CN109215110A - Whole scene scanning means and 3-D scanning modeling - Google Patents
Whole scene scanning means and 3-D scanning modeling Download PDFInfo
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- CN109215110A CN109215110A CN201710602782.XA CN201710602782A CN109215110A CN 109215110 A CN109215110 A CN 109215110A CN 201710602782 A CN201710602782 A CN 201710602782A CN 109215110 A CN109215110 A CN 109215110A
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- 230000007246 mechanism Effects 0.000 claims abstract description 111
- 238000010586 diagram Methods 0.000 claims description 11
- 230000004927 fusion Effects 0.000 claims description 7
- 238000009877 rendering Methods 0.000 claims description 7
- 230000000007 visual effect Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008450 motivation Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Classifications
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- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
Abstract
On the one hand the embodiment of the present invention provides a kind of whole scene scanning means, including sweep mechanism and position adjusting mechanism；The position adjusting mechanism includes the first rotating mechanism, runing rest and the second rotating mechanism；The runing rest is connect with first rotating mechanism, can be rotated under first rotating mechanism driving around first axle；Second rotating mechanism is mounted on the runing rest, and is connected with the sweep mechanism, and the sweep mechanism is driven to rotate around second axis；The second axis is perpendicular to the first axle.Whole scene scanning means of the invention may be implemented independent rotational movement of the sweep mechanism on two axis, the automatically scanning of whole scene may be implemented, and improve the efficiency and scanning accuracy of scene scanning.The embodiment of the present invention on the other hand a kind of 3-D scanning modeling is also provided, can quickly, accurately realize 3-D scanning and modeling.
Description
Technical field
The present invention relates to scanning modeling field more particularly to a kind of whole scene scanning means and 3-D scanning modeling.
Background technique
In the prior art, the reconstructing three-dimensional model of object in scene may be implemented in depth camera, but establishes indoor scene
Threedimensional model is different from the threedimensional model for establishing single body, depth camera within sweep of the eye, it is necessary to along a certain complexity
Many visual angles of track are scanned, and could be that a big indoor scene rebuilds threedimensional model.Existing typical indoor scene
Scanning and modeling generally use more depth camera fixations and are placed in different direction around scene, capture field simultaneously from different perspectives
Scape, to carry out scene three-dimensional modeling, at high cost, equipment volume is big, inconvenient to carry；In view of the visual field office of single depth camera
Limit can also hold a depth camera motion scan to obtain multiple visual angles of indoor scene, and then rebuild scene three-dimensional mould
Type facilitates carrying although reducing equipment cost, needs operator to hold depth camera and moves in scene indoors,
The scene scanning of fining is that a uninteresting boring work takes especially for large scale, the indoor scene comprising many objects
When it is laborious, due to the movement of human body, the quality of data after leading to scanning be cannot be guaranteed.
Summary of the invention
The embodiment of the present invention provide it is a kind of can be realized whole scene scanning whole scene scanning means and 3-D scanning build
Modular system, existing automatic scanning system is at high cost, volume is big to solve, either scans' low efficiency, the defect of low precision.
In order to achieve the above objectives, on the one hand the embodiment of the present invention provides a kind of whole scene scanning means, including scanning machine
Structure, the first rotating mechanism, runing rest and the second rotating mechanism；Runing rest is connect with the first rotating mechanism, can be at first turn
It is rotated under the driving of motivation structure around first axle；Second rotating mechanism is mounted on runing rest, and is connected with sweep mechanism, is driven
Dynamic sweep mechanism is rotated around second axis；Second axis and first axle are at scheduled angle.
Preferably, the second rotating mechanism is mounted on the first end of runing rest, and sweep mechanism compares the second rotating mechanism
Closer to first axle.
Preferably, sweep mechanism includes Kinect sensor, laser radar or depth transducer.
Preferably, second axis is vertical with first axle.
On the other hand the embodiment of the present invention provides a kind of 3-D scanning modeling, including whole scene above-mentioned scanning dress
Set, further include in the system data acquisition unit, rotation control unit, 2 d plane picture generation unit, registration and integrated unit,
Signal output unit, display unit；The connection of the output end of data acquisition unit and sweep mechanism, the figure of acquisition scans mechanism output
As data；Rotation control unit is separately connected with the first rotating mechanism and the second rotating mechanism, the first rotating mechanism of control and the
The rotation of two rotating mechanisms；2 d plane picture generation unit generates 2 d plane picture according to the three-dimensional point cloud obtained by image data；
Registration is registrated and is merged to three-dimensional point cloud and 2 d plane picture with integrated unit, and then obtains threedimensional model；Signal output
Unit is connect with display unit, is shown for obtained threedimensional model to be output to display unit；Display unit is shown
The threedimensional model arrived.
