CN109556516B - Structured light experiment platform of multi-camera multi-projector - Google Patents
Structured light experiment platform of multi-camera multi-projector Download PDFInfo
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- CN109556516B CN109556516B CN201811566544.9A CN201811566544A CN109556516B CN 109556516 B CN109556516 B CN 109556516B CN 201811566544 A CN201811566544 A CN 201811566544A CN 109556516 B CN109556516 B CN 109556516B
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The invention discloses a structured light experiment platform of a multi-camera multi-projector, which comprises an experiment platform, a camera adjusting frame, a projector adjusting frame and a rotating platform, wherein the camera adjusting frame is arranged on the experiment platform; a plurality of tapping threaded holes are uniformly distributed in an array in the X-axis direction and the Y-axis direction on an upper end plate of the experiment platform; the camera adjusting frame and the projection adjusting frame are arranged in the tapping threaded hole through bolts, and the positions of the camera adjusting frame and the projection adjusting frame on the upper end plate are adjustable; the top platform of the rotary platform can rotate 360 degrees. The method can be used for three-dimensional reconstruction of single-camera single projection and multi-camera multi-projection, and can be used for researching reconstruction effects of different cameras and projectors at different positions to perform contrast tests, wherein the camera adjusting frame, the projector adjusting frame and the rotating platform are all provided with servo motors, and important parameters such as operating speed, rotating angle and the like can be accurately controlled through programs.
Description
Technical Field
The invention relates to the technical field of three-dimensional reconstruction experiment platforms, in particular to a structured light experiment platform with multiple cameras and multiple projectors.
Background
Along with the continuous improvement of imaging requirements of people, the traditional two-dimensional imaging technology cannot meet the requirements, and at present, more and more technologies based on three-dimensional images emerge continuously, so that the lives of people are enriched, and the development of science and technology is promoted. In order to acquire a real three-dimensional image, depth perception is generally performed on a scene or an object, and a structured light technology is a widely used depth perception technology. Three-dimensional imaging based on structured light, which is actually measurement and reproduction of three-dimensional parameters, needs to actively project structured light onto a measured object, and determine the dimension parameters of the measured object through deformation (or flight time, etc.) of the structured light, so the method is also called active three-dimensional measurement. Currently, there are many applications for structured light of a single-camera single-projector, but there are still few applications for multi-camera multi-projector, most of which are still in research stage, and there are few related experimental platforms for multi-camera multi-projector in the market, and the current structured light experimental platform in the market is mainly in tripod support mode, and some companies research and develop small special experimental platforms for their own products, but have not seen the structured light experimental platform for universality and large multi-camera multi-projection.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a structured light experiment platform capable of simultaneously erecting multiple sets of cameras and projectors, and simultaneously, adjusting multiple degrees of freedom for the erected cameras and projectors, so as to fully meet the field experiment requirements.
In order to achieve the purpose, the invention adopts the technical scheme that: a structured light experiment platform of multi-camera multi-projector is characterized in that: the device comprises an experiment platform, a camera adjusting frame, a projector adjusting frame and a rotating platform;
the experimental platform comprises a bottom plate and an upper end plate, a mounting hole for mounting the rotary platform is formed in the middle of the upper end plate, the bottom plate and the upper end plate are fixedly connected through a support frame, and a plurality of tapping threaded holes are uniformly distributed in the upper end plate in an array manner in the X-axis direction and the Y-axis direction;
the camera adjusting frame and the projection adjusting frame are mounted in the tapping threaded holes through bolts, and the positions of the camera adjusting frame and the projection adjusting frame on the upper end plate are adjustable;
the rotary platform comprises a top platform, a top fixing flange, a rotary shaft and a motor reducer assembly, wherein the top platform is fixedly connected with the top fixing flange, the rotary shaft penetrates through a mounting hole in the upper end plate and is connected with the top fixing flange through a flat key, and the lower end of the rotary shaft is connected with the motor reducer assembly through a flat key.
Preferably, the rotary platform further comprises a large bearing and a lower side fixing flange, the top platform is connected with an upper bearing bush of the large bearing, a lower bearing bush of the large bearing is connected with the lower volume fixing flange, and the lower side fixing flange is fixedly connected with the upper end plate.
