CN109215108A - Panorama three-dimensional reconstruction system and method based on laser scanning - Google Patents
Panorama three-dimensional reconstruction system and method based on laser scanning Download PDFInfo
- Publication number
- CN109215108A CN109215108A CN201710519802.7A CN201710519802A CN109215108A CN 109215108 A CN109215108 A CN 109215108A CN 201710519802 A CN201710519802 A CN 201710519802A CN 109215108 A CN109215108 A CN 109215108A
- Authority
- CN
- China
- Prior art keywords
- laser
- camera
- coordinate
- dimensional
- scaling board
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/08—Indexing scheme for image data processing or generation, in general involving all processing steps from image acquisition to 3D model generation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
Abstract
The present invention provides a kind of panorama three-dimensional reconstruction system and method based on laser scanning, comprising: control turntable, camera, laser emitter, data processing equipment and bracket；The control turntable can repeatedly be rotated according to predetermined angle, realize 360 ° of circle rotations；The camera is used to obtain image of the laser irradiation of the laser transmitter projects in body surface to be reconstructed when after control turntable is rotated according to predetermined angle every time；The data processing equipment realizes the three-dimensional reconstruction to scanning object for being handled the picture of each angle shot and being calculated the point cloud under the angle, and by point cloud registration and integration；Data processing equipment is separately connected control turntable, camera, laser emitter；Bracket is installed on control turntable, and camera and laser emitter are installed on the different location of bracket.The program solves the problems such as manufacturing cost existing in the prior art is excessively high, three-dimensional point cloud registration difficulty is big, different coordinates conversion is inaccurate.
Description
Technical field
The present invention relates to three-dimensional reconstruction field, in particular to a kind of panorama three-dimensional reconstruction system based on laser scanning
And method.
Background technique
There are many existing three-dimensional reconstruction device and method, is usually divided into two major classes: contact and non-contact measurement.
It is three-coordinates measuring machine that the 3-D measuring apparatus of contact-type, which typically represents, and such measuring instrument mostly uses greatly mechanical probes etc. to test
In the hundreds of thousands of above data points progress three-dimensional reconstructions of testee acquisition surface, the method measurement accuracy is high for head and sensor,
But indoor or more large-scale building rebuild in the presence of the complicated driving tooling of needs design, scanning speed is slow and makes
Disadvantage at high cost is made, meanwhile, contact acquisition data are not suitable for historical relic, ancient building or have rigorous to surface
Scene carries out three-dimensional reconstruction.Non-contact type three-dimensional reconstruction most commonly utilizes the measuring techniques such as light, electricity, magnetic, in conjunction with optics original
Reason, digital image acquisition and processing technique carry out three-dimensional reconstruction to object.The method can not contact measured object, have faster
The advantages that scanning speed, but the three-dimensional data obtained is to belong to static measurement on the basis of the camera coordinates system in measuring system,
Therefore, if it is desirable to realize that panorama or object omnidirectional three-dimensional rebuild the acquisition for needing to realize the three-dimensional information of different angle.
In order to obtain the complete 3D model of object, scanner itself need to often be moved, or by scanned object into
Row rotation or mobile, come complete object different angle three-dimensional information acquisition.Position or object due to scanning system
The variation of position, each scan data are all limited under different scanner coordinate systems, can not be straight so as to cause three-dimensional data
Sequence is connected to be aligned in a unified coordinate system.Therefore, the complete three-dimensional information of object in order to obtain, needs to different angle
Three-dimensional information matched.Processing method primarily now has: (1) manual method (2) labelling method (3) image procossing and geometry meter
Algorithm (4) Mechanical Moving coordinate system transformation method.
(1) manual method: matching corresponding points manually are carried out to adjacent scan data, then according to the location information meter of corresponding points
Transformation matrix is calculated, scan data is registrated.Such method requires adjacent scan data there are biggish overlapping region, this
One requires to limit scanning rotation angle, so as to cause scan efficiency reduction.Another disadvantage of such method is that data are arranged
The accuracy of column depends on the input precision of operator, and for the surface of not obvious characteristic, input precision is just more difficult
To guarantee.There is also labor intensive and inefficient disadvantages for nonautomatic method for registering.
(2) labelling method: adhere to a upper detectable object on scanning object, become label or target.By operating
Member identifies and is accurately inputted or identify that respective point carries out by the image processing algorithm and geometric algorithm of other auxiliary
Input, completes the registration of adjacent scan data.Such method increase in precision and efficiency compared with manual methods but still
There are following disadvantages: (a) must assure that there are the mark points of certain amount in adjacent twice sweep sight, to limit
The each rotational angle of scanned object, increases scanning times and data volume.(b) mark is made marks or added less in object
Note, it is possible to scanning object be damaged, while may cause sweep object surface information in the physical size due to label
Covering, cause the loss of detail of scan data.(c) number and size marked can not establish unified standard, reference numerals
Mesh is very little, label deficiency is likely to occur in scan data, number of labels is too many, may cause asking for scan data serious interference
Topic, the physical size of label is too small, possibly can not detect, and label physical size is too big, may cause under operator's input precision
Drop.
(3) image and geometric analysis method: such method is passed through by the image or scan data of detection adjacent view
Detection and extraction feature, while feature is registrated to complete the registration of model.The shortcomings that such method, is: (a) method
There is limitation for the surface characteristics and texture that scan object, in the case where texture is unobvious or the unconspicuous situation of feature, the party
Method may be unable to complete registration task.(b) method needs to detect the corresponding pixel points or the adjacent scanning number of detection of adjacent picture
According to character pair point, algorithm is computationally intensive, and error source not can guarantee.(c) it is matched by pixel matching and geometrical characteristic
Method, need adjacent scan data there are certain overlapping areas to move to detect character pair so as to cause scanning visual angle
The limitation of dynamic angle increases scanning times, reduced scan efficiency.
(4) Mechanical Moving coordinate system transformation method: measurement number every time is carried out by calculating camera amount of movement in mechanical device
According to coordinate system conversion, such methods depend on the precision of instrument, and the device of high precision needs accurate sensor cost
High, common mechanical device then needs manual measurement, but because camera coordinates system using camera entering light center as coordinate origin, is surveyed
The mobile accuracy of measurement in amount center is very limited, while as the increase error of measurement distance will be amplified several times, leading to point cloud matching
Difficulty increase is spent, later period needs are manually adjusted or with point cloud matching algorithm, and obtain because common mechanical movement is each
To scanning element cloud be all it is linear, provincial characteristics is unobvious, and matching algorithm is often difficult to apply or treatment effect is bad.
Therefore, present measurement method is primarily present that manufacturing cost is excessively high, three-dimensional point cloud registration difficulty is big, different coordinates
Convert the problems such as inaccurate.
Summary of the invention
The embodiment of the invention provides a kind of panorama three-dimensional reconstruction system based on laser scanning, can solve the prior art
Present in the problems such as manufacturing cost is excessively high, three-dimensional point cloud registration difficulty is big, different coordinates conversion is inaccurate.