Preferably, three-dimensional point cloud and 2 d plane picture are also shown on the display unit, and registration and integrated unit are according to display
The three-dimensional point cloud and 2 d plane picture that unit is shown adjust the relative position of three-dimensional point cloud and 2 d plane picture, obtain a gradation
Quasi- data.
Preferably, registration and integrated unit further include secondary registration and integrated unit, and secondary registration and integrated unit are to one
Grade registration data carries out matching and fusion operation, obtains threedimensional model.
Preferably, image data includes depth map data, and 3-D scanning modeling further includes three-dimensional point cloud generation unit,
Three-dimensional point cloud generation unit generates three-dimensional point cloud according to depth map data.
Preferably, image data includes three-dimensional point cloud.
Preferably, system further includes rendering unit, and image data further includes colored diagram data, and rendering unit is according to cromogram
Data render threedimensional model.
Whole scene scanning means provided in an embodiment of the present invention can realize the scanning of whole scene automatically, can control and sweep
The speed retouched, direction greatly improve the efficiency and quality of scanning, are not necessarily to operator's hand-hold scanning equipment either scans, drop
Low human cost, ensure that the speed and precision of scanning modeling, and whole scene only can be realized with a sweep mechanism
Scanning, compact are easy to carry.
3-D scanning modeling provided in an embodiment of the present invention is scanned by whole scene scanning means and obtains picture number
According to and converting three-dimensional point cloud for image data, and convert 2 d plane picture for three-dimensional point cloud, and by three-dimensional point cloud and two
Dimensional plane figure first carries out rough registration, then carries out smart registration and fusion using ICP algorithm, and then obtain threedimensional model.The present invention
The 3-D scanning modeling of embodiment, at low cost, scanning speed is fast, precision is high, can be realized and rapidly and accurately models.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the whole scene scanning means of the embodiment of the present invention one；
Fig. 2 is a kind of composition schematic diagram of embodiment of 3-D scanning modeling of the embodiment of the present invention two；
Fig. 3 is the composition schematic diagram of the 3-D scanning modeling another embodiment of the embodiment of the present invention two；
Fig. 4 is the flow chart of the scanning modeling of the 3-D scanning modeling of the embodiment of the present invention two.
Specific embodiment
The whole scene scanning means of embodiment of the present invention and 3-D scanning modeling are carried out with reference to the accompanying drawing detailed
Thin explanation
Embodiment one
Fig. 1 is the structural schematic diagram of the whole scene scanning means of embodiment one.
The whole scene scanning means of the present embodiment includes sweep mechanism 1, the first rotating mechanism 3,4, second turns of runing rest
Motivation structure 2；Runing rest 4 is connect with the first rotating mechanism 3, can be rotated under the driving of the first rotating mechanism 3 around first axle L1；
Second rotating mechanism 2 is mounted on runing rest 4, and is connected with sweep mechanism 1, drives sweep mechanism 1 around second axis L2
Rotation；Second axis L2 and first axle L1 are at scheduled inclination angle.
The whole scene scanning means of the present embodiment can drive scanning by the first rotating mechanism 3 and the second rotating mechanism 2
Mechanism 1 is independently rotated along first axle L1 and second axis L2, the rotation speed of the first rotating mechanism 3 and the second rotating mechanism 2,
Rotation angle, direction of rotation can control, and then only need a sweep mechanism 1 that comprehensive, whole scene sweep can be realized
It retouches, the efficiency and quality of scanning are relatively high, and operator's hand-hold scanning equipment either scans are not necessarily to, human cost is reduced,
It ensure that the speed and precision of scanning modeling, and compact, it is easy to carry.
First rotating mechanism 3 and the second rotating mechanism 2 preferably include motor.
Optionally, the first rotating mechanism 3 can be used motor and directly connect with runing rest 4, directly drive runing rest 4
Rotation；In addition, the first rotating mechanism 3 may also include the first deceleration mechanism, motor passes through the first deceleration mechanism driving rotation branch
Frame 4 rotates.
Optionally, the second rotating mechanism 2 can be used motor and directly be connected with sweep mechanism 1, directly drive scanning machine
Structure 1 rotates；In addition, the second rotating mechanism 2 may also include the second deceleration mechanism, the second rotating mechanism 2 passes through the second deceleration mechanism
Sweep mechanism 1 is driven to rotate.