Preferably, the camera adjusting frame comprises a circumference rotating table, a height adjusting device, a camera mounting frame and a camera capable of being triggered externally, wherein the height adjusting device is fixed at the upper end of the circumference rotating table, the camera mounting frame is mounted on a sliding block at the front side of the height adjusting device, and the camera is fixed on the camera mounting frame;
the projector adjusting frame comprises a circumference rotating table, a height adjusting device, a projector mounting frame and a projector, the mounting mode of the projector adjusting frame is the same as that of the camera adjusting frame, the projector mounting frame is also mounted on a sliding block on the front side of the height adjusting device, and the projector is fixed on the projector mounting frame.
Preferably, the experiment platform still includes landing leg and landing leg installed part, the landing leg installed part is fixed in four angular position departments of bottom plate top, and the landing leg passes through threaded connection with the landing leg installed part.
Preferably, the support frame includes middle support frame and the four corners support frame of fixing on the bottom plate, and the upper end plate is installed to middle support frame and four corners support frame upper end.
Preferably, height adjusting device includes sharp module mounting bracket, sharp module, slider and servo motor, sharp module mounting bracket fixed mounting is in circumference revolving stage top, and sharp module mounting bracket and sharp module link together through bolt and nut, are equipped with the slider on the sharp module, and servo motor drives the motion of sharp module to slide from top to bottom on the drive sharp module slider.
Preferably, the distance between the tapping threaded holes on the upper end plate is 50-100mm, and the diameter is 6-10 mm.
Preferably, the large bearing is a radial thrust bearing.
Preferably, the leg comprises a rubber base, a leg fixing member and a leg supporting member, wherein the rubber base is embedded in the leg fixing member, the lower end of the leg supporting member is connected into the leg fixing member through threads, and the upper end of the leg supporting member is connected into the leg mounting member and locked by a nut.
Compared with the prior art, the invention has the beneficial effects that:
1. compared with a method for fixing a camera and a projector by using a tripod, the experimental platform based on the invention is more stable and reliable, and can realize accurate three-dimensional space adjustment;
2. the experimental platform related by the invention has larger measurement range and wider application range;
3. the experimental platform can be simultaneously provided with a plurality of sets of cameras and a plurality of sets of projectors, can realize adjustment of a plurality of degrees of freedom, and meets the requirements of three-dimensional object reconstruction at a plurality of positions;
4. compared with a single-camera single-projector structured light system, the system can perform multi-camera multi-projector structured light three-dimensional reconstruction;
5. the invention adopts a form of combining the servo motor and the linear module for adjusting the height of the camera and the projector, and the combined form can accurately control the motion of the camera and the projector, so that the whole set of experiment platform can complete common three-dimensional reconstruction and can be used as active vision to complete self-calibration experiments of the camera and the projector.
Drawings
FIG. 1 is a schematic view of the overall structure of embodiment 5 of the present invention;
FIG. 2 is a schematic diagram of the overall structure of an experimental platform in embodiment 5 of the present invention;
FIG. 3 is an exploded view of an experimental platform according to example 5 of the present invention;
FIG. 4 is an exploded view of a camera adjustment bracket according to an embodiment 5 of the present invention;
FIG. 5 is an exploded view of a projection adjusting bracket according to embodiment 5 of the present invention;
FIG. 6 is an exploded view of a rotary platform according to example 5 of the present invention;
FIG. 7 is a schematic structural diagram of a height adjustment apparatus according to embodiment 5 of the present invention;
FIG. 8 is a schematic structural view of a leg according to embodiment 5 of the present invention;
wherein, 1-experiment platform, 1.1-leg, 1.1.1-rubber base, 1.1.2-leg holder, 1.1.3-leg holder, 1.1.4-nut, 1.2-base plate, 1.3-intermediate support, 1.4-leg holder, 1.5-upper end plate, 1.6-four corner support, 2-camera adjustment stand, 2.1-circumferential rotation stand, 2.2-height adjustment device, 2.2.1-linear module mount, 2.2.2-linear module, 2.2.3-slide, 2.2.4-servo motor, 2.3-camera mount, 2.4-camera, 3-projector adjustment stand, 3.1-projector, 3.2-projector mount, 4-rotation platform, 4.1-top platform, 4.2-top fixing flange, 4.3-rotation axis, 4.4-large bearing, 4.5-lower side fixing flange, 4.6-motor reducer assembly.
