CN109854893A - A kind of adjustable multiple views three-dimensional reconstruction acquisition system - Google Patents
A kind of adjustable multiple views three-dimensional reconstruction acquisition system Download PDFInfo
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- CN109854893A CN109854893A CN201811487954.4A CN201811487954A CN109854893A CN 109854893 A CN109854893 A CN 109854893A CN 201811487954 A CN201811487954 A CN 201811487954A CN 109854893 A CN109854893 A CN 109854893A
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Abstract
The present invention provides a kind of multiple views three-dimensional reconstruction acquisition systems, including up-down rotary type cage modle collector, and it is fixed on camera and light source on up-down rotary type cage modle collector, up-down rotary type cage modle collector includes cage modle camera fixing support, external lifting rotation mechanism, cage modle camera fixing support includes top annulus, middle part annulus, lower part annulus, several lateral columns being connected between middle part and lower part annulus, several batter posts being connected between top and middle part annulus, cross brace is also connected in the annulus of top, camera is fixed on lateral column, light source is fixed in cross brace；External lifting rotation mechanism includes the bearing for being connected to cage modle camera fixing support two sides, the screw structure being connected between support frame and cage modle camera fixing support, the support frame connecting with screw structure.Present system structure novel, for different physical size person taken pictures, the height that acquisition system is adjusted, posture acquire its hand head image to adapt to acquisition target.
Description
Technical field
The present invention devises a kind of multi-view angle three-dimensional reconstruction hardware system, belongs to the dynamic image acquisition in computer vision
Technical field.
Background technique
In computer vision, the Image Acquisition of three-dimensional reconstruction is broadly divided into static acquisition system and dynamic collect system.It is quiet
State acquisition system requires subject to remain stationary in entire collection process, is constantly moved to using single camera in early days more
Visual angle acquires image.Static acquisition system is shone in the darkening built such as Debevec et al. in 2002, and use is exactly single visual angle
Acquisition.Dynamic collect system can acquire image in a short time, and it is totally stationary not need subject.And for human body,
Such as hand and face, be difficult to keep static in certain period of time, this need to acquire simultaneously on multiple visual angles certain time chart picture into
Row three-dimensional reconstruction, i.e. multi-angle of view dynamic three-dimensional reconstruction.It is different according to light control mode, it is divided into constant illumination and darkening according to acquisition system
System.Constant illumination system is higher to light source requirements, but without profession control.Domestic and international many research institutes and colleges and universities have built more at present
Visual acquisition system, such as Surrey university, the general institute of German horse, Tsinghua University and Nanjing University etc..But these multi-angle of view acquire
The design acquisition target of system is human body and face and larger object scene, cannot acquire hand images information well, and
It is bulky, it has a single function, and be not suitable for the acquisition of a large amount of human body image datas.
Summary of the invention
To solve the above problems, devising one the invention discloses a kind of multiple views three-dimensional reconstruction acquisition system and surrounding
The up-down rotary type cage modle collector of subject carries camera acquisition human hands and head image, realizes head and hand
Image Acquisition multiplexing.
In order to achieve the above object, the invention provides the following technical scheme:
A kind of multiple views three-dimensional reconstruction acquisition system, including up-down rotary type cage modle collector and be fixed on lifting rotation
Camera and light source on rotatable cage modle collector, up-down rotary type cage modle collector include cage modle camera fixing support, external liter
Drop rotating mechanism, the cage modle camera fixing support include top annulus, middle part annulus, lower part annulus, be connected to middle part and under
Several lateral columns between portion's annulus, several batter posts being connected between top and middle part annulus are also connected with ten in the annulus of top
Word bracket, camera are fixed on lateral column, and light source is fixed in cross brace；The external lifting rotation mechanism includes being connected to cage
The bearing of type camera fixing support two sides, the screw structure and screw rod being connected between support frame and cage modle camera fixing support
The support frame of structure connection.
It further, further include the lifting seat and/or hand support frame being arranged in below cage modle camera fixing support.
Further, the batter post and lateral column are at 120 ° of angles.
Further, the lateral column is 18, is uniformly distributed in, between the annulus of lower part.
