulator on the basis of embodiment 1 to 3, outside the settable image collecting device 1 of optical regulator
Before optical path, or the inside of image collecting device 1 is set, for removing reflective ghost image.
Embodiment 5
In order to solve the above technical problems, the embodiment of the invention also provides a kind of 360 ° of 3D information acquisition devices of object,
Specifically, anti-reflection film can be added on transparent carrying platform 3, Lai Zengjia light penetration reduces light reflection or scattering, thus
Reduce influence of the optical noise to image.
360 ° of 3D information of object that above embodiments obtain can be used for being compared, such as the identification of identity.
The 3D information of human hands, face or iris is obtained first with the solution of the present invention, and is stored it in server, as
Normal data.When in use, operating such as needing to carry out authentication and paid, opened the door, 3D acquisition device can be used
It is compared with normal data, compares and successfully then permit by the 3D information for acquiring and obtaining human hands, face and iris again
Perhaps next step movement is carried out.It is appreciated that this compare the identification that can be used for the fixtures such as antique, the art work, i.e., first
Obtain antique, art work multiple regions 3D information as normal data, when needing to identify, again acquisition multiple regions 3D
Information, and be compared with normal data, it discerns the false from the genuine.
The 3D information for the object multiple regions that above embodiments obtain can be used for designing for the object, production, make
Make mating object.For example, obtaining human body head 3D data, it can be human design, manufacture more particularly suitable cap；Obtain human body head
Portion's data and eyes 3D data can be human design, the suitable glasses of manufacture；Or shoes can be designed and manufactured for human body
Class.
Above embodiments obtain object 3D information can be used for the geometric dimension to the object, appearance profile into
Row measurement.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be practiced without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this specification.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of the various inventive aspects,
Above in the description of exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the disclosed method should not be interpreted as reflecting the following intention: i.e. required to protect
Shield the present invention claims features more more than feature expressly recited in each claim.More precisely, as following
Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following specific embodiment are expressly incorporated in the specific embodiment, wherein each claim itself
All as a separate embodiment of the present invention.
Those skilled in the art will understand that can be carried out adaptively to the module in the equipment in embodiment
Change and they are arranged in one or more devices different from this embodiment.It can be the module or list in embodiment
Member or component are combined into a module or unit or component, and furthermore they can be divided into multiple submodule or subelement or
Sub-component.Other than such feature and/or at least some of process or unit exclude each other, it can use any
Combination is to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosed
All process or units of what method or apparatus are combined.Unless expressly stated otherwise, this specification is (including adjoint power
Benefit require, abstract and attached drawing) disclosed in each feature can carry out generation with an alternative feature that provides the same, equivalent, or similar purpose
It replaces.
In addition, it will be appreciated by those of skill in the art that although some embodiments in this include institute in other embodiments
Including certain features rather than other feature, but the combination of the feature of different embodiment means in the scope of the present invention
Within and form different embodiments.For example, in detail in the claims, the one of any of embodiment claimed all may be used
Come in a manner of in any combination using.
Various component embodiments of the invention can be implemented in hardware, or to run on one or more processors
Software module realize, or be implemented in a combination thereof.It will be understood by those of skill in the art that can be used in practice
Microprocessor or digital signal processor (DSP) realize some or all portions in device according to an embodiment of the present invention
The some or all functions of part.The present invention is also implemented as a part or complete for executing method as described herein
The device or device program (for example, computer program and computer program product) in portion.It is such to realize program of the invention
It can store on a computer-readable medium, or may be in the form of one or more signals.Such signal can be with
It downloads from internet website, is perhaps provided on the carrier signal or is provided in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and ability
Field technique personnel can be designed alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference symbol between parentheses should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" located in front of the element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of several different elements and being come by means of properly programmed computer real
It is existing.In the unit claims listing several devices, several in these devices can be through the same hardware branch
To embody.The use of word first, second, and third does not indicate any sequence.These words can be explained and be run after fame
Claim.
So far, although those skilled in the art will appreciate that present invention has been shown and described in detail herein multiple shows
Example property embodiment still without departing from the spirit and scope of the present invention, still can according to the present disclosure directly
Determine or deduce out many other variations or modifications consistent with the principles of the invention.Therefore, the scope of the present invention is understood that and recognizes
It is set to and covers all such other variations or modifications.
Claims (37)
1. a kind of 360 ° of 3D measuring devices of object, it is characterised in that: including
Image collecting device, for acquiring one group of image of object with object relative motion by it；
Rotating device is used for so that object and image collecting device generate relative motion；
Transparent carrying platform enables image collecting device to collect object and transparent carrying is flat for carrying object
The image of platform contact portion；
Reflective processing unit, for removing due to the reflective caused influence of noise of translucent construction；
Processing unit, for obtaining the 3D information of object according to the multiple images in above-mentioned one group of image；
Measuring unit, for according to the size of calibration and the geometric dimension of object 3D information measurement object.
2. measuring device as described in claim 1, it is characterised in that: rotating device drives carrying platform rotation.