Detailed Description
The invention provides a structured light experiment platform of a multi-camera multi-projector, which can be used for simultaneously erecting a plurality of sets of cameras and projectors, and can realize adjustment of a plurality of degrees of freedom aiming at the erected cameras and projectors, thereby fully meeting the field experiment requirements.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
Example 1
The embodiment provides a structured light experiment platform for a multi-camera multi-projector, which comprises an experiment platform, a camera adjusting frame, a projector adjusting frame and a rotating platform;
the experimental platform comprises a bottom plate and an upper end plate, a mounting hole for mounting the rotary platform is formed in the middle of the upper end plate, the bottom plate and the upper end plate are fixedly connected through a support frame, and a plurality of tapping threaded holes are uniformly distributed in the upper end plate in an array manner in the X-axis direction and the Y-axis direction;
the camera adjusting frame and the projection adjusting frame are mounted in the tapping threaded holes through bolts, and the positions of the camera adjusting frame and the projection adjusting frame on the upper end plate are adjustable;
the rotary platform comprises a top platform, a top fixing flange, a rotary shaft and a motor reducer assembly, wherein the top platform is fixedly connected with the top fixing flange, the rotary shaft penetrates through a mounting hole in the upper end plate and is connected with the top fixing flange through a flat key, and the lower end of the rotary shaft is connected with the motor reducer assembly through a flat key.
The structured light experiment platform for the multi-camera multi-projector provided in embodiment 1 has an upper end plate of the experiment platform, which is uniformly provided with a plurality of tapping threaded holes in an array in an X-axis direction and a Y-axis direction, a camera adjusting frame and a projection adjusting frame are installed in the tapping threaded holes through bolts, the positions of the camera adjusting frame and the projection adjusting frame on the experiment platform can be adjusted according to experiment requirements, a rotating platform is arranged in the middle of the upper end plate, and the rotating platform performs rotating motion, so that 360-degree rotation of a target to be reconstructed can be realized, and the system can support reconstruction of a single camera and a single projector besides the purpose of completing reconstruction of a plurality of cameras.
Example 2:
the multi-camera multi-projector structured light experiment platform provided in embodiment 2 is an optimized solution performed on the basis of embodiment 1, and the multi-camera multi-projector structured light experiment platform provided in embodiment 2 further includes a large bearing and a lower fixing flange, the top platform is connected to an upper bearing shoe of the large bearing, a lower bearing shoe of the large bearing is connected to a lower fixing flange, and the lower fixing flange is fixedly connected to the upper end plate.
The large bearing is a radial thrust bearing with the outer diameter of 396 mm.
The multi-camera multi-projector structured light experiment platform provided in embodiment 2 not only can adjust the positions of the camera adjusting frame and the projection adjusting frame on the experiment platform according to experiment needs, but also can realize 360-degree rotation of the object to be reconstructed by rotating the rotating platform, so that the system can also support reconstruction of a single camera and a single projector besides completing the purpose of reconstruction of multiple cameras. Meanwhile, the lower side fixing flange and the installed radial thrust bearing, namely the large bearing, with the outer diameter of 396mm can bear the top platform and the object to be reconstructed at the upper end, so that the stable operation of the whole platform is ensured.
Example 3:
the multi-camera multi-projector structured light experiment platform provided in embodiment 3 is an optimized solution performed on the basis of embodiment 1 or embodiment 2, and the multi-camera multi-projector structured light experiment platform provided in embodiment 3, wherein the camera adjusting frame includes a circular rotation table, a height adjusting device, a camera mounting frame, and an externally triggerable camera, wherein the height adjusting device is fixed on the upper end of the circular rotation table, the camera mounting frame is installed on a slide block at the front side of the height adjusting device, and the camera is fixed on the camera mounting frame;
the projector adjusting frame comprises a circumference rotating table, a height adjusting device, a projector mounting frame and a projector, the mounting mode of the projector adjusting frame is the same as that of the camera adjusting frame, and the projector is fixed on the projector mounting frame.
Wherein, height adjusting device includes sharp module mounting bracket, sharp module, slider and servo motor, sharp module mounting bracket fixed mounting is in circumference revolving stage top, and sharp module mounting bracket and sharp module link together through bolt and nut, are equipped with the slider on the sharp module, and servo motor drives the motion of sharp module to slide from top to bottom on the drive sharp module slider.
The multi-camera multi-projector structured light experimental platform provided in embodiment 3 not only can adjust the positions of the camera adjusting frame and the projection adjusting frame on the experimental platform according to experimental needs, but also can realize 360-degree rotation of the object to be reconstructed by rotating the rotating platform, so that the system can also support reconstruction of a single camera and a single projector besides completing the purpose of reconstruction of multiple cameras; the lower side fixing flange and the installed radial thrust bearing with the outer diameter of 396mm, namely a large bearing, can bear the top platform and the object to be reconstructed at the upper end, so that the whole platform is ensured to stably operate. Meanwhile, the camera and the projector can rotate in the horizontal direction through the circumferential rotating table, the camera and the projector can be adjusted at any angle by 360 degrees, the camera and the projector can move up and down through the height adjusting device, the height in the vertical direction can be adjusted, the servo motor is used for accurately adjusting the movement of the linear module, so that the sliding block is driven to move up and down, and finally the camera and the projector can move up and down accurately.