The panorama three-dimensional reconstruction system based on laser scanning include: control turntable, camera, laser emitter, at data
Manage device and bracket；
The control turntable, camera, laser emitter are connect with the data processing equipment respectively；The camera, laser
Transmitter is installed on the different location of the bracket；
The control turntable can repeatedly be rotated according to predetermined angle, realize 360 ° of circle rotations；
The camera is used to obtain the laser transmitter projects after control turntable is rotated according to predetermined angle every time
Image of the laser irradiation in body surface to be reconstructed, and multiple images are sent to the data processing equipment；
The data processing equipment is used for: being received multiple described images, and is obtained on the laser rays in multiple described images
Three-dimensional coordinate of all the points under its camera coordinates system, using control turntable be in 0 degree when camera coordinates system as fixed coordinate system,
According to the Coordinate Transformation Models constructed will acquire described on laser rays in multiple images all the points three-dimensional coordinate conversion
To fixed coordinate system, coordinate of all the points under fixed coordinate system on the laser rays in multiple described images is obtained, according to seat
It marks conversion process result and three-dimensional reconstruction is carried out to object to be reconstructed.
In one embodiment, the bracket includes vertical rack, first level bracket and the second horizontal bracket；
The vertical rack is installed vertically on control turntable center, and first level bracket is with the second horizontal bracket at cross phase
Installation is handed over, first level bracket one end is perpendicularly fixed on the vertical rack, and the camera is installed on the first level branch
The other end of frame；For second horizontal bracket perpendicular to the first level bracket, the laser emitter is installed on described
On the one end of two horizontal brackets far from the data processing equipment.
In one embodiment, the control turntable includes serial communication interface, and the camera includes serial communication interface.
In one embodiment, the data processing equipment is also used to open in the camera and the laser emitter
Afterwards, visualization adjustment is carried out to the distance between the camera and the laser emitter, so that laser stripe is in camera bat
It takes the photograph in visual field.
In one embodiment, the data processing equipment is also used to open in the camera and the laser emitter
Afterwards, visualization adjustment is carried out to the mounting height of the first level bracket and the second horizontal bracket, so that phase function takes
Object to be reconstructed.
In one embodiment, the data processing equipment is also used to: the angle of default control turntable rotation, described in control
Control turntable is repeatedly rotated according to the predetermined angle.
In one embodiment, the data processing equipment is also used to:
The N scaling board figures without laser calibration plate figure and 3 with laser rays that camera obtains are received, wherein N is preceding greater than 10
N-1 be that scaling board obtains when be in different location without laser calibration plate figure, and it is in acquisition that N, which is opened without laser calibration plate figure,
Scaling board is not moved after N-1 scaling board pictures, control turntable obtains after primary according to predetermined angle rotation；3 band laser
The scaling board figure of line is respectively to obtain when obtaining N-2, N-1 and N without laser calibration plate figure；
Camera is demarcated without laser calibration plate figure according to N, obtains camera internal reference matrix and N number of camera to scaling board
Outer ginseng matrix；
3 coordinates with all the points on laser rays in laser calibration plate figure under image coordinate system are extracted, according to camera
Internal reference matrix and N-2 are a, N-1 is a and n-th camera is to the outer ginseng matrix of scaling board, determine 3 band laser calibration plate figures
In the three-dimensional coordinate of all laser point under camera coordinates system；
According to 3 three-dimensional coordinates with laser point all in laser calibration plate figure, to institute in 3 band laser calibration plate figures
Some laser points carry out least square method fitting, obtain laser plane equation:
The laser plane equation are as follows:
axc+byc+czc+ d=0；
Wherein, (xc, yc, zc) it is camera coordinates system coordinate, a, b, c, d are fitting constant.
In one embodiment, the data processing equipment is also used to:
According to N-1 and n-th camera to the outer ginseng matrix of scaling board, determine before and after controlling turntable rotation predetermined angle
The camera coordinates system transfer equation of two positions；
The coordinate system transfer equation are as follows:
Wherein, Tr is the camera coordinates system transfer equation for controlling turntable rotation former and later two positions of predetermined angle, MwN-1 is
Outer ginseng matrix of the N-1 camera to scaling board；MwNFor the outer ginseng matrix of n-th camera to scaling board.
In one embodiment, the data processing equipment is specifically used for:
Coordinate Transformation Models are created according to following formula:
Wherein, [x0 y0 z0It 1] is coordinate of the laser point under fixed coordinate system；[xn yn zn1] turn for control turntable
The camera homogeneous coordinates of laser point when n is spent.
In one embodiment, the data processing equipment is specifically used for:
The three-dimensional coordinate of all the points on the laser rays in multiple described images is obtained as follows:
Obtain coordinate of all the points under image coordinate system on the laser rays in multiple images；
According to coordinate, image coordinate and camera of all the points under image coordinate system on the laser rays in multiple described images
Transfer equation and laser plane equation between coordinate system determine that all the points are at place angle on the laser rays in multiple described images
Spend three-dimensional coordinate under lower camera coordinates system；
Wherein, the transfer equation between described image coordinate and camera coordinates system are as follows:
Wherein, (u, v) is image coordinate, McFor camera internal reference matrix, kxFor every millimeter of the pixel measurement in the direction x, kyFor y
The pixel in every millimeter of direction is measured, (u0, v0) it is picture centre coordinate.
The embodiment of the invention provides a kind of panorama three-dimensional rebuilding method based on laser scanning, can solve the prior art
Present in the problems such as manufacturing cost is excessively high, three-dimensional point cloud registration difficulty is big, different coordinates conversion is inaccurate.
The panorama three-dimensional rebuilding method based on laser scanning includes:
The laser irradiation of laser transmitter projects is obtained to be reconstructed after control turntable is rotated according to predetermined angle every time
Image when body surface；
Obtain three-dimensional coordinate of all the points under its camera coordinates system on the laser rays in multiple described images；
Using control turntable be in 0 degree when camera coordinates system as fixed coordinate system, according to the Coordinate Transformation Models constructed
The three-dimensional coordinate of all the points is converted to fixed coordinate system on the laser rays in multiple described images that will acquire, and is obtained described more
Open coordinate of all the points under fixed coordinate system on the laser rays in image；
Three-dimensional reconstruction is carried out to object to be reconstructed according to coordinate conversion process result；
Wherein, control turntable can repeatedly be rotated according to predetermined angle, realize 360 ° of circle rotations.
In one embodiment, on obtaining the laser rays in multiple described images all the points under its camera coordinates system
Before three-dimensional coordinate, further includes:
The N scaling board figures without laser calibration plate figure and 3 with laser rays are obtained, wherein N is greater than 10, and preceding N-1 nothings swash
Cursor fixed board figure is that scaling board obtains when being in different location, and N are to obtain N-1 calibration without laser calibration plate figure
Scaling board is not moved after plate picture, control turntable obtains after primary according to predetermined angle rotation；3 scaling boards with laser rays
Figure is respectively to obtain when obtaining N-2, N-1 and N without laser calibration plate figure；
Camera is demarcated without laser calibration plate figure according to N, obtains camera internal reference matrix and N number of camera to scaling board
Outer ginseng matrix；
3 coordinates with all the points on laser rays in laser calibration plate figure under image coordinate system are extracted, according to camera
Internal reference matrix and N-2 are a, N-1 is a and n-th camera is to the outer ginseng matrix of scaling board, determine 3 band laser calibration plate figures
In the three-dimensional coordinate of all laser point under camera coordinates system；
According to 3 three-dimensional coordinates with laser point all in laser calibration plate figure, to institute in 3 band laser calibration plate figures
Some laser points carry out least square method fitting, obtain laser plane equation:
The laser plane equation are as follows:
axc+byc+czc+ d=0；
Wherein, (xc, yc, zc) it is camera coordinates system coordinate, a, b, c, d are fitting constant.