Further, the camera quantity is 2 to 36, and it is 0 to 2 that camera quantity is carried on same root lateral column.
Further, the support frame includes under(-)chassis and two sides frame.
The present invention also provides the acquisition methods of multiple views three-dimensional reconstruction acquisition system collecting mechanism, including acquisition head figure
The step of the step of picture and acquisition hand images, wherein the step of acquisition head image includes:
It enables cage modle camera fixing support be in low level horizontal attitude, lifting seat is placed on immediately below cage；
Two sides screw rod is adjusted simultaneously, and lifting cage modle camera fixing support to proper height is fixed；
Cage modle camera fixing support angle is adjusted again to level, fixed angle；
Lifting seat is located at low level, and gathered person takes seat；
Seat is increased to a high position, and gathered person head is made to be located at cage modle camera fixing support center pickup area；
Control camera is acquired；
Acquire hand images the step of include:
Cage modle camera fixing support in multiple views three-dimensional reconstruction acquisition system is in high-order lateral attitude, handle portion support
Frame is placed on cage modle camera fixing support slightly forward；
Two sides screw rod is adjusted simultaneously, and lifting cage modle camera fixing support to proper height is fixed；
In adjustment cage modle camera fixing support angle to 45 ° of inclinations, fixed angle；
According to gathered person's body structure, position and the height of hand support frame are adjusted；
Gathered person makes a stretch of the arm, and is placed on hand support frame, so that hand is located at cage modle camera fixing support center and adopts
Collect region, and is able to maintain relatively stable；
Control camera is acquired.
Further, proper height when acquiring head image is lifting seat raised height+gathered person's sitting height.
Further, proper height when acquiring hand images is gathered person's shoulder level.
Compared with prior art, the invention has the advantages that and the utility model has the advantages that
Multiple views three-dimensional reconstruction acquisition system structure novel provided by the invention can for different physical size person taken pictures
The height of acquisition system, posture are adjusted to adapt to acquisition target, acquires its hand head image.System structure is convenient for arrangement camera
The image of high quality is obtained with light source, outstanding ergonomic designs improve person taken picture's comfort level.
Detailed description of the invention
Fig. 1 is up-down rotary type cage modle collector overall structure diagram.
Fig. 2 is the top view of Fig. 1.
Fig. 3 is the side view of Fig. 1.
Fig. 4 is the side view of up-down rotary type cage modle collector, and wherein cage modle camera fixing support is 45 ° of states of rotation.
Fig. 5 is the push rod low-end trim schematic diagram of lifting seat.
Fig. 6 is the push rod high-end trim schematic diagram of lifting seat.
Fig. 7 is lifting seat top view, does not include hoistable platform top plate in figure.
Fig. 8 is the status diagram for acquiring head and hand data.
Description of symbols:
1- cage modle camera fixing support, 2- bearing, 3- Limit Bearing seat, 4- screw rod, 5- handwheel, 6- lateral column, the middle part 7- circle
Ring, the lower part 8- annulus, 9- batter post, the top 10- annulus, 11- cross brace, 12- support frame, 12-1- under(-)chassis, the side 12-2-
Surface frame frame, 13- transmission mechanism, 13- pedestal, 14- electric up-down push rod, 15- lifting platform, 16- linear bearing, 17- support column,
18- mobile platform.
Specific embodiment
Technical solution provided by the invention is described in detail below with reference to specific embodiment, it should be understood that following specific
Embodiment is only illustrative of the invention and is not intended to limit the scope of the invention.