Optionally, sweep mechanism 1 can be Kinect sensor.Kinect is a kind of body-sensing peripheral hardware, and there are three camera shootings altogether
Head, intermediate lens are RGB color video camera, and left and right side camera lens is respectively RF transmitter and infrared C MOS camera shooting unit
At.Wherein infrared ray can encode space, as long as stamping such structure light in space, entire space is all done
One object, is put into this space, passes through the speckle pattern on body surface by label, so that it may determine the position letter of object
Breath.But be not limited to Kinect sensor, can also using laser radar or depth transducer or other any can be realized scene
Depth data acquisition equipment.
Optionally, first axle L1 is vertical with second axis L2.But it is not limited to this, and first axle L1 can also be with second
Axis L2 is arranged in a crossed manner in other angles, such as 60 degree, 75 degree, 85 degree etc., within the scope of the limitation of the present embodiment.
Optionally, the second rotating mechanism 2 is mounted on the first end of runing rest 4, and sweep mechanism 1 compares the second rotating machine
Structure 2 is closer to first axle L1, and as shown in fig. 1, the benefit being arranged so is that the center of gravity of sweep mechanism 1 can be made closer to
One axis L1, advantageously reduces the rotary inertia of whole scene scanning means, operates the rotation of sweep mechanism 1 lighter.
Optionally, in the second end opposite with first end of runing rest 4, the balance weight mechanism of weight-adjustable section is installed
(not shown).By adjusting the weight of balance weight mechanism, it may make runing rest 4, sweep mechanism 1, the second rotating mechanism 2 whole
The center of gravity of body is located on first axle L1, is conducive to the stability for improving the rotation of panoramic scanning device, eccentric rotary is avoided to draw
The vibration risen.
In addition, by setting weight-adjustable section for balance weight mechanism, when needing to sweep mechanism 1 or the second rotating machine
When structure 2 is modified or replaces, can accordingly by adjusting the weight of balance weight mechanism, and then continue keep runing rest 4,
The whole center of gravity of sweep mechanism 1, the second rotating mechanism 2 is located on first axle L1.The weight adjustment of balance weight mechanism can pass through
The mode for increasing or reducing clump weight realizes that but it is not limited to this.
Embodiment two
3-D scanning modeling provided by Embodiment 2 of the present invention is shown in Fig. 2 comprising the whole audience of embodiment one
Scape scanning means further includes data acquisition unit 6, rotation control unit 5,2 d plane picture generation unit 8, registration in the system
With integrated unit 9, signal output unit 10, display unit 11.Data acquisition unit 6 is connect with the output end of sweep mechanism, is adopted
Collect the image data of sweep mechanism output.Rotation control unit 5 is separately connected with the first rotating mechanism and the second rotating mechanism, is controlled
Make the first rotating mechanism and the rotation of the second rotating mechanism.2 d plane picture generation unit 8 is according to the three-dimensional obtained by image data
Point cloud generates 2 d plane picture.Registration is registrated and is merged to three-dimensional point cloud and 2 d plane picture with integrated unit 9, and then
To threedimensional model.Signal output unit 10 is connect with display unit 11, for obtained threedimensional model to be output to display unit
11 are shown；Display unit 11, the threedimensional model shown.
Data acquisition unit 6 is used for the acquisition of image data, and data acquisition unit 6 can also be by sending to sweep mechanism 1
Start to acquire and acquire the acquisition and stopping for finishing instruction to control image data.
Rotation control unit 5 adjusts acquisition scans mechanism 1 for controlling the first rotating mechanism 3 and the second rotating mechanism 2
Posture, rotation control unit 5 can be controlled separately the rotation direction of the first rotating mechanism 3 and the second rotating mechanism 2, angle of rotation
Degree and velocity of rotation and the first rotating mechanism 3 and the second rotating mechanism 2 start and stop.
More preferably, data acquisition unit 6 and rotation control unit 5 by way of wireless telecommunications with sweep mechanism 1 into
Row communication connection and data transmitting.Sweep mechanism 1 will not be limited by cables in this way, convenient for operation.
Obtaining three-dimensional point cloud specifically by image data in the present embodiment can be realized by two ways.
In a kind of optional mode, as shown in Fig. 2, sweep mechanism uses laser radar, laser radar can directly be given birth to
At three-dimensional point cloud, 6 acquired image data of data acquisition unit directly include three-dimensional point cloud at this time.In this case, then
Three-dimensional point cloud generation unit that no setting is required, 2 d plane picture generation unit 8 can directly turn the three-dimensional point cloud in image data
Turn to 2 d plane picture.