In one embodiment, on obtaining the laser rays in multiple described images all the points under its camera coordinates system
Before three-dimensional coordinate, further includes:
According to N-1 and n-th camera to the outer ginseng matrix of scaling board, determine before and after controlling turntable rotation predetermined angle
The camera coordinates system transfer equation of two positions；
The coordinate system transfer equation are as follows:
Wherein, Tr is the camera coordinates system transfer equation for controlling turntable rotation former and later two positions of predetermined angle, MwN-1 is
Outer ginseng matrix of the N-1 camera to scaling board；MwNFor the outer ginseng matrix of n-th camera to scaling board.
In one embodiment, the Coordinate Transformation Models constructed are as follows:
Wherein, [x0 y0 z0It 1] is coordinate of the laser point under fixed coordinate system；[xn yn zn1] turn for control turntable
The camera homogeneous coordinates of laser point when n is spent.
In one embodiment, three of all the points on the laser rays in multiple described images under its camera coordinates system are obtained
Tie up coordinate, comprising:
Obtain coordinate of all the points under image coordinate system on the laser rays in multiple described images；
According to coordinate, image coordinate and camera of all the points under image coordinate system on the laser rays in multiple described images
Transfer equation and laser plane equation between coordinate system determine that all the points are at place angle on the laser rays in multiple described images
Spend three-dimensional coordinate under lower camera coordinates system；
Wherein, the transfer equation between described image coordinate and camera coordinates system are as follows:
Wherein, (u, v) is image coordinate, McFor camera internal reference matrix, kxFor every millimeter of the pixel measurement in the direction x, kyFor y
The pixel in every millimeter of direction is measured, (u0, v0) it is picture centre coordinate.
In embodiments of the present invention, the panorama three-dimensional reconstruction system based on laser scanning of proposition includes: control turntable, phase
Machine, laser emitter, data processing equipment and bracket；The control turntable, camera, laser emitter are respectively and at the data
Manage device connection；The camera, laser emitter are installed on the different location of the bracket；The control turntable can be according to
Predetermined angle is repeatedly rotated, and realizes 360 ° of circle rotations；The camera is rotated according to predetermined angle every time in control turntable
Image of the laser irradiation of the laser transmitter projects in body surface to be reconstructed is obtained afterwards, and multiple images are sent to
The data processing equipment；The data processing equipment receives multiple described images, and obtains the laser in multiple described images
Three-dimensional coordinate of all the points under its camera coordinates system on line is sat with controlling camera coordinates system when turntable is in 0 degree to be fixed
Mark system, according to the Coordinate Transformation Models constructed will acquire described on laser rays in multiple images all the points three-dimensional coordinate
Under conversion to fixed coordinate system, coordinate of all the points under fixed coordinate system on the laser rays in multiple described images, root are obtained
Three-dimensional reconstruction is carried out to object to be reconstructed according to coordinate conversion process result.Compared with prior art, system proposed by the present invention and
Method can solve manufacturing cost existing in the prior art is excessively high, three-dimensional point cloud registration difficulty is big, different coordinates conversion not
The problems such as accurate.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of panorama three-dimensional reconstruction system structural schematic diagram based on laser scanning provided in an embodiment of the present invention；
Coordinate system schematic diagram when Fig. 2 is a kind of error free installation provided in an embodiment of the present invention；
Fig. 3 is coordinate system schematic diagram when one kind provided in an embodiment of the present invention has error installation；
Fig. 4 is a kind of panorama three-dimensional rebuilding method flow chart one based on laser scanning provided in an embodiment of the present invention；
Fig. 5 is a kind of panorama three-dimensional rebuilding method flowchart 2 based on laser scanning provided in an embodiment of the present invention；
Fig. 6 is a kind of panorama three-dimensional rebuilding method flow chart 3 based on laser scanning provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
In embodiments of the present invention, a kind of panorama three-dimensional reconstruction system based on laser scanning is provided, for room
Etc object carry out panorama three-dimensional reconstruction.The system include: control turntable, camera, laser emitter, data processing equipment and
Bracket；Control turntable, camera, laser emitter are connect with the data processing equipment respectively；The camera, laser emitter peace
On different location loaded on the bracket.
Wherein, control turntable can repeatedly be rotated according to predetermined angle, realize 360 ° of circle rotations；
Camera is used to after control turntable is rotated according to predetermined angle every time obtain the laser of the laser transmitter projects
It is radiated at image when body surface to be reconstructed, and multiple images are sent to the data processing equipment；
Data processing equipment is used for: being received multiple described images, and is obtained and own on the laser rays in multiple described images
Three-dimensional coordinate of the point under its camera coordinates system, to control camera coordinates system when turntable is in 0 degree as fixed coordinate system, according to
The three-dimensional coordinate of all the points is converted to solid on the laser rays in multiple described images that the Coordinate Transformation Models constructed will acquire
Under position fixing system, coordinate of all the points under fixed coordinate system on the laser rays in multiple described images is obtained, is turned according to coordinate
It changes processing result and three-dimensional reconstruction is carried out to object to be reconstructed.
When it is implemented, bracket can take various forms, as long as camera, laser emitter can be made to be installed on bracket
Different location on, and the relative position of camera and laser emitter must remain unchanged；And to open in laser emitter
When emitting in laser irradiation to object to be reconstructed, camera can take the photo with laser.
Specifically, bracket can be installed using following form: bracket includes vertical rack, first level bracket and the second water
Flat bracket.Wherein, vertical rack is installed vertically on control turntable center, and first level bracket is with the second horizontal bracket at cross phase
Installation is handed over, first level bracket one end is perpendicularly fixed on the vertical rack, and the camera is installed on the first level branch
The other end of frame；For second horizontal bracket perpendicular to the first level bracket, the laser emitter is installed on described
On the one end of two horizontal brackets far from the data processing equipment.
Camera and laser emitter are installed using the bracket of form as above, specific scheme of installation as shown in Figure 1, its
In, including the control horizontal bracket 2, one of turntable 1, two vertical rack 3, camera 4, laser emitter 5 and data processing equipment
7.Wherein, turntable 1, camera 4, laser emitter 5 is controlled to connect with the data processing equipment 7 respectively；Vertical rack 3 passes through tight
Firmware 6 is installed vertically on control 1 center of turntable, and two horizontal brackets 2 are installed by fastener 6 at cross, wherein one
One end of horizontal bracket 2 is perpendicularly fixed on vertical rack 3 by fastener 6, and camera 4 is installed on the root water by fastener 6
The other end of flat bracket 2；Laser emitter 5 is installed on another horizontal bracket 2 far from data processing equipment 7 by fastener 6
One end on.
When it is implemented, fastener 6 is fastening bolt nut, quantity is 8 sets.Controlling turntable 1 may include serial communication
Interface, camera (can be industrial camera) may include serial communication interface, and such camera, control turntable 1 and data processing fill
7 (can be computer) are set to be communicated.Laser emitter 5 can use a word laser, can also be using the knots such as infrared
Structure light source substitution.
When it is implemented, control turntable 1 can be manual turntable, only need to guarantee the accuracy of rotational angle in operation
?.It is also possible to automatically control turntable, the angle for needing 7 default control turntable of data processing equipment to rotate at this time, control control
Turntable 1 processed is repeatedly rotated according to the predetermined angle, realizes 360 ° of circle rotations.Predetermined angle carries out according to actual needs
Setting, can be 0.1 °, is also possible to other angles.
When it is implemented, when transformation will carry out the object of three-dimensional reconstruction, data processing equipment 7 need in the camera and
After the laser emitter is opened, visualization adjustment is carried out to the distance between the camera and the laser emitter, so that
Laser stripe is in camera shooting visual field；Visualization adjustment is carried out to the mounting height of the horizontal bracket, so that phase function is clapped
Take the photograph object to be reconstructed.