3. measuring device as described in claim 1, it is characterised in that: rotating device drives image collecting device rotation.
4. measuring device as described in claim 1, it is characterised in that: image collector is set to one or more.
5. measuring device as described in claim 1, it is characterised in that: reflective processing unit, for from described multiple images
It removes the image of non-targeted object or removes the 3D rendering of non-targeted object from the 3D information.
6. measuring device as described in claim 1, it is characterised in that: reflective processing unit is included in image collecting device optical path
Front or the internal optical regulator including removing reflective ghost image.
7. measuring device as claimed in claim 6, it is characterised in that: the optical regulator is anti-reflection film, antireflective film, polarization
Film and/or their combination.
8. measuring device as described in claim 1, it is characterised in that: reflective processing unit is that carrying platform includes light transmission knot
Structure, the translucent construction are one or more layers anti-reflection/antireflective film optical texture.
9. measuring device as described in claim 1, it is characterised in that: reflective processing unit is that carrying platform includes light transmission knot
Structure, the translucent construction are polarization membrane structure.
10. a kind of 3D information comparison device, it is characterised in that: including object described in the claims 1-9 any one
360 ° of 3D measuring devices.
11. a kind of mating object generating means of object, it is characterised in that: using described in the claims 1-9 any one
360 ° of 3D measuring devices of object obtain object at least one region 3D information generate with object corresponding region
The mating object matched.
12. a kind of 3D information acquisition method, which is characterized in that obtain object 3D using any one of claim 1-9 device and believe
Breath.
13. a kind of 3D information acquisition device, it is characterised in that: including
Image collecting device, for acquiring one group of image of object with object relative motion by it；
Rotating device is used for so that object and image collecting device generate relative motion；
Carrying platform, for carrying object；
The carrying platform includes translucent construction, and image collecting device is enabled to collect what object was contacted with translucent construction
The image in region；
Reflective processing unit, for removing due to the reflective caused influence of noise of translucent construction；
Processing unit, for obtaining the 3D information of object according to the multiple images in above-mentioned one group of image；
Object 3D information includes 3D rendering, 3D point cloud, 3D grid, part 3D feature, 3D size.
14. 3D information acquisition device as claimed in claim 13, it is characterised in that: rotating device drives carrying platform rotation.
15. 3D information acquisition device as claimed in claim 13, it is characterised in that: rotating device drives image collecting device to turn
It is dynamic.
16. 3D information acquisition device as claimed in claim 13, it is characterised in that: image collector is set to one or more.
17. 3D information acquisition device as claimed in claim 13, it is characterised in that: reflective processing unit is used for from described more
The image of non-targeted object is removed in a image or the 3D rendering of non-targeted object is removed from the 3D information.
18. 3D information acquisition device as claimed in claim 13, it is characterised in that: reflective processing unit is included in Image Acquisition
Before device optical path or inside includes the optical regulator for removing reflective ghost image.
19. 3D information acquisition device as claimed in claim 18, it is characterised in that: the optical regulator is anti-reflection film, subtracts
Anti- film, polarizing coating and/or their combination.
20. 3D information acquisition device as claimed in claim 13, it is characterised in that: reflective processing unit includes for carrying platform
Translucent construction, the translucent construction are one or more layers anti-reflection/antireflective film optical texture.
21. 3D information acquisition device as claimed in claim 13, it is characterised in that: reflective processing unit includes for carrying platform
Translucent construction, the translucent construction are polarization membrane structure.
22. a kind of 3D information comparison device, it is characterised in that: believe including 3D described in the claims 13-21 any one
Cease acquisition device.
23. a kind of mating object generating means of object, it is characterised in that: utilize the claims 13-21 any one institute
The 3D information at least one region of the object that the 3D information acquisition device stated obtains is generated to match with object corresponding region
The mating object closed.
24. a kind of 3D information acquisition method, which is characterized in that obtain object 3D using any one of claim 13-21 device
Information.
25. a kind of 3D information acquisition device, it is characterised in that: including
Image collecting device, for acquiring one group of image of object with object relative motion by it；
Rotating device is used for so that object and image collecting device generate relative motion；
Carrying platform, for carrying object；
The carrying platform includes reticular structure, so that the image in the region that is not blocked that object is contacted with reticular structure is schemed
As acquisition device acquires；
Object 3D information includes 3D rendering, 3D point cloud, 3D grid, part 3D feature, 3D size.
26. 3D information acquisition device as claimed in claim 25, it is characterised in that: rotating device drives carrying platform rotation.
27. 3D information acquisition device as claimed in claim 25, it is characterised in that: rotating device drives image collecting device to turn
It is dynamic.
28. 3D information acquisition device as claimed in claim 25, it is characterised in that: image collector is set to one or more.
29. 3D information acquisition device as claimed in claim 25, it is characterised in that: reflective processing unit is used for from multiple figures
The image of non-targeted object is removed as in or the 3D rendering of non-targeted object is removed from the 3D information.