Example 4:
the multi-camera multi-projector structured light experimental platform provided in embodiment 4 is an optimized solution performed on the basis of embodiment 1 or embodiment 2, and the multi-camera multi-projector structured light experimental platform provided in embodiment 4 further includes legs and leg mounts fixed at four corners above the base plate, wherein the legs are connected to the leg mounts through threads. The supporting leg comprises a rubber base, a supporting leg fixing piece and a supporting leg supporting piece, wherein the rubber base is embedded into the supporting leg fixing piece, the lower end of the supporting leg supporting piece is connected into the supporting leg fixing piece through threads, and the upper end of the supporting leg supporting piece is connected into the supporting leg installing piece and locked through a nut.
The support frame is including fixing middle support frame and the four corners support frame on the bottom plate, and the upper end plate is installed to middle support frame and four corners support frame upper end.
The multi-camera multi-projector structured light experiment platform provided by the embodiment 4 is not only provided with a plurality of sets of cameras and projectors simultaneously, but also can realize adjustment of a plurality of degrees of freedom, and meets the reconstruction of three-dimensional objects at a plurality of positions, and the middle rotating platform can realize 360-degree rotation of a target to be reconstructed, so that the system can support the reconstruction of a single camera and a single projector besides the reconstruction of a plurality of cameras, and the height adjusting device can realize the up-and-down accurate movement of the cameras and the projectors.
Example 5:
example 5 provides a multi-camera multi-projector structured light experiment platform, as shown in fig. 1, an accurate self-preheating energy-saving regenerative combustion system provided by example 5 includes: the system comprises an experimental platform 1, a camera adjusting frame 2, a projector adjusting frame 3 and a rotary platform 4;
the experimental platform 1 comprises a bottom plate 1.2 and an upper end plate 1.5, a mounting hole for mounting the rotary platform is formed in the middle of the upper end plate 1.5, the bottom plate and the upper end plate 1.5 are fixedly connected through a support frame, and a plurality of tapping threaded holes are uniformly distributed in the upper end plate 1.5 in an array manner in the X-axis direction and the Y-axis direction; preferably, the distance between the tapping threaded holes on the upper end plate 1.5 is 50-100mm, and the diameter is 6-10 mm.
The camera adjusting frame 2 and the projection adjusting frame 3 are installed in the tapping threaded holes through bolts, and the positions of the camera adjusting frame 2 and the projection adjusting frame 3 on the upper end plate 1.5 are adjustable;
the rotary platform 4 comprises a top platform 4.1, a top fixing flange 4.2, a rotary shaft 4.3 and a motor reducer assembly 4.6, wherein the top platform 4.1 is fixedly connected with the top fixing flange 4.2, the rotary shaft 4.3 penetrates through a mounting hole in an upper end plate 1.5 to be connected with the top fixing flange 4.2 through a flat key, and the lower end of the rotary shaft 4.3 is connected with the motor reducer assembly 4.6 through a flat key.
As shown in fig. 4 and 5, the camera adjusting frame 2 includes a circular rotating table 2.1, a height adjusting device 2.2, a camera mounting frame 2.3 and a camera 2.4, wherein the height adjusting device 2.2 is fixed on the upper end of the circular rotating table 2.1, the camera mounting frame 2.3 is mounted on a slide block at the front side of the height adjusting device 2.2, and the camera 2.4 is fixed on the camera mounting frame 2.3;
As shown in fig. 6, the rotating platform 4 further includes a large bearing 4.4 and a lower fixing flange 4.5, the top platform 4.1 is connected to an upper bearing bush of the large bearing 4.4, a lower bearing bush of the large bearing 4.4 is connected to the lower fixing flange 4.5, the lower fixing flange 4.5 is fixedly connected to the upper end plate 1.5, and preferably, the large bearing 4.4 is a radial thrust bearing with an outer diameter of 396 mm.