When it is implemented, needing to obtain camera internal reference matrix, camera arrives before carrying out three-dimensional reconstruction to object to be reconstructed
The outer ginseng matrix of scaling board, laser plane equation, coordinate system transfer equation etc., and the acquisition of these equations or matrix is pair
The picture of multiple removable scaling board (can be chess and card case marker fixed board, be also possible to non-chess and card case marker fixed board) of camera shooting into
It is obtained after row processing.It specifically includes:
(1) it after fixing camera 4, control turntable 1 and the installation of laser emitter 5, is connected and is calculated by data line
Machine 7 gets out removable scaling board；
(2) with the shooting random angles rotation of camera 4 without laser calibration plate picture N and 3 calibration with laser rays
Plate picture, wherein N is greater than 10 as far as possible, and preceding N-1 are that scaling board obtains when being in different location without laser calibration plate figure, N
Opening without laser calibration plate figure is not move scaling board after obtaining N-1 scaling board pictures, controls turntable according to predetermined angle
It is obtained after rotation is primary；3 scaling board figures with laser rays are respectively at acquisition N-2, N-1 and N without sharp
It is obtained when cursor fixed board figure.
N is taken into the 15 specific shooting process for describing photo in detail:
(21) close laser emitter 5, first clap the rotation of 12 random angles without laser calibration plate picture；
(22) it is fixed on a certain position after rotating removable scaling board according to random angles and (notices that laser is wanted to irradiate
To the scaling board), shooting the 13rd is opened laser emitter 5 and laser is allowed to be irradiated to scaling board without laser calibration plate figure,
Shoot the 1st photo with laser；
(23) laser emitter 5 is closed, rotates scaling board at random, it is fixed, then shoot the 14th without laser calibration plate figure,
Laser emitter 5 is opened, the 2nd scaling board figure with laser is shot, continues to keep scaling board motionless；
(24) 0.1 degree (can take any degree, the angle step rotated every time), shooting the 3rd are rotated by control turntable
It opens with laser calibration plate figure and the 15th without laser calibration plate figure.
When it is implemented, needing data processing equipment 7 to compare as follows after camera has shot the photo of needs
Piece is handled, and camera internal reference matrix, the outer ginseng matrix of camera to scaling board, laser plane equation, coordinate system conversion side are obtained
Journey etc..It is specific:
Firstly, the scaling method of camera is very mature, main image-camera-world coordinates transformational relation is as follows
It is shown:
Image coordinate (u, v) and camera coordinates system (O-xcyczc) transfer equation:
Wherein, McFor camera internal reference matrix, kxFor every millimeter of the pixel measurement in the direction x, kyFor every millimeter of the pixel in the direction y
Measurement, (u0, v0) it is picture centre coordinate.
World coordinate system (O-xwywzw) and camera coordinates system relationship:
Wherein, R is 3 × 3 spin matrix, and t is three-dimensional translation vector；MwIt is referred to as outer to join matrix, it include spin moment
Battle array translation vector.
In conjunction with above-mentioned, the detailed protocol for obtaining matrix and equation is as follows:
(3) the calibrateCamera calibration function or MATLAB of opencv are used without laser calibration plate figure by N
Calibration tool case etc. demarcates camera, obtain camera internal reference matrix (formula 1) and N number of camera to scaling board outer ginseng matrix
(formula 2)；
(4) 3 coordinates with all the points on laser rays in laser calibration plate figure under image coordinate system are extracted, according to phase
Machine internal reference matrix (formula 1) and N-2, N-1 and N camera determine 3 bands to the outer ginseng matrix (formula 2) of scaling board
Three-dimensional coordinate of all laser points under camera coordinates system in laser calibration plate figure；
According to 3 three-dimensional coordinates with laser point all in laser calibration plate figure, to institute in 3 band laser calibration plate figures
Some laser points carry out least square method fitting, obtain laser plane equation:
axc+byc+czc+ d=0 (3)
Wherein, a, b, c, d are fitting constant.
(5) determine that control turntable rotates predetermined angle to the outer ginseng matrix of scaling board according to N-1 and n-th camera
The camera coordinates system transfer equation of former and later two positions；
The coordinate system transfer equation is
Wherein, Tr is the camera coordinates system transfer equation for controlling turntable rotation former and later two positions of predetermined angle, MwN-1 is
Outer ginseng matrix of the N-1 camera to scaling board；MwNFor the outer ginseng matrix of n-th camera to scaling board.
Specifically, illustrating so that N takes 15 as an example:
Camera is obtained when camera shoots the 14th scaling board to the outer ginseng matrix M of scaling boardw14And camera shooting the 15th
Outer ginseng matrix M of the camera to scaling board when opening scaling boardw15, what is shot when because shooting the 14th and the 15th is the same position
The scaling board set, therefore the coordinate system transfer equation Tr of 0.1 degree of front and back of rotation twice can be solved, derivation process is as follows:
If the homogeneous coordinates put under camera coordinates system when camera shoots the 14th scaling board are [xc14 yc14 zc141]；
The homogeneous coordinates put under camera coordinates system when camera shoots the 15th scaling board are [xc15 yc15 zc151]；
Because the 14th time and the 15th time shooting is same scaling board, the origin of world coordinate system is on scaling board, institute
To there is following relationship:
So following formula can be released:
When it is implemented, obtain camera internal reference matrix, camera to scaling board outer ginseng matrix, laser plane equation,
Coordinate system transfer equation can use these equations or matrix and carry out panorama Three-dimensional Gravity to article to be scanned (room) after these
It builds.Specific process is:
(6) a band laser picture is acquired when turntable turns to any degree n, any point on laser center line on picture
Location of pixels in picture is that (u, v) can be obtained under Current camera coordinate system by simultaneous formula 1 and the solution of formula 3
Three-dimensional coordinate [xc, yc, zc, 1], all the points can according to said method find out three-dimensional coordinate on laser rays, and the quantity of point can be by row
It takes or is taken every multirow.
(7) bracket of camera and laser emitter rotates 0.1 degree of progress once photo taking through turntable since 0 degree every time,
By solving the three-dimensional coordinate of point all on laser rays, camera coordinates system when using the 0th degree is fixed coordinate system, then in n
The coordinate acquired when n is spent can be transformed by fixed coordinates by formula 5 by all three-dimensional points that step (6) solve when spending
System, if camera homogeneous coordinates when n is spent are [xn yn zn1], conversion to the coordinate under fixed coordinate system is [x0 y0 z01],
Then there is relational expression:
Therefore, rotation can be realized panorama point cloud in one week and automatically be registrated, and no longer need to the matching algorithm using other clouds.
Key point of the invention is using a fixed scaling board as world coordinate system, in conjunction in computer vision
Calibration, solves the coordinate transformation relation formula under fixed rotational angle, whole process do not need complicated point cloud matching algorithm and
Cumbersome manually adjusts, and does not require its severity right angle setting bracket, easy to operate, at low cost, by solving accurate turn
It changes matrix solution to go to eliminate physical measurement, key point can also explain why to go to eliminate by mathematical computations by illustrating as follows
Installation error.