The present invention is the principle rebuild based on multi-angle of view, devises a up-down rotary type cage modle around subject and adopts
Storage, as shown in figs. 1-7.Main acquisition target is human hands and head image, it can be achieved that head and hand images acquisition are multiple
With.The small-sized cage modle support ring of design is around hand, and the camera of carrying can acquire hand images well, and other portions of body
Position will not cause it to block interference.Cage modle support Design meets three-dimensional reconstruction principle, can in order to the position of camera adjust and
Fixed, top structure also provides more spaces for the arrangement adjustment of light source, and intensive supporting structure is to increase camera perspective to mention
For possible.In order to be able to achieve collection head portion and acquire the multiplexing of hand, external rotary lifting mechanism is devised.Stance carries out hand
Acquisition, a bracket high position rotates state at this time；Sitting posture carries out head acquisition, and bracket is located at the horizontal state of low level at this time.In conjunction with normally at
Year Human Height, sitting height statistical data determine reasonable stent size, go up and down size range and bracket rotates angle, to meet
Ergonomics.The lifting seat and hand support frame being used cooperatively, allow gathered person not have sense of discomfort, energy in collection process
The enough acquisition experience for improving collected object, is conducive to rapid, high volume acquisition.
Specifically, the present invention provides a kind of multiple views three-dimensional reconstruction acquisition systems, including up-down rotary type cage modle to adopt
Storage and the camera being arranged on collector, light source.
Up-down rotary type cage modle collector is made of two parts, as shown in Figs 1-4, is divided into cage modle camera fixing support 1
With external lifting rotation mechanism.External lifting rotation mechanism includes rotating mechanism, elevating mechanism and support frame 12.Rotating mechanism is
The shaft 2 and Limit Bearing seat 3 of cage side wall, shaft 2 are fixed on 1 two sides of cage modle camera fixing support, and Limit Bearing seat 3 is fixed
Above the screw structure on hoistable platform.Elevating mechanism is the screw structure positioned at two sides, and screw structure includes screw rod 4, transmission
Mechanism 13, handwheel 5, mobile platform 18, handwheel 5 are connect by transmission mechanism with screw rod, transmission mechanism can be used worm and gear or
The common mechanism that can change rotary motion direction, the transmission mechanisms such as the helical teeth of two engagements cover on screw rod, and inner wall has
The screw thread matched with screw rod, by the lifting for switching to screw rod of handwheel.Screw mandrel top is connect with mobile platform, can be upper and lower
Platform is pushed, rotating mechanism is arranged on a mobile platform, thus finally by the lifting action for being changed into cage of handwheel.Figure
1 sinistral hoist structure is simply drawn, but its practical structures is identical as dextral hoist structure structure.Two sides are adjusted simultaneously in lifting
Screw rod lifting adjusts cage angle when rotation to suitable position, passes through limited block fixed angle.Support frame 12 includes under(-)chassis
12-1 and two sides frame 12-2, cage modle camera fixing support have 18 lateral columns 6 for fixed camera；It is solid with annulus up and down
It is fixed.Specifically, cage modle camera fixing support includes three annulus of upper, middle and lower, and lateral column 6 is connected to middle part annulus 7 and lower part annulus
Between 8, top batter post 9 is connected to top annulus 10 from middle part annulus and fixes；A cross brace 11 is connected inside the annulus of top,
Have light source two effects of rigid support and arrangement concurrently.MVS rebuilds three from the pixel matching of multiple images using principle of triangulation
Dimension module.This means that the accuracy of measurement is directly related with the baseline of triangle.Baseline is larger will cause block with pixel at
Aberration is different big.18 lateral columns are 20 ° to center of circle minimum angle, and lesser baseline available in this way is convenient for pixel matching.Every
The long 500mm of lateral column can freely fix two common size slr cameras.The camera quantity of carrying and position are adjustable, can be more
Camera is carried on root lateral column, more cameras can be also carried on same root lateral column, therefore total camera quantity can be 2 to 36, it is same
It is 0 to 2 that camera quantity is carried on root lateral column.Fixation ring diameter 1400mm above and below lateral column, install additional camera after, shooting hand and
The camera coke section that head image uses is 50mm to 80mm, is middle focal length section, possesses better imaging effect, acutance is higher.Top
Portion's batter post and lateral column connect the fixed ring that top diameter is 720mm, this is conveniently adjusted light source and camera position at 120 ° of angles.