30. 3D information acquisition device as claimed in claim 25, it is characterised in that: reflective processing unit is included in Image Acquisition
Before device optical path or inside includes the optical regulator for removing reflective ghost image.
31. 3D information acquisition device as claimed in claim 30, it is characterised in that: the optical regulator is anti-reflection film, subtracts
Anti- film, polarizing coating and/or their combination.
32. 3D information acquisition device as claimed in claim 25, it is characterised in that: reflective processing unit includes for carrying platform
Translucent construction, the translucent construction are one or more layers anti-reflection/antireflective film optical texture.
33. 3D information acquisition device as claimed in claim 25, it is characterised in that: reflective processing unit includes for carrying platform
Translucent construction, the translucent construction are polarization membrane structure.
34. 3D information acquisition device as claimed in claim 25, it is characterised in that: including processing unit, for according to above-mentioned
Multiple images in one group of image obtain the 3D information of object, and supplement reticular structure in multiple images or in 3D information
The target portion blocked.
35. a kind of 3D information comparison device, it is characterised in that: believe including 3D described in the claims 25-34 any one
Cease acquisition device.
36. a kind of mating object generating means of object, it is characterised in that: utilize the claims 25-34 any one institute
The 3D information at least one region of the object that the 3D information acquisition device stated obtains is generated to match with object corresponding region
The mating object closed.
37. a kind of 3D information acquisition method, which is characterized in that obtain object 3D using any one of claim 25-34 device
Information.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910862048.6A CN110580732B (en) | 2018-09-10 | 2018-09-10 | 3D information acquisition device |
| CN201811050754.2A CN109035379B (en) | 2018-09-10 | 2018-09-10 | A kind of 360 ° of 3D measurements of object and information acquisition device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811050754.2A CN109035379B (en) | 2018-09-10 | 2018-09-10 | A kind of 360 ° of 3D measurements of object and information acquisition device |
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| CN201910862048.6A Division CN110580732B (en) | 2018-09-10 | 2018-09-10 | 3D information acquisition device |
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| CN109035379A CN109035379A (en) | 2018-12-18 |
| CN109035379B true CN109035379B (en) | 2019-08-20 |
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| CN201811050754.2A Active CN109035379B (en) | 2018-09-10 | 2018-09-10 | A kind of 360 ° of 3D measurements of object and information acquisition device |
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| CN112399067B (en) * | 2019-08-15 | 2023-04-14 | 北京百度网讯科技有限公司 | Panoramic shooting method and device, electronic equipment and storage medium |
| CN111076674B (en) * | 2019-12-12 | 2020-11-17 | 天目爱视（北京）科技有限公司 | Closely target object 3D collection equipment |
| CN113115024B (en) * | 2019-12-12 | 2023-01-31 | 天目爱视（北京）科技有限公司 | 3D information acquisition equipment |
| CN111160136B (en) * | 2019-12-12 | 2021-03-12 | 天目爱视（北京）科技有限公司 | Standardized 3D information acquisition and measurement method and system |
| CN113011348A (en) * | 2019-12-12 | 2021-06-22 | 天目爱视（北京）科技有限公司 | Intelligent service processing equipment based on 3D information identification |
| CN110986768B (en) * | 2019-12-12 | 2020-11-17 | 天目爱视（北京）科技有限公司 | High-speed acquisition and measurement equipment for 3D information of target object |
| CN111292239B (en) * | 2020-01-21 | 2021-03-12 | 天目爱视（北京）科技有限公司 | Three-dimensional model splicing equipment and method |
| CN113100754B (en) * | 2020-01-21 | 2023-02-03 | 天目爱视（北京）科技有限公司 | 3D information acquisition measuring equipment |
| CN111329094B (en) * | 2020-02-28 | 2021-03-23 | 天目爱视（北京）科技有限公司 | Intelligent food production equipment and method |
| CN111398274B (en) * | 2020-03-09 | 2021-05-11 | 天目爱视（北京）科技有限公司 | Small target object 3D collection equipment |
| CN111445570B (en) * | 2020-03-09 | 2021-04-27 | 天目爱视（北京）科技有限公司 | Customized garment design production equipment and method |
| CN113327291B (en) * | 2020-03-16 | 2024-03-22 | 天目爱视（北京）科技有限公司 | Calibration method for 3D modeling of remote target object based on continuous shooting |
| CN111650804B (en) * | 2020-05-18 | 2021-04-23 | 安徽省徽腾智能交通科技有限公司 | Stereo image recognition device and recognition method thereof |
| CN112257537B (en) * | 2020-10-15 | 2022-02-15 | 天目爱视（北京）科技有限公司 | Intelligent multi-point three-dimensional information acquisition equipment |
| EP4170279B1 (en) * | 2021-10-25 | 2024-02-28 | Metrilus GmbH | Arrangement and method for increasing the measuring accuracy in the three-dimensional measurement of objects |
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| CN110580732B (en) | 2023-06-23 |
| CN109035379A (en) | 2018-12-18 |
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