If capableing of the mounting bracket (100% is horizontal and vertical) of entirely accurate, the relationship of coordinate transform just becomes
It being very easy to derive, fixed coordinate system origin is the projection of camera optical axis to rotation axis, if fixed coordinates axis is O '-X ' Y ' Z ',
Wherein, Z ' axis is optical axis, and Y ' axis is shaft, and X ' axis is perpendicular to Y ' and Z ' axis, as shown in Figure 2.Known to: camera coordinates are revolved around Y ' axis
Turn, translation t is occurred over just on Z axis:
Wherein,
Wherein, O ' is fixed coordinate system origin, and α is rotational angle, and the R and t in transition matrix are formed as shown in formula 6,
However, shaft does not accomplish vertically and horizontally to install completely in actual installation process, coordinate system schematic diagram is as schemed when having error installation
Shown in 3.Therefore, formula 6 is only possible to be Theory Solution.
Therefore, the conversion relational expression that two coordinate systems are found by solving a fixed coordinate system can eliminate installation and introduce
Error, detailed process is referring to technical solution of the present invention (5) part.
Based on the same inventive concept, a kind of panorama three-dimensional reconstruction based on laser scanning is additionally provided in the embodiment of the present invention
Method, as described in the following examples.The principle and base solved the problems, such as due to the panorama three-dimensional rebuilding method based on laser scanning
It is similar in the panorama three-dimensional reconstruction system of laser scanning, therefore the implementation of the panorama three-dimensional rebuilding method based on laser scanning can be with
Referring to the implementation of the panorama three-dimensional reconstruction system based on laser scanning, overlaps will not be repeated.
Before carrying out three-dimensional reconstruction to object to be reconstructed, it is necessary first to obtain camera internal reference matrix, camera to scaling board
Outer ginseng matrix, laser plane equation, coordinate system transfer equation etc..It therefore, should the panorama three-dimensional reconstruction based on laser scanning
Method includes the following steps (as shown in Figure 4):
Step 401: obtaining the N scaling board figures without laser calibration plate figure and 3 with laser rays, wherein N is greater than 10, preceding N-
1 is that scaling board obtains when being in different location without laser calibration plate figure, and N are to obtain N- without laser calibration plate figure
Scaling board is not moved after 1 scaling board picture, control turntable obtains after primary according to predetermined angle rotation；3 band laser rays
Scaling board figure be respectively to be obtained when obtaining N-2, N-1 and N without laser calibration plate figure；
Step 402: camera being demarcated without laser calibration plate figure according to N, obtains camera internal reference matrix and N number of camera
To the outer ginseng matrix of scaling board；
Step 403: 3 coordinates with all the points on laser rays in laser calibration plate figure under image coordinate system are extracted,
The outer ginseng matrix that scaling board is arrived according to camera internal reference matrix and N-2, N-1 and n-th camera, determine 3 with laser
Three-dimensional coordinate of all laser points under camera coordinates system in scaling board figure；
Step 404: according to 3 three-dimensional coordinates with laser point all in laser calibration plate figure, to 3 band laser calibrations
All laser points carry out least square method fitting in plate figure, obtain laser plane equation:
The laser plane equation are as follows:
aXc+bYc+cZc+ d=0；
Wherein, (Xc, Yc, Zc) it is camera coordinates system, a, b, c, d are fitting constant.
When it is implemented, being somebody's turn to do the panorama three-dimensional rebuilding method based on laser scanning further include:
According to N-1 and n-th camera to the outer ginseng matrix of scaling board, determine before and after controlling turntable rotation predetermined angle
The camera coordinates system transfer equation of two positions；
The coordinate system transfer equation are as follows:
Wherein, Tr is the camera coordinates system transfer equation for controlling turntable rotation former and later two positions of predetermined angle, MwN-1 is
Outer ginseng matrix of the N-1 camera to scaling board；MwNFor the outer ginseng matrix of n-th camera to scaling board.
When it is implemented, the Coordinate Transformation Models constructed are as follows:
Wherein, [x0 y0 z0It 1] is coordinate of the laser point under fixed coordinate system；[xn yn zn1] turn for control turntable
The camera homogeneous coordinates of laser point when n is spent.
When it is implemented, by step as above obtain camera internal reference matrix, camera to scaling board outer ginseng matrix, swash
Optic plane equations, coordinate system transfer equation be after these, can use these equations or matrix to article to be scanned (room) into
Row panorama three-dimensional reconstruction.Specific panorama three-dimensional reconstruction process is as shown in Figure 5, comprising:
Step 501: the laser irradiation of laser transmitter projects is obtained after control turntable is rotated according to predetermined angle every time
Image in body surface to be reconstructed；
Step 502: obtaining three-dimensional coordinate of all the points under its camera coordinates system on the laser rays in multiple images；
Step 503: using control turntable be in 0 degree when camera coordinates system as fixed coordinate system, according to the coordinate constructed
The three-dimensional coordinate of all the points is converted to fixed coordinate system on the laser rays in multiple described images that transformation model will acquire, and is obtained
Obtain coordinate of all the points under fixed coordinate system on the laser rays in multiple described images；
Step 504: three-dimensional reconstruction is carried out to object to be reconstructed according to coordinate conversion process result；
Wherein, control turntable can repeatedly be rotated according to predetermined angle, realize 360 ° of circle rotations.
When it is implemented, as shown in fig. 6, step 502 specifically includes:
Step 5021: obtaining coordinate of all the points under image coordinate system on the laser rays in multiple described images；
Step 5022: according to coordinate, image of all the points under image coordinate system on the laser rays in multiple described images
Transfer equation and laser plane equation between coordinate and camera coordinates system determine and own on the laser rays in multiple described images
Point three-dimensional coordinate under camera coordinates system under the angle of place；
Wherein, the transfer equation between described image coordinate and camera coordinates system are as follows:
Wherein, (u, v) is image coordinate, (Xc, Yc, Zc) it is camera coordinates system, McFor camera internal reference matrix, kxFor the direction x
Every millimeter of pixel measurement, kyFor every millimeter of the pixel measurement in the direction y, (u0, v0) it is picture centre coordinate.
In conclusion the composition component price of the panorama three-dimensional reconstruction system proposed by the present invention based on laser scanning compared with
It is low, without purchasing the laser scanner of accurate valuableness, can solve manufacturing cost present in existing measurement method it is excessively high this
One problem.In system proposed by the present invention and panorama three-dimensional rebuilding method based on laser scanning, do not need (i.e. different to camera
Coordinate origin) motion-vector progress precise physical measurement, but camera coordinates system twice before and after passing through when solving rule rotation
Accurate transition matrix, to carry out full-automatic point cloud matching.The transition matrix accuracy that this method solves is high, surveys without artificial
Component or camera distance are measured, it is of less demanding to the installation level and verticality of camera support, because if horizontal and vertical foot
Enough accurately, then, fixed coordinate system origin is exactly subpoint of the camera optical axis to rotation axis, and camera coordinates transition matrix is very
It is easy to get, but actual conditions are difficult to accomplish accurate mounting bracket and precise measurement camera photocentre on each fixed coordinates axis
Moving distance, therefore, the invention solve camera space transformation matrix by computer vision algorithms make, can not when can eliminate installation
Guarantee that support level and vertical precision bring influence, to reduce the complexity of operation.This method can be to avoid existing side
Method complexity iterative process as used by ICP algorithm etc. can obtain the transition matrix under any position to fixed coordinate system, and
It realizes fine full-automatic registration operation, reduces the complexity of programmed algorithm in this way and increase the accurate of point cloud matching
Degree, so that operation is faster.Point cloud can import the mainstreams three-dimensional software such as AutoCAD or Geomagic and carry out subsequent modeling work.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the embodiment of the present invention can have various modifications and variations.All within the spirits and principles of the present invention, made
Any modification, equivalent substitution, improvement and etc. should all be included in the protection scope of the present invention.