Fixed 1 side of bracket of cage modle connects revolving part 5, and maximum rotation angle is 45 °, makes a stretch of the arm and adopts convenient for gathered person
Collection.Designing gathered person's height is 1 meter to 1.9 meters, including ten years old or so children and most aduit heights.It is average with human body
Sitting height height is obtained than 0.53, and lifting part altitude range is 1290mm to 1800mm.Consider surplus, 1290mm is slightly above height and is
The sum of 1 meter of gathered person's sitting height and lifting seat height.1800mm is slightly above 1.9 meters of gathered person's stance shoulder levels, as
Stance hand acquires maximum height.
Bracket uses aluminium profile, and light weight is also convenient for fabrication and installation.Slr camera passes through ball-shaped cloud platform and bracket side
Column connection.
Since the image background for needing to acquire is more single, hidden in the green PVC plastic of cage modle internal stent setting customization
Mating plate, to form internal green curtain.
Light source is highlighted around multiple diffusing reflection LED are placed at cage modle cradle top, that is, batter post position using permanent light source package
Light source is spent, guarantees the collected uniform light of object.High bright light source turns camera aperture down, increases the depth of field；It can be improved fast
Door speed, promotes dynamic capturing ability.
This three-dimensional reconstruction acquisition system is intended to acquire a large amount of human hands and head image, obtains hand and three dimension of head
According to reconstruction hand head threedimensional model provides data branch to establish the three-dimensional modeling data collection of certain scale for other researchs
Support.The cooperation for acquiring equipment and gathered person is particularly significant.Therefore it devises scalable hand support frame and lifting seat is promoted
Comfort level in gathered person's collection process, convenient for a large amount of acquisitions.Hand support frame is reequiped using commercial liftable tripod, complete
It can satisfy the lifting requirement of 1200mm to 1600mm entirely.Lifting seat needs 300mm stroke, and general commercial lifting seat is not up to
Hoistable platform is designed to requirement, therefore using electric pushrod, seat back (not shown in FIG.) is installed additional, such as Fig. 5, Fig. 6, Fig. 7 institute
Show.Lifting seat includes pedestal 13, the electric up-down push rod 14 being mounted in pedestal, the liter being mounted at the top of electric up-down push rod
Platform 15 is dropped, is connect at the top of electric up-down push rod with lifting platform top plate.Through hole is pierced by the lifting platform support column 17 of base top
It is provided with linear bearing 16, guiding and position-limiting action are played to the running of lifting platform, enables it steadily go up and down and avoids double swerve.It rises
Seat low level 470mm, high-order 770mm drop.The setting of hand support frame below the fixed bracket of cage modle, fix positioned at cage modle by top
In bracket, convenient for shooting the hand images on top.Lifting seat setting is below the fixed bracket of cage modle, when gathered person is sitting in liter
When dropping on seat, head is located in the fixed bracket of cage modle, convenient for shooting.
More slr cameras need synchronous acquisition hand data, can be only achieved the requirement of dynamic reconstruction.General solution party
Case is to control software using the professional slr camera such as SmartShooter, control slr camera by USB.But it has larger
Delay.Our solution is to draw sudden strain of a muscle device for every slr camera installation remote control, acquire image using wireless control mode.
It is stored in after Image Acquisition in camera SD card.Pass through USB transmission image to computer again.Delay works well in Millisecond.
Mainly there are two the functions of aspect for collector, are the acquisition on head and hand.By adjusting the phase of cage modle collector
To position and angle, the acquisition at two positions is realized.When acquiring header data, collecting mechanism is in low level horizontal attitude, rising
Drop seat is placed on immediately below cage.Adjust two sides screw rod, lifting cage to proper height (770mm+ gathered person simultaneously first
Sitting height) it is fixed.Cage angle is adjusted again to level, uses limited screw fixed angle.When acquisition, lifting seat is located at low first
Position, gathered person take seat.Automatic seat is increased to a high position, and gathered person head is made to be located at cage center pickup area (Fig. 8
(c)).Control camera is acquired.Lifting seat is reduced after the completion of acquisition, gathered person leaves seat.Acquisition is completed.Acquire hand
When portion's data, collecting mechanism is in high-order lateral attitude (Fig. 8 (a)), and handle portion support frame is placed on cage slightly forward.It is same first
When adjust two sides screw rod, lifting cage is fixed to proper height (gathered person's shoulder level).Incline in adjustment cage angle to 45 °
Tiltedly, it is fixed using limited screw.When acquisition, according to gathered person's body structure, position and the height of hand support frame, quilt are adjusted
Picker makes a stretch of the arm, and is placed on hand support frame, so that hand is located at cage center pickup area, and be able to maintain relatively stable
(Fig. 8 (b)).Control camera is acquired.Gathered person's withdraw the arm after the completion of acquisition, acquisition are completed.