In another optional mode, as shown in figure 3, data are adopted when sweep mechanism is using Kinect sensor
Collecting the image data that unit 6 acquires includes depth map data, at this point, 3-D scanning modeling further includes that three-dimensional point cloud generates list
Member 7, image data is sent to three-dimensional point cloud generation unit 7 by data acquisition unit 6, and then three-dimensional point cloud generation unit 7 will be deep
Degree diagram data is converted into three-dimensional point cloud, and then, three-dimensional point cloud is converted to 2 d plane picture by 2 d plane picture generation unit 8.
Registration is registrated and is merged to three-dimensional point cloud and 2 d plane picture with integrated unit 9, and then obtains threedimensional model.
The 3-D scanning modeling of the present embodiment two may be implemented using the whole scene scanning means of embodiment one
The automatic operation of scene scanning, scanning speed is fast, and precision is high, and then can be realized and rapidly and accurately model, while the whole audience
Scape scanning system reduces the use of manpower, reduces cost of labor.
Optionally, three-dimensional point cloud and 2 d plane picture are also shown on display unit 11, registration is with integrated unit 9 according to aobvious
Show three-dimensional point cloud and 2 d plane picture that unit 11 is shown, adjusts the relative position of three-dimensional point cloud and 2 d plane picture, obtain one
Grade registration data.The relative position for adjusting three-dimensional point cloud and 2 d plane picture can be by the way of being manually registrated, such as passes through
The relative position of three-dimensional point cloud and 2 d plane picture is manually adjusted, such as using translation, rotation mode, by three-dimensional point cloud and two dimension
Plan view carries out rough registration operation, obtains level-one registration data.It, can be manual thick by manually carrying out by the way that display unit is arranged
Registration is conducive to the speed and efficiency that improve registration.
Optionally, registration and integrated unit 9 further include secondary registration and integrated unit, and secondary registration and integrated unit are to one
Grade registration data carries out matching and fusion operation, obtains threedimensional model.Matching and fusion operation can be used ICP algorithm or other
Any suitable algorithm.
Optionally, control system further includes rendering unit, and image data further includes colored diagram data, and rendering unit is according to coloured silk
Color Map Data renders threedimensional model.More preferably, image data is RGBD data.
The flow chart of the scanning modeling method of the 3-D scanning modeling based on the present embodiment is shown in Fig. 3.
The scanning modeling method including the following steps:
S01, scanning start.
Specifically, the sweep mechanism 1 for controlling panoramic scanning device starts to be scanned, and controls 3 He of the first rotating mechanism
Position, angle and the speed of second rotating mechanism 2 constantly adjustment sweep mechanism 1.
S02 obtains image data.
The image data that sweep mechanism 1 obtains is obtained from sweep mechanism 1.
S03 obtains three-dimensional point cloud by image data, and obtains 2 d plane picture according to three-dimensional point cloud.
S04 shows three-dimensional point cloud and 2 d plane picture and is slightly matched.
Specifically, three-dimensional point cloud and 2 d plane picture are shown on display unit 11, using manually adjusting three-dimensional point cloud
Rough registration is carried out with the mode of the relative position of 2 d plane picture.The modes such as translation, rotation can be used in the mode of adjustment.
S05 carries out smart registration and fusion to the data after rough registration using ICP algorithm, obtains threedimensional model.
Optionally, image data further includes colored diagram data.It further include rendering step, i.e., according to image in step S05
Colored diagram data in data renders threedimensional model.
3-D scanning modeling provided in an embodiment of the present invention, by whole scene scanning means in multiple and different visual fields
The image data of object is acquired under angle, and three-dimensional point cloud is obtained by image data, and convert two dimension for three-dimensional point cloud
Plan view, and three-dimensional point cloud and 2 d plane picture are first subjected to rough registration, smart registration and fusion then are carried out using ICP algorithm,
And then obtain threedimensional model.The 3-D scanning modeling of the embodiment of the present invention, high degree of automation is easy to operate, at low cost
Honest and clean, scanning speed is fast, and precision is high, can be realized and rapidly and accurately models.