Claims (15)
1. a kind of panorama three-dimensional reconstruction system based on laser scanning characterized by comprising control turntable, camera, laser hair
Emitter, data processing equipment and bracket；
The control turntable, camera, laser emitter are connect with the data processing equipment respectively；The camera, Laser emission
Device is installed on the different location of the bracket；
The control turntable can repeatedly be rotated according to predetermined angle, realize 360 ° of circle rotations；
The camera is used to after control turntable is rotated according to predetermined angle every time obtain the laser of the laser transmitter projects
It is radiated at image when body surface to be reconstructed, and multiple images are sent to the data processing equipment；
The data processing equipment is used for: being received multiple described images, and is obtained and own on the laser rays in multiple described images
Three-dimensional coordinate of the point under its camera coordinates system, to control camera coordinates system when turntable is in 0 degree as fixed coordinate system, according to
The three-dimensional coordinate of all the points is converted to solid on the laser rays in multiple described images that the Coordinate Transformation Models constructed will acquire
Under position fixing system, coordinate of all the points under fixed coordinate system on the laser rays in multiple described images is obtained, is turned according to coordinate
It changes processing result and three-dimensional reconstruction is carried out to object to be reconstructed.
2. the panorama three-dimensional reconstruction system based on laser scanning as described in claim 1, which is characterized in that the bracket includes
Vertical rack, first level bracket and the second horizontal bracket；
The vertical rack is installed vertically on control turntable center, and first level bracket is pacified with the second horizontal bracket at cross
Dress, first level bracket one end are perpendicularly fixed on the vertical rack, and the camera is installed on the first level bracket
The other end；For second horizontal bracket perpendicular to the first level bracket, the laser emitter is installed on second water
On the one end of flat bracket far from the data processing equipment.
3. the panorama three-dimensional reconstruction system based on laser scanning as described in claim 1, which is characterized in that the control turntable
Including serial communication interface, the camera includes serial communication interface.
4. the panorama three-dimensional reconstruction system based on laser scanning as described in claim 1, which is characterized in that the data processing
Device is also used to after the camera and the laser emitter are opened, between the camera and the laser emitter away from
From visualization adjustment is carried out, so that laser stripe is in camera shooting visual field.
5. the panorama three-dimensional reconstruction system based on laser scanning as claimed in claim 2, which is characterized in that the data processing
Device is also used to after the camera and the laser emitter are opened, to the first level bracket and the second horizontal bracket
Mounting height carries out visualization adjustment, so that phase function takes object to be reconstructed.
6. the panorama three-dimensional reconstruction system based on laser scanning as described in claim 1, which is characterized in that the data processing
Device is also used to: the angle of default control turntable rotation controls the control turntable and is repeatedly turned according to the predetermined angle
It is dynamic.
7. the panorama three-dimensional reconstruction system based on laser scanning as described in claim 1, which is characterized in that the data processing
Device is also used to:
The N scaling board figures without laser calibration plate figure and 3 with laser rays that camera obtains are received, wherein N is greater than 10, preceding N-1
Opening without laser calibration plate figure is that scaling board obtains when being in different location, and N are to obtain N-1 without laser calibration plate figure
Scaling board is not moved after opening scaling board picture, control turntable is according to predetermined angle rotation acquisition after primary；3 with laser rays
Scaling board figure is respectively to obtain when obtaining N-2, N-1 and N without laser calibration plate figure；
Camera is demarcated without laser calibration plate figure according to N, obtains camera internal reference matrix and N number of camera to the outer of scaling board
Join matrix；
3 coordinates with all the points on laser rays in laser calibration plate figure under image coordinate system are extracted, according to camera internal reference
Matrix and N-2 are a, N-1 is a and n-th camera is to the outer ginseng matrix of scaling board, determine institute in 3 band laser calibration plate figures
Three-dimensional coordinate of some laser points under camera coordinates system；
According to 3 three-dimensional coordinates with laser point all in laser calibration plate figure, to 3 with all in laser calibration plate figure
Laser point carries out least square method fitting, obtains laser plane equation:
The laser plane equation are as follows:
axc+byc+czc+ d=0；
Wherein, (xc, yc, zc) it is camera coordinates system coordinate, a, b, c, d are fitting constant.
8. the panorama three-dimensional reconstruction system based on laser scanning as claimed in claim 7, which is characterized in that the data processing
Device is also used to:
The outer ginseng matrix that scaling board is arrived according to N-1 and n-th camera, determine control turntable rotate predetermined angle former and later two
The camera coordinates system transfer equation of position；
The coordinate system transfer equation are as follows:
Wherein, Tr is the camera coordinates system transfer equation for controlling turntable rotation former and later two positions of predetermined angle, MwN- 1 is N-1
Outer ginseng matrix of a camera to scaling board；MwNFor the outer ginseng matrix of n-th camera to scaling board.
9. the panorama three-dimensional reconstruction system based on laser scanning as claimed in claim 8, which is characterized in that the data processing
Device is specifically used for:
Coordinate Transformation Models are created according to following formula:
Wherein, [x0 y0 z0It 1] is coordinate of the laser point under fixed coordinate system；[xn yn zn1] n degree has been turned for control turntable
When laser point camera homogeneous coordinates.
10. the panorama three-dimensional reconstruction system based on laser scanning as described in claim 7 or 9, which is characterized in that the data
Processing unit is specifically used for:
The three-dimensional coordinate of all the points on the laser rays in multiple described images is obtained as follows:
Obtain coordinate of all the points under image coordinate system on the laser rays in multiple described images；
According to coordinate, image coordinate and camera coordinates of all the points under image coordinate system on the laser rays in multiple described images
Transfer equation and laser plane equation between system determine that all the points are under the angle of place on the laser rays in multiple described images
Three-dimensional coordinate under camera coordinates system；
Wherein, the transfer equation between described image coordinate and camera coordinates system are as follows:
Wherein, (u, v) is image coordinate, McFor camera internal reference matrix, kxFor every millimeter of the pixel measurement in the direction x, kyFor the direction y
Every millimeter of pixel measurement, (u0, v0) it is picture centre coordinate.
11. a kind of panorama three-dimensional rebuilding method based on laser scanning characterized by comprising
The laser irradiation of laser transmitter projects is obtained in object to be reconstructed after control turntable is rotated according to predetermined angle every time
Image when surface；
Obtain three-dimensional coordinate of all the points under its camera coordinates system on the laser rays in multiple images；
Using control turntable be in 0 degree when camera coordinates system as fixed coordinate system, will be obtained according to the Coordinate Transformation Models constructed
The three-dimensional coordinate of all the points is converted to fixed coordinate system on the laser rays in multiple described images taken, obtains multiple described figures
Coordinate of all the points under fixed coordinate system on laser rays as in；
Three-dimensional reconstruction is carried out to object to be reconstructed according to coordinate conversion process result；
Wherein, control turntable can repeatedly be rotated according to predetermined angle, realize 360 ° of circle rotations.