The technical means disclosed in the embodiments of the present invention is not limited only to technological means disclosed in above embodiment, further includes
Technical solution consisting of any combination of the above technical features.It should be pointed out that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (9)
1. a kind of multiple views three-dimensional reconstruction acquisition system, it is characterised in that: including up-down rotary type cage modle collector and fix
Camera and light source on up-down rotary type cage modle collector, up-down rotary type cage modle collector include the fixed branch of cage modle camera
Frame, external lifting rotation mechanism, the cage modle camera fixing support include top annulus, middle part annulus, lower part annulus, are connected to
Several lateral columns between middle part and lower part annulus, several batter posts being connected between top and middle part annulus, top annulus are interior also
It is connected with cross brace, camera is fixed on lateral column, and light source is fixed in cross brace；Lifting rotation mechanism includes outside described
The screw rod knot for being connected to the bearing of cage modle camera fixing support two sides, being connected between support frame and cage modle camera fixing support
Structure, the support frame being connect with screw structure.
2. multiple views three-dimensional reconstruction acquisition system according to claim 1, it is characterised in that: further include being arranged in cage modle phase
Lifting seat and/or hand support frame below the fixed bracket of machine.
3. multiple views three-dimensional reconstruction acquisition system according to claim 1, it is characterised in that: the batter post and lateral column at
120 ° of angles.
4. multiple views three-dimensional reconstruction acquisition system according to claim 1, it is characterised in that: the lateral column is 18,
In, be uniformly distributed between the annulus of lower part.
5. multiple views three-dimensional reconstruction acquisition system according to claim 1, it is characterised in that: the camera quantity be 2 to
36, it is 0 to 2 that camera quantity is carried on same root lateral column.
6. multiple views three-dimensional reconstruction acquisition system according to claim 1, it is characterised in that: the support frame includes bottom
Frame and two sides frame.
7. a kind of acquisition method of multiple views three-dimensional reconstruction acquisition system collecting mechanism, it is characterised in that: including acquiring head figure
The step of the step of picture and acquisition hand images, wherein the step of acquisition head image includes:
It enables cage modle camera fixing support be in low level horizontal attitude, lifting seat is placed on immediately below cage；
Two sides screw rod is adjusted simultaneously, and lifting cage modle camera fixing support to proper height is fixed；
Cage modle camera fixing support angle is adjusted again to level, fixed angle；
Lifting seat is located at low level, and gathered person takes seat；
Seat is increased to a high position, and gathered person head is made to be located at cage modle camera fixing support center pickup area；
Control camera is acquired；
Acquire hand images the step of include:
Cage modle camera fixing support in multiple views three-dimensional reconstruction acquisition system is in high-order lateral attitude, and handle portion support frame is put
Set cage modle camera fixing support slightly forward；
Two sides screw rod is adjusted simultaneously, and lifting cage modle camera fixing support to proper height is fixed；
In adjustment cage modle camera fixing support angle to 45 ° of inclinations, fixed angle；
According to gathered person's body structure, position and the height of hand support frame are adjusted；
Gathered person makes a stretch of the arm, and is placed on hand support frame, and hand is made to be located at cage modle camera fixing support center acquisition zone
Domain, and be able to maintain relatively stable；
Control camera is acquired.
8. the acquisition method of multiple views three-dimensional reconstruction acquisition system collecting mechanism according to claim 7, it is characterised in that:
Proper height when acquiring head image is lifting seat raised height+gathered person's sitting height.
9. the acquisition method of multiple views three-dimensional reconstruction acquisition system collecting mechanism according to claim 7, it is characterised in that:
Proper height when acquiring hand images is gathered person's shoulder level.
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