More than, only specific embodiments of the present invention, but scope of protection of the present invention is not limited thereto, and it is any to be familiar with sheet
Those skilled in the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all cover at this
Within the protection scope of invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (10)
1. a kind of whole scene scanning means, it is characterised in that: including sweep mechanism, the first rotating mechanism, runing rest and second
Rotating mechanism；
The runing rest is connect with first rotating mechanism, can be revolved under first rotating mechanism driving around first axle
Turn；
Second rotating mechanism is mounted on the runing rest, and is connected with the sweep mechanism, and the scanning is driven
Mechanism is rotated around second axis；
The second axis and the first axle are at scheduled angle.
2. whole scene scanning means according to claim 1, which is characterized in that second rotating mechanism is mounted on described
The first end of runing rest, the sweep mechanism compare second rotating mechanism closer to the first axle.
3. whole scene scanning means according to claim 1, which is characterized in that the sweep mechanism includes Kinect sensing
Device, laser radar or depth transducer.
4. whole scene scanning means according to claim 1, which is characterized in that the second axis and the first axle
Vertically.
5. a kind of 3-D scanning modeling, including such as whole scene scanning means of any of claims 1-4, spy
Sign is: further including data acquisition unit in the system, rotates control unit, 2 d plane picture generation unit, registration and merge
Unit, signal output unit, display unit；
The data acquisition unit is connect with the output end of the sweep mechanism, acquires the picture number of the sweep mechanism output
According to；
The rotation control unit is separately connected with first rotating mechanism and second rotating mechanism, control described first
Rotating mechanism and second rotating mechanism rotation；
The 2 d plane picture generation unit generates 2 d plane picture according to the three-dimensional point cloud obtained by described image data；
The registration is registrated and is merged to the three-dimensional point cloud and the 2 d plane picture with integrated unit, and then obtains three
Dimension module；
The signal output unit is connect with display unit, is shown for obtained threedimensional model to be output to display unit
Show；
The display unit, the threedimensional model obtained described in display.
6. 3-D scanning modeling according to claim 5, which is characterized in that also show described three on the display unit
The three-dimensional point cloud that the dimension point cloud and 2 d plane picture, the registration and integrated unit are shown according to display unit and described
2 d plane picture adjusts the relative position of the three-dimensional point cloud and the 2 d plane picture, obtains level-one registration data.
7. 3-D scanning modeling according to claim 6, which is characterized in that the registration with integrated unit further includes
Secondary registration and integrated unit, the secondary registration and integrated unit carry out matching and fusion operation to level-one registration data, obtain
To threedimensional model.
8. 3-D scanning modeling according to claim 5, which is characterized in that described image data include depth map number
According to the system also includes three-dimensional point cloud generation unit, the three-dimensional point cloud generation unit is generated according to the depth map data
Three-dimensional point cloud.
9. 3-D scanning modeling according to claim 5, which is characterized in that described image data include three-dimensional point
Cloud.
10. 3-D scanning modeling according to claim 7, which is characterized in that the system also includes rendering unit,
Described image data further include colored diagram data, and the rendering unit carries out wash with watercolours to the threedimensional model according to colored diagram data
Dye.
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| CN201710602782.XA CN109215110A (en) | 2017-07-21 | 2017-07-21 | Whole scene scanning means and 3-D scanning modeling |
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| CN110567368A (en) * | 2019-08-28 | 2019-12-13 | 华南理工大学 | House size measuring device and method based on depth camera |
| CN112132971A (en) * | 2020-09-08 | 2020-12-25 | 合肥的卢深视科技有限公司 | Three-dimensional human body modeling method, device, electronic equipment and storage medium |
| CN113160388A (en) * | 2021-04-25 | 2021-07-23 | 东莞市输变电工程建设有限责任公司 | Method for auxiliary installation of electrical equipment based on BIM and 3D scanning technology |
| US11662468B1 (en) * | 2022-01-21 | 2023-05-30 | AGI Suretrack LLC | LiDAR scanning system and methods |
| US11668433B1 (en) | 2022-01-21 | 2023-06-06 | AGI Suretrack LLC | Locking system for aligning a device |
| CN117557601A (en) * | 2023-09-26 | 2024-02-13 | 北京长木谷医疗科技股份有限公司 | Skeleton registration method and device based on digital twinning |
| CN112132971B (en) * | 2020-09-08 | 2024-04-23 | 合肥的卢深视科技有限公司 | Three-dimensional human modeling method, three-dimensional human modeling device, electronic equipment and storage medium |
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| CN113160388A (en) * | 2021-04-25 | 2021-07-23 | 东莞市输变电工程建设有限责任公司 | Method for auxiliary installation of electrical equipment based on BIM and 3D scanning technology |
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