12. the panorama three-dimensional rebuilding method based on laser scanning as claimed in claim 11, which is characterized in that described in acquisition
All the points are before the three-dimensional coordinate under its camera coordinates system on laser rays in multiple images, further includes:
The N scaling board figures without laser calibration plate figure and 3 with laser rays are obtained, wherein N is greater than 10, and preceding N-1 without laser mark
Fixed board figure is that scaling board obtains when being in different location, and N are to obtain N-1 scaling board figures without laser calibration plate figure
Scaling board is not moved after piece, control turntable obtains after primary according to predetermined angle rotation；3 scaling board figures with laser rays point
It is not obtained when obtaining N-2, N-1 and N without laser calibration plate figure；
Camera is demarcated without laser calibration plate figure according to N, obtains camera internal reference matrix and N number of camera to the outer of scaling board
Join matrix；
3 coordinates with all the points on laser rays in laser calibration plate figure under image coordinate system are extracted, according to camera internal reference
Matrix and N-2 are a, N-1 is a and n-th camera is to the outer ginseng matrix of scaling board, determine institute in 3 band laser calibration plate figures
Three-dimensional coordinate of some laser points under camera coordinates system；
According to 3 three-dimensional coordinates with laser point all in laser calibration plate figure, to 3 with all in laser calibration plate figure
Laser point carries out least square method fitting, obtains laser plane equation:
The laser plane equation are as follows:
axc+byc+czc+ d=0；
Wherein, (xc, yc, zc) it is camera coordinates system coordinate, a, b, c, d are fitting constant.
13. the panorama three-dimensional rebuilding method based on laser scanning as claimed in claim 12, which is characterized in that described in acquisition
All the points are before the three-dimensional coordinate under its camera coordinates system on laser rays in multiple images, further includes:
The outer ginseng matrix that scaling board is arrived according to N-1 and n-th camera, determine control turntable rotate predetermined angle former and later two
The camera coordinates system transfer equation of position；
The coordinate system transfer equation are as follows:
Wherein, Tr is the camera coordinates system transfer equation for controlling turntable rotation former and later two positions of predetermined angle, MwN-1 is N-1
Outer ginseng matrix of a camera to scaling board；MwNFor the outer ginseng matrix of n-th camera to scaling board.
14. the panorama three-dimensional rebuilding method based on laser scanning as claimed in claim 13, which is characterized in that described to have constructed
Coordinate Transformation Models are as follows:
Wherein, [x0 y0 z0It 1] is coordinate of the laser point under fixed coordinate system；[xn yn zn1] n degree has been turned for control turntable
When laser point camera homogeneous coordinates.
15. the panorama three-dimensional rebuilding method based on laser scanning as described in claim 12 or 14, which is characterized in that obtain institute
State three-dimensional coordinate of all the points under its camera coordinates system on the laser rays in multiple images, comprising:
Obtain coordinate of all the points under image coordinate system on the laser rays in multiple described images；
According to coordinate, image coordinate and camera coordinates of all the points under image coordinate system on the laser rays in multiple described images
Transfer equation and laser plane equation between system determine that all the points are under the angle of place on the laser rays in multiple described images
Three-dimensional coordinate under camera coordinates system；
Wherein, the transfer equation between described image coordinate and camera coordinates system are as follows:
Wherein, (u, v) is image coordinate, McFor camera internal reference matrix, kxFor every millimeter of the pixel measurement in the direction x, kyFor the direction y
Every millimeter of pixel measurement, (u0, v0) it is picture centre coordinate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710519802.7A CN109215108B (en) | 2017-06-30 | 2017-06-30 | Panoramic three-dimensional reconstruction system and method based on laser scanning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710519802.7A CN109215108B (en) | 2017-06-30 | 2017-06-30 | Panoramic three-dimensional reconstruction system and method based on laser scanning |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109215108A true CN109215108A (en) | 2019-01-15 |
| CN109215108B CN109215108B (en) | 2023-05-23 |
Family
ID=64960988
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710519802.7A Active CN109215108B (en) | 2017-06-30 | 2017-06-30 | Panoramic three-dimensional reconstruction system and method based on laser scanning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109215108B (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109932706A (en) * | 2019-04-19 | 2019-06-25 | 青岛中科慧畅信息科技有限公司 | It is a kind of that nobody loads and unloads Logistics Equipment system laser Radar Calibration system and scaling method |
| CN111288891A (en) * | 2020-02-11 | 2020-06-16 | 广东博智林机器人有限公司 | Non-contact three-dimensional measurement positioning system, method and storage medium |
| CN111402330A (en) * | 2020-04-03 | 2020-07-10 | 山东省科学院激光研究所 | Laser line key point extraction method based on plane target |
| CN111521132A (en) * | 2020-04-14 | 2020-08-11 | 长春理工大学 | Novel self-calibration laser scanning projection method |
| CN111627113A (en) * | 2020-05-25 | 2020-09-04 | 易视智瞳科技（深圳）有限公司 | Calibration method, device, equipment and storage medium for 3D line scanning modeling horizontal angle |
| CN112113505A (en) * | 2020-09-23 | 2020-12-22 | 华中科技大学鄂州工业技术研究院 | Portable scanning measurement device and method based on line structured light |
| CN112308933A (en) * | 2020-11-06 | 2021-02-02 | 歌尔光学科技有限公司 | Method and device for calibrating camera internal reference and computer storage medium |
| CN112504174A (en) * | 2020-11-09 | 2021-03-16 | 玉溪矿业有限公司 | Three-dimensional laser scanning system and working method thereof |
| CN112800582A (en) * | 2020-12-30 | 2021-05-14 | 华南理工大学 | Method for generating simulated laser line of structured light vision sensor |
| WO2021104045A1 (en) * | 2019-11-28 | 2021-06-03 | 贝壳找房(北京)科技有限公司 | Point cloud data based modeling method and apparatus, device and storage medium |
| CN113375556A (en) * | 2021-06-18 | 2021-09-10 | 盎锐（上海）信息科技有限公司 | Full-stack actual measurement system, measurement method and laser radar |
| CN113379844A (en) * | 2021-05-25 | 2021-09-10 | 成都飞机工业（集团）有限责任公司 | Large-range surface quality detection method for airplane |
| CN113709441A (en) * | 2020-05-22 | 2021-11-26 | 杭州海康威视数字技术股份有限公司 | Scanning device, camera pose determining method and device and electronic device |
| CN114485386A (en) * | 2020-10-23 | 2022-05-13 | 广东天机工业智能系统有限公司 | Method, device and system for calibrating workpiece coordinate system |
| CN115222826A (en) * | 2022-09-15 | 2022-10-21 | 深圳大学 | Three-dimensional reconstruction method and device with changeable relative poses of structured light and camera |
| WO2022267434A1 (en) * | 2021-06-23 | 2022-12-29 | 达闼机器人股份有限公司 | System and method for obtaining point cloud data of object |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103236076A (en) * | 2013-04-11 | 2013-08-07 | 武汉大学 | Three-dimensional object model reconstruction system and method based on laser images |