As shown in fig. 7, height adjustment device 2.2 includes sharp module mounting bracket 2.2.1, sharp module 2.2.2, slider 2.2.3 and servo motor 2.2.4, sharp module mounting bracket 2.2.1 fixed mounting is in circumference revolving stage 2.1 top, and sharp module mounting bracket 2.2.1 and sharp module 2.2.2 link together through bolt and nut, are equipped with slider 2.2.3 on the sharp module 2.2.2, and servo motor 2.2.4 drives sharp module 2.2.2.2 and moves to slide under 2.2.3 on the slider on the drive sharp module.
As shown in fig. 2 and 8, the experimental platform further includes a leg 1.1 and a leg mounting member 1.4, the leg mounting member 1.4 is fixed at four corners above the bottom plate 1.2, and the leg 1.1 is connected with the leg mounting member 1.4 through threads.
The support frame is including fixing middle support frame 1.3 and four corners support frame 1.6 on bottom plate 1.2, and the upper end plate is installed to middle support frame 1.3 and four corners support frame 1.6 upper end.
The supporting leg 1.1 comprises a rubber base 1.1.1, a supporting leg fixing piece 1.1.2 and a supporting leg supporting piece 1.1.3, wherein the rubber base 1.1.1 is embedded into the supporting leg fixing piece 1.1.2, the lower end of the supporting leg supporting piece 1.1.3 is connected into the supporting leg fixing piece 1.1.2 through threads, and the upper end of the supporting leg supporting piece is connected into the supporting leg mounting piece 1.4 and locked by nuts.
Before a field experiment is carried out, an object to be three-dimensionally reconstructed is placed on a rotating platform, then the visual fields of a pair of camera-projectors are adjusted, and after the camera-projectors are adjusted, the other pair is adjusted until the visual fields of all the camera-projectors are adjusted; and then starting a servo motor for controlling the rotating platform to enable the rotating platform to rotate 360 degrees at a certain speed, then utilizing a pair of camera-projectors to perform three-dimensional reconstruction, gradually increasing the number of the camera-projectors under the condition that the pair of camera-projectors can realize reconstruction, and simultaneously adjusting an algorithm, thereby achieving the experiment of the multi-camera multi-projector.
The structured light experimental platform for the multi-camera multi-projector provided by the embodiment of the invention at least comprises the following technical effects:
the invention can be simultaneously provided with a plurality of sets of cameras and projectors, can realize the adjustment of a plurality of degrees of freedom and meet the reconstruction of three-dimensional objects at a plurality of positions; after the camera and the projector are adjusted in place and fixed, the installation is stable, and the problem of easy movement caused by the use of a tripod for installation is solved; the middle rotating platform can realize 360-degree rotation of the target to be reconstructed, so that the system can also support reconstruction of a single camera and a single projector besides the purpose of completing reconstruction of a plurality of cameras. Meanwhile, reconstruction effects of different cameras and projectors at different positions can be researched, a comparison test is carried out, wherein the camera adjusting frame assembly, the projector adjusting frame assembly and the rotating platform are all provided with servo motors, and important parameters such as operating speed and rotating angle can be accurately controlled through programs.
The present invention has been described in detail with reference to the specific embodiments, but the present invention is only one of the embodiments, and the present invention is not limited to the specific embodiments described above. Any equivalent modifications and substitutions to those skilled in the art are also within the scope of the present invention. Accordingly, equivalent changes and modifications made without departing from the spirit and scope of the present invention should be covered by the present invention.
Claims (8)
1. A structured light experiment platform of multi-camera multi-projector is characterized in that: the device comprises an experiment platform, a camera adjusting frame, a projector adjusting frame and a rotating platform;
the experimental platform comprises a bottom plate and an upper end plate, a mounting hole for mounting the rotary platform is formed in the middle of the upper end plate, the bottom plate and the upper end plate are fixedly connected through a support frame, and a plurality of tapping threaded holes are uniformly distributed in the upper end plate in an array manner in the X-axis direction and the Y-axis direction;
the camera adjusting frame and the projection adjusting frame are mounted in the tapping threaded holes through bolts, and the positions of the camera adjusting frame and the projection adjusting frame on the upper end plate are adjustable;
the rotating platform comprises a top platform, a top fixing flange, a rotating shaft and a motor reducer assembly, wherein the top platform is fixedly connected with the top fixing flange, the rotating shaft penetrates through a mounting hole in the upper end plate and is connected with the top fixing flange through a flat key, and the lower end of the rotating shaft is connected with the motor reducer assembly through a flat key;
the camera adjusting frame comprises a circumferential rotating table, a height adjusting device, a camera mounting frame and a camera capable of being triggered externally, wherein the height adjusting device is fixed at the upper end of the circumferential rotating table, the camera mounting frame is mounted on a sliding block on the front side of the height adjusting device, and the camera is fixed on the camera mounting frame;
the projector adjusting frame comprises a circumference rotating table, a height adjusting device, a projector mounting frame and a projector, the mounting mode of the projector adjusting frame is the same as that of the camera adjusting frame, the projector mounting frame is also mounted on a sliding block on the front side of the height adjusting device, and the projector is fixed on the projector mounting frame.
2. The multi-camera multi-projector structured light experimental platform according to claim 1, wherein: the rotary platform further comprises a large bearing and a lower side fixing flange, the top platform is connected with an upper bearing bush of the large bearing, a lower bearing bush of the large bearing is connected with the lower side fixing flange, and the lower side fixing flange is fixedly connected with the upper end plate.
3. The structured light experimental platform for a multi-camera multi-projector according to claim 1 or 2, wherein: the experimental platform further comprises supporting legs and supporting leg mounting pieces, wherein the supporting leg mounting pieces are fixed at four corners above the bottom plate, and the supporting legs are connected with the supporting leg mounting pieces through threads.
4. The structured light experimental platform for a multi-camera multi-projector according to claim 1 or 2, wherein: the support frame is including fixing middle support frame and the four corners support frame on the bottom plate, and the upper end plate is installed to middle support frame and four corners support frame upper end.
5. The multi-camera multi-projector structured light experimental platform according to claim 1, wherein: height adjusting device includes sharp module mounting bracket, sharp module, slider and servo motor, sharp module mounting bracket fixed mounting is in circumference revolving stage top, and sharp module mounting bracket and sharp module link together through bolt and nut, are equipped with the slider on the sharp module, and servo motor drive straight line module moves to slide from top to bottom drives the slider on the sharp module.
6. The structured light experimental platform for a multi-camera multi-projector according to claim 1 or 2, wherein: the distance between the tapping threaded holes on the upper end plate is 50-100mm, and the diameter of the tapping threaded holes is 6-10 mm.
7. The multi-camera multi-projector structured light experimental platform according to claim 2, wherein: the large bearing is a radial thrust bearing.
8. The multi-camera multi-projector structured light experimental platform according to claim 3, wherein: the supporting leg comprises a rubber base, a supporting leg fixing piece and a supporting leg supporting piece, wherein the rubber base is embedded into the supporting leg fixing piece, the lower end of the supporting leg supporting piece is connected into the supporting leg fixing piece through threads, and the upper end of the supporting leg supporting piece is connected into the supporting leg installing piece and locked through a nut.
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| CN109945792A (en) * | 2019-04-22 | 2019-06-28 | 洛阳德晶智能科技有限公司 | A kind of diameter measuring method, device and the application method of high reflective cylindrical body |
| CN109916337A (en) * | 2019-04-29 | 2019-06-21 | 西南交通大学 | A kind of structural light three-dimensional measuring instrument of outer Parameter adjustable |
| CN113141500A (en) * | 2021-03-29 | 2021-07-20 | 成都理工大学工程技术学院 | Three-dimensional image acquisition system |
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| KR101358631B1 (en) * | 2012-06-01 | 2014-02-04 | 주식회사 디오에프연구소 | A dental desktop 3d scanner that featues cameras and projectors are mounted on a swing arm |
| CN102940493B (en) * | 2012-11-14 | 2016-08-24 | 黑龙江省科学院自动化研究所 | Panoramic human body three-dimensional scanning system and measuring method |
| CN107289874A (en) * | 2016-04-01 | 2017-10-24 | 林斌 | Three-dimensional acquisition device |
| CN205537542U (en) * | 2016-04-22 | 2016-08-31 | 杭州非白三维科技有限公司 | A photo automatic acquisition system that human body and clothing that is used for three -dimensional image to build pattern |
| CN105953747B (en) * | 2016-06-07 | 2019-04-02 | 杭州电子科技大学 | Structured light projection full view 3-D imaging system and method |
| CN106052557A (en) * | 2016-06-25 | 2016-10-26 | 哈尔滨鼎智瑞光科技有限公司 | Array structure grating human body three-dimensional scanning system |
| CN107393011A (en) * | 2017-06-07 | 2017-11-24 | 武汉科技大学 | A kind of quick three-dimensional virtual fitting system and method based on multi-structured light vision technique |
| CN207095503U (en) * | 2017-08-17 | 2018-03-13 | 苏州中德睿博智能科技有限公司 | A kind of three dimensional vision modeling platform |
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