| CN103295228A (en) * | 2013-05-06 | 2013-09-11 | 深圳先进技术研究院 | Quick data registering method in three-dimensional scanning system and three-dimensional scanning system |
| CN103335630A (en) * | 2013-07-17 | 2013-10-02 | 北京航空航天大学 | Low-cost three-dimensional laser scanner |
| CN106056587A (en) * | 2016-05-24 | 2016-10-26 | 杭州电子科技大学 | Full-view linear laser scanning 3D imaging calibration device and full-view linear laser scanning 3D imaging calibration method |
| CN106097348A (en) * | 2016-06-13 | 2016-11-09 | 大连理工大学 | A kind of three-dimensional laser point cloud and the fusion method of two dimensional image |
-
2017
- 2017-06-30 CN CN201710519802.7A patent/CN109215108B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103236076A (en) * | 2013-04-11 | 2013-08-07 | 武汉大学 | Three-dimensional object model reconstruction system and method based on laser images |
| CN103295228A (en) * | 2013-05-06 | 2013-09-11 | 深圳先进技术研究院 | Quick data registering method in three-dimensional scanning system and three-dimensional scanning system |
| CN103335630A (en) * | 2013-07-17 | 2013-10-02 | 北京航空航天大学 | Low-cost three-dimensional laser scanner |
| CN106056587A (en) * | 2016-05-24 | 2016-10-26 | 杭州电子科技大学 | Full-view linear laser scanning 3D imaging calibration device and full-view linear laser scanning 3D imaging calibration method |
| CN106097348A (en) * | 2016-06-13 | 2016-11-09 | 大连理工大学 | A kind of three-dimensional laser point cloud and the fusion method of two dimensional image |
Non-Patent Citations (3)
| Title |
|---|
| DANRONG LI 等，: "An Automatic Laser Scanning System for Accurate 3D Reconstruction of Indoor Scenes.", 《2017 IEEE INTERNATIONAL CONFERENCE ON INFORMATION ANDAUTOMATION(ICIA)》 * |
| 刘晓敏等.: "一种基于相机标定的图像配准方法.", 《计算机系统应用》 * |
| 张洪龙.: "基于结构光的室内场景精确三维重建技术研究.", 《中国优秀硕士学位论文全文数据库2018年》 * |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109932706A (en) * | 2019-04-19 | 2019-06-25 | 青岛中科慧畅信息科技有限公司 | It is a kind of that nobody loads and unloads Logistics Equipment system laser Radar Calibration system and scaling method |
| CN109932706B (en) * | 2019-04-19 | 2022-11-29 | 青岛中科慧畅信息科技有限公司 | Laser radar calibration system and calibration method for unmanned loading and unloading logistics equipment system |
| US11935186B2 (en) | 2019-11-28 | 2024-03-19 | Realsee (Beijing) Technology Co., Ltd. | Point cloud data based modeling method and apparatus, device and storage medium |
| WO2021104045A1 (en) * | 2019-11-28 | 2021-06-03 | 贝壳找房(北京)科技有限公司 | Point cloud data based modeling method and apparatus, device and storage medium |
| CN111288891A (en) * | 2020-02-11 | 2020-06-16 | 广东博智林机器人有限公司 | Non-contact three-dimensional measurement positioning system, method and storage medium |
| CN111402330A (en) * | 2020-04-03 | 2020-07-10 | 山东省科学院激光研究所 | Laser line key point extraction method based on plane target |
| CN111402330B (en) * | 2020-04-03 | 2024-02-27 | 山东省科学院激光研究所 | Laser line key point extraction method based on planar target |
| CN111521132A (en) * | 2020-04-14 | 2020-08-11 | 长春理工大学 | Novel self-calibration laser scanning projection method |
| CN113709441A (en) * | 2020-05-22 | 2021-11-26 | 杭州海康威视数字技术股份有限公司 | Scanning device, camera pose determining method and device and electronic device |
| CN111627113A (en) * | 2020-05-25 | 2020-09-04 | 易视智瞳科技（深圳）有限公司 | Calibration method, device, equipment and storage medium for 3D line scanning modeling horizontal angle |
| CN111627113B (en) * | 2020-05-25 | 2023-09-19 | 易视智瞳科技（深圳）有限公司 | Calibration method, device, equipment and storage medium for 3D line scanning modeling horizontal angle |
| CN112113505A (en) * | 2020-09-23 | 2020-12-22 | 华中科技大学鄂州工业技术研究院 | Portable scanning measurement device and method based on line structured light |
| CN114485386A (en) * | 2020-10-23 | 2022-05-13 | 广东天机工业智能系统有限公司 | Method, device and system for calibrating workpiece coordinate system |
| CN114485386B (en) * | 2020-10-23 | 2023-11-07 | 广东天机工业智能系统有限公司 | Workpiece coordinate system calibration method, device and system |
| CN112308933B (en) * | 2020-11-06 | 2023-01-20 | 歌尔光学科技有限公司 | Method and device for calibrating camera internal reference and computer storage medium |
| CN112308933A (en) * | 2020-11-06 | 2021-02-02 | 歌尔光学科技有限公司 | Method and device for calibrating camera internal reference and computer storage medium |
| CN112504174A (en) * | 2020-11-09 | 2021-03-16 | 玉溪矿业有限公司 | Three-dimensional laser scanning system and working method thereof |
| CN112800582A (en) * | 2020-12-30 | 2021-05-14 | 华南理工大学 | Method for generating simulated laser line of structured light vision sensor |
| CN113379844A (en) * | 2021-05-25 | 2021-09-10 | 成都飞机工业（集团）有限责任公司 | Large-range surface quality detection method for airplane |
| CN113375556A (en) * | 2021-06-18 | 2021-09-10 | 盎锐（上海）信息科技有限公司 | Full-stack actual measurement system, measurement method and laser radar |
| WO2022267434A1 (en) * | 2021-06-23 | 2022-12-29 | 达闼机器人股份有限公司 | System and method for obtaining point cloud data of object |
| CN115222826A (en) * | 2022-09-15 | 2022-10-21 | 深圳大学 | Three-dimensional reconstruction method and device with changeable relative poses of structured light and camera |
| CN115222826B (en) * | 2022-09-15 | 2022-12-27 | 深圳大学 | Three-dimensional reconstruction method and device with changeable relative poses of structured light and camera |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109215108B (en) | 2023-05-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109215108A (en) | Panorama three-dimensional reconstruction system and method based on laser scanning | |
| US11875537B2 (en) | Multi view camera registration | |
| JP4245963B2 (en) | Method and system for calibrating multiple cameras using a calibration object | |
| CN105953747B (en) | Structured light projection full view 3-D imaging system and method | |
| Bernardini et al. | Building a digital model of Michelangelo's Florentine Pieta | |
| CN106408556B (en) | A kind of small items measuring system scaling method based on general imaging model | |
| AU2011312140B2 (en) | Rapid 3D modeling | |
| CN107155341B (en) | Three-dimensional scanning system and frame | |
| CN108830906B (en) | Automatic calibration method for camera parameters based on virtual binocular vision principle | |
| CN110763152A (en) | Underwater active rotation structure light three-dimensional vision measuring device and measuring method | |
| US20150116691A1 (en) | Indoor surveying apparatus and method | |
| US20110007948A1 (en) | System and method for automatic stereo measurement of a point of interest in a scene | |
| EP2022007A2 (en) | System and architecture for automatic image registration | |
| CN106625713A (en) | Method of improving gumming accuracy of gumming industrial robot | |
| CN111091599B (en) | Multi-camera-projector system calibration method based on sphere calibration object | |
| CN111145345A (en) | Tunnel construction area three-dimensional model construction method and system | |
| CN110312111A (en) | The devices, systems, and methods calibrated automatically for image device | |
| CN106500626A (en) | A kind of mobile phone stereoscopic imaging method and three-dimensional imaging mobile phone | |
| JP2023546739A (en) | Methods, apparatus, and systems for generating three-dimensional models of scenes | |
| CN106705890A (en) | Three-dimensional scanning magic box | |
| CN112254670A (en) | 3D information acquisition equipment based on optical scanning and intelligent vision integration | |
| Deng et al. | Registration of multiple rgbd cameras via local rigid transformations | |
| CN110619601A (en) | Image data set generation method based on three-dimensional model | |
| Liu et al. | Research on 3D reconstruction method based on laser rotation scanning | |
| Popescu et al. | The modelcamera: a hand-held device for interactive modeling |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |