CN110049304A - A kind of method and device thereof of the instantaneous three-dimensional imaging of sparse camera array - Google Patents
A kind of method and device thereof of the instantaneous three-dimensional imaging of sparse camera array Download PDFInfo
- Publication number
- CN110049304A CN110049304A CN201910220714.6A CN201910220714A CN110049304A CN 110049304 A CN110049304 A CN 110049304A CN 201910220714 A CN201910220714 A CN 201910220714A CN 110049304 A CN110049304 A CN 110049304A
- Authority
- CN
- China
- Prior art keywords
- imaging
- imaging unit
- camera
- camera array
- sparse
- 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.)
- Pending
Links
Classifications
-
- 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
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
- G06T7/85—Stereo camera calibration
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/243—Image signal generators using stereoscopic image cameras using three or more 2D image sensors
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/275—Image signal generators from 3D object models, e.g. computer-generated stereoscopic image signals
Abstract
The invention discloses the method and device thereof of the instantaneous three-dimensional imaging of sparse camera array to demarcate single imaging unit one by one, obtains the internal reference of camera and outer ginseng in single imaging unit；It keeps each imaging unit position constant, scaling board is placed on to the center of two neighboring imaging unit overlapped fov, obtain scaling board image；It identifies the Code targets on scaling board, by the same place adjacent imaging unit of split one by one, and obtains new outer ginseng, until obtaining the outer ginseng of all sparse camera arrays；By sparse camera array to target instantaneous imaging, the above calibration is obtained into the internal reference of sparse camera array and outer ginseng imports, the threedimensional model of target is calculated.Replace dense camera array by sparse camera array, solves the disadvantage of dense camera array difficulty with high costs, mobile, keep the advantage of its instantaneous imaging.By sparse camera array scaling method, it is bulky to solve rotation caliberating device, not Portable belt, the problem of code identification difficulty when wide-angle.
Description
Technical field
The invention belongs to 3 dimension imaging technology field more particularly to a kind of methods of the instantaneous three-dimensional imaging of sparse camera array
And its device.
Background technique
With the development of 3-dimensional digital technology, threedimensional model has in fields such as animation, game, virtual reality, 3D printings
More and more applications.Artificial modeling models the defects of inaccurate there are heavy workload, therefore is obtained using three-dimensional imaging device
Threedimensional model is effective method.Three-dimensional imaging device mainly has laser 3 d scanner, camera array etc..Laser three-D
Scanner measurement visual field is smaller, needs to carry out subregion domain measurement to object, is the mistake using scanning by characteristic point joining image-forming
Journey realizes three-dimensional imaging, thus needs longer imaging time.Camera array is usually moment synchronous imaging, by calculating shape
At threedimensional model, therefore in certain occasions for needing to capture, such as when shooting facial expression or movement, have biggish technology excellent
Gesture.
Such as patent CN203708345U, disclose a kind of instantaneous tri-dimensional photographing system based on camera array, camera pendulum
Cloth is more intensive, and 8~16 angles of general shooting point, from 360 degree around shooting, each angle at least needs 2 or more phases
Machine has more overlapped fov between camera, finds more same place so as to convert by SIFT, by SFM (from
Restore in movement) method is directly realized by the three-dimensional imaging of camera array.Such system be able to achieve moment imaging and it is good at
As effect, but greater number of camera is needed, main problem is that higher cost, equipment are mobile more difficult.It should if reduced
The imaging angle and camera quantity of kind camera array, i.e., sparse camera array then can not usually find characteristic point, and then cause straight
It connects and is failed using SFM Method Modeling.
Patent CN105427302A discloses a kind of three-dimensional acquisition and reconstruction system that array is acquired based on the sparse camera of movement
System can be used less camera (being no more than 8), but need camera array mobile, imaging step by step, to be lost instantaneous
Property.
Patent CN106910243A disclose a kind of automatic data collection based on turntable and three-dimensional modeling method and
Device, camera array are demarcated by the calibration gridiron pattern placed on turntable and turntable, and to the object being placed on turntable
Data acquisition and three-dimensional modeling are carried out, is suitable for shooting still life.
The method and system of patent CN104299261A human body three-dimensional imaging, provide a kind of more control base stations while demarcating
Method, using space encoding pattern projection imaging, scaling method uses the scaling board equipped with Code targets, scaling board tool
There is rotation function, by multiple rotary scaling board, has actually reached the purpose of control extension base station and completed to demarcate, this method master
Problem is wanted to be scaling board in cylindrical body or polyhedron-shaped, volume is larger, is unfavorable for carrying, and is easy when viewing angle is larger
Target is caused to identify mistake.
Patent CN107133987A discloses a kind of camera array optimization scaling method of non-overlapping visual field, is Jiang Gexiang
The image of machine acquisition is considered as the independent camera of shooting time, and the photographed data of mixing multiple groups different moments is demarcated, essence
The method of upper and patent CN104299261A rotation scaling board has certain similitude.
Summary of the invention
In order to solve the above technical problems, technical solution of the present invention provides a kind of instantaneous three-dimensional imaging of sparse camera array
Method, wherein described method includes following steps:
Step A: to single imaging unit, being demarcated one by one, obtains the internal reference of camera and outer ginseng in single imaging unit；
Step B: keeping each imaging unit position constant, and scaling board is placed on two neighboring imaging unit overlapped fov
Center obtains scaling board image；
Step C: the Code targets on identification scaling board by the same place adjacent imaging unit of split one by one, and obtain
New outer ginseng, until obtaining the outer ginseng of all sparse camera arrays；
Step D: by sparse camera array to target instantaneous imaging, the above calibration is obtained into the internal reference of sparse camera array
It is imported with outer ginseng, the threedimensional model of target is calculated.
In the step A, the calibration of internal reference and outer ginseng is carried out to each imaging unit using SFM algorithm.
In the step B, scaling board is placed on the center of two neighboring imaging unit overlapped fov.
In the step C, calibrated imaging unit is treated as an entirety, known to the internal reference conduct of camera
Amount, gradually demarcates adjacent imaging unit, up to whole imaging units complete split, under outer ginseng unification to common coordinate frame.
In the step D, the above calibration is obtained into internal reference and the importing of outer ginseng of sparse camera array, as known quantity,
Calculate the threedimensional model of target.
In order to solve the above technical problems, technical solution of the present invention also provides a kind of instantaneous three-dimensional imaging of sparse camera array
Device, wherein including imaging unit, control unit, computing unit and scaling board；Wherein, imaging unit is used to carry out target
The acquisition of image；Control unit provides power supply, triggering and the data transmission of imaging unit；Computing unit is deposited in the form of software
The operation that the method for being among computer, being acquired and storing to imaging data, and execute above-mentioned three-dimensional imaging is related to；
Scaling board is used to execute the calibration between imaging unit.
The imaging unit is made of two or more camera and rigid connection bracket, is had between camera
The visual field of overlapping.
At least be made of three or three or more imaging units, imaging unit to subject retaining ring around, and
Guarantee that there is overlapped fov between adjacent imaging unit.
The scaling board is by three or three or more, and the coding for the representative different coding being not arranged on the same straight line
Target and corresponding rigid connection structure composition.
The beneficial effect of technical solution of the present invention is:
Replace dense camera array by sparse camera array, solves dense camera array difficulty with high costs, mobile
Disadvantage, while keeping the advantage of its instantaneous imaging.By sparse camera array scaling method, solve using rotation caliberating device body
Product is huge, not Portable belt and when wide-angle code identification difficulty problem.
Detailed description of the invention
Fig. 1 is the method flow diagram of sparse camera array three-dimensional imaging in the embodiment of the present invention；
Fig. 2 is the device composition of sparse camera array three-dimensional imaging in the embodiment of the present invention；
Fig. 3 is the structural schematic diagram of the imaging unit of sparse camera array in the embodiment of the present invention；
Fig. 4 is the disposing way of sparse camera array imaging unit in the embodiment of the present invention；
Fig. 5 is the composition of the scaling board of sparse camera array in the embodiment of the present invention；
Fig. 6 is the original image of sparse camera array acquisition in the embodiment of the present invention；
Fig. 7 is the effect of the sparse finally obtained threedimensional model of camera array three-dimensional imaging in the embodiment of the present invention.
Specific embodiment:
The present invention will be further explained below with reference to the attached drawings and specific examples, but not as the limitation of the invention.
The embodiment of the invention provides a kind of device of sparse instantaneous three-dimensional imaging of camera array, including imaging unit 1, controls
Unit 2 processed, computing unit 3 and scaling board 4, as shown in Figure 2.
Imaging unit 1 is made of two or two or more camera 1-1 and rigid connection bracket 1-2.As shown in figure 3, this
Imaging unit in embodiment includes four camera 1-1, and a height of 1.8 meters of the bracket 1-2 that is rigidly connected, by aluminum alloy materials system
At four camera 1-1 are uniformly distributed, for ease of description, being successively known as first camera, second camera, third camera from top to bottom
With the 4th camera.As shown in figure 3, wherein first camera and second camera make to have completely overlapped by adjusting its setting angle
Visual field, third camera and the 4th camera have completely overlapped visual field also by its setting angle is adjusted, the be located above
The visual field of one second camera and the visual field of underlying 3rd the 4th camera, which have, to partly overlap.In the present embodiment, camera
Using Canon 200D, there are 24,000,000 pixels, configure 35mm camera lens, about 42 degree of one camera visual field, be the view for utilizing camera as far as possible
, take bigger effective area, upper and lower two parts visual field overlapping about 10%.
Sparse camera array at least there are three or three or more imaging unit 1 constitute, to be kept to subject
It surround, and guarantees can there is overlapped fov between adjacent imaging unit 1.In the present embodiment, it to be in 90 degree that there are four imaging units 1
It is uniformly distributed around subject, the radius of shooting unit and subject regional center is 1.8 meters.For ease of description, from
Upper left side imaging unit starts clockwise, to be successively named as the first imaging unit, the second imaging unit, third imaging unit and
Four imaging units, as shown in Figure 4.
Control unit 2 provides power supply, triggering and the data transmission of imaging unit 1.
Computing unit 3, is present among computer in the form of software, is acquired and stores to imaging data, and holds
The operation that the method for the above-mentioned three-dimensional imaging of row is related to.
Scaling board 4 is by being no less than the Code targets 4-1 of the representative different coding that three are not arranged on the same straight line and corresponding
Rigid connection structure 4-2 composition.In the present embodiment, Code targets 4-1 be with one heart it is ring-like, divide three-layer arrangement, totally 9, such as Fig. 5
It is shown.Scaling board 4 is provided to splice the outer ginseng of different imaging units 1 and be used.
Below with reference to the embodiment, a kind of method of sparse instantaneous three-dimensional imaging of camera array is illustrated.It is a kind of dilute
The method for dredging the instantaneous three-dimensional imaging of camera array, as shown in Figure 1, including four key steps:
Step A: to single imaging unit, being demarcated one by one, obtains the internal reference of camera and outer ginseng in single imaging unit；
The present embodiment is specific as follows:
The calibration of internal reference and outer ginseng is carried out to each imaging unit using SFM algorithm.Camera 1-1 is in single imaging unit 1
By rigid connection bracket 1-2 connection, relative position and posture between camera are all kept fixed.To it is as shown in Figure 3 at
As unit 1, by shooting one group of texture target more abundant, the reference object in the present embodiment is people, using SFM (from fortune
Restore in dynamic) method progress dynamic calibration, obtain the internal reference of each camera and outer ginseng in each imaging unit 1.
For ease of understanding, the serial number using i (i=1,2,3,4) as imaging unit 1；Using j (j=1,2,3,4) conduct
The serial number of camera 1-1 in single imaging unit 1.The internal reference of each camera 1-1 is only related with camera and camera lens inherent parameters, interior
Ginseng can be expressed as Kij, (i, j=1,2,3,4).The outer ginseng of camera expresses the positional relationship between camera, relative to one
The outer ginseng of given world coordinate system, camera can be expressed as [Rij, Tij], (i, j=1,2,3,4), and Rij indicates spin moment
Battle array, Tij indicate translation matrix.
(Scale invariant features transform) is converted first with SITF, the detection of progress characteristic point from every image, and
With each characteristic point of the same name；Then corresponding basis matrix is calculated with 8 algorithms based on RANSAC, utilizes matching double points
The set relation of basis matrix filters out error hiding, and then enhances the robustness of matching result；Matched spy is finally combined using SFM
Sign point coordinate, to solve the kinematic matrix of camera, and by bundle adjustment (Bundle Adjustment), makes overall throwing
Shadow error is minimum, to recover more accurate kinematic matrix.
By SFM method, the internal reference Kij of each camera 1-1 in available single imaging unit 1, (i, j=1,2,3,
4) and in single imaging unit 1, outer ginseng [Rij, Tij] of each camera 1-1 relative to 1 coordinate system of imaging unit, (i, j
=1,2,3,4).
Step B: keeping each imaging unit position constant, and scaling board is placed on two neighboring imaging unit overlapped fov
Center obtains scaling board image.As shown in figure 4, carrying out putting for imaging unit 1, and keep opposite between each imaging unit 1
Position immobilizes.Scaling board 4 (as shown in Figure 5) is placed in imaging region, is imaged towards the first imaging unit and second
Region between unit controls the first imaging unit and the second imaging unit obtains the image of scaling board 4 by control system 2.
Scaling board 4 is moved again, in imaging region, towards between the second imaging unit and third imaging unit, obtains scaling board 4
Image.Scaling board 4 is finally moved, towards between third imaging unit and the 4th imaging, and obtains the image of scaling board 4.
Step C: the Code targets on identification scaling board by the same place adjacent imaging unit of split one by one, and obtain
New outer ginseng, until the outer ginseng of all sparse camera arrays is obtained, it is specific as follows:
Calibrated imaging unit is treated as an entirety, the internal reference of camera is gradually demarcated adjacent as known quantity
Imaging unit, up to whole imaging units complete split, under outer ginseng unification to common coordinate frame.Each 1 inside phase of imaging unit
The internal reference of machine 1-1 and outer ginseng are demarcated in step.By the Code targets 4-1 on identification scaling board 4, by phase
The center of same Code targets 4-1 is considered as same place, passes through in step B the first imaging unit with the second imaging unit obtain first
First imaging unit and the second imaging unit are integrally unified into common coordinate system, are remembered here by the image of the scaling board 4 taken
For the one or two imaging unit.Since the internal reference of camera only expresses inherent parameters, does not change with other factors and change, therefore in institute
In some calculating, the internal reference of camera is constant and as known quantity, is still denoted as Kij, (i, j=1,2,3,4), and outer ginseng will use first
The coordinate system of two imaging units, new outer ginseng are denoted as [R'ij, T'ij], (i=1,2；J=1,2,3,4).
Again by the one or two imaging unit and third imaging unit, according to the scaling board that second, third imaging obtains in step B
4 image, it is unified into a common coordinate system, it is denoted as the one two three imaging unit.This stylish outer ginseng be denoted as [R " ij,
T " ij], (i=1,2,3；J=1,2,3,4).
Finally all four imaging units are spliced together, the new outer ginseng of all imaging units is obtained, is denoted as [R " '
Ij, T " ' ij], (i, j=1,2,3,4).The basis that the parameter of calibration will be calculated as threedimensional model.
Step D: to target instantaneous imaging, the above calibration is obtained into the internal reference of sparse camera array and outer ginseng imports, is calculated
The threedimensional model of target is obtained, specifically: being shooting by the image of sparse camera array sync pulse jamming target, in embodiment
One stance personage, as shown in Figure 6, wherein from top to bottom, be divided into four rows, be first to fourth camera 1- in each imaging unit 1
Image acquired in 1；It is divided into four column from left to right, is image acquired in first to fourth imaging unit 1.It will demarcate above
The internal reference of the sparse camera array arrived, i.e. Kij, (i, j=1,2,3,4) and outer ginseng, i.e. [R " ' ij, T " ' ij], (i, j=1,2,
3,4) it imports, using SFM algorithm, internal reference and outer ginseng is used as known parameters, sparse cloud of computing array.Using PMVS
Algorithm (Patch-based Multiview Stereo, the multiple view stereoscopic vision based on object space face element) is to sparse point Yun Jinhang
Encryption, is diffused as dense point cloud；Poisson algorithm for reconstructing gauging surface grid model is used again；Finally carry out the mapping patch of texture
Figure.For the threedimensional model of finally obtained stance personage as shown in fig. 7, left side is the optical mode of personage, right side is that personage has texture
Model.
The above is only preferred embodiments of the present invention, are not intended to limit the implementation manners and the protection scope of the present invention, right
For those skilled in the art, it should can appreciate that and all replace with being equal made by description of the invention and diagramatic content
It changes and obviously changes obtained scheme, should all be included within the scope of the present invention.
Claims (7)
1. a kind of method of the instantaneous three-dimensional imaging of sparse camera array, which is characterized in that described method includes following steps:
Step A: to single imaging unit, being demarcated one by one, obtains the internal reference of camera and outer ginseng in single imaging unit；
Step B: keeping each imaging unit position constant, and scaling board is placed in two neighboring imaging unit overlapped fov
The heart obtains scaling board image；
Step C: the Code targets on identification scaling board by the same place adjacent imaging unit of split one by one, and obtain new
Outer ginseng, until obtaining the outer ginseng of camera in whole imaging units；
Step D: the camera sync pulse jamming target image in each imaging unit is imported according to the obtained internal reference of step C and outer ginseng, is obtained
To the threedimensional model of target.
2. the method for the instantaneous three-dimensional imaging of sparse camera array according to claim 1, which is characterized in that the step
In A, the calibration of internal reference and outer ginseng is carried out to each imaging unit using SFM algorithm.
3. the method for the instantaneous three-dimensional imaging of sparse camera array according to claim 1, which is characterized in that the step
C treats calibrated imaging unit as an entirety, and it is single gradually to demarcate adjacent imaging as known quantity for the internal reference of camera
Member, up to whole imaging units complete split, under outer ginseng unification to common coordinate frame.
4. the method for the instantaneous three-dimensional imaging of sparse camera array according to claim 3, which is characterized in that described is of the same name
Point refers to the center of identical Code targets.
5. a kind of instantaneous three-dimensional image forming apparatus of sparse camera array, which is characterized in that including control unit, computing unit, calibration
Plate and at least three imaging units；
The imaging unit, for carrying out the acquisition of image to target, in the periphery for being placed on subject around shape, and
There is overlapped fov between adjacent imaging unit；
The control unit provides power supply, triggering and the data transmission of the imaging unit；
The computing unit, interacts with control unit, for being acquired, storing and calculating to imaging data；
The scaling board, for being demarcated between row imaging unit.
6. the instantaneous three-dimensional image forming apparatus of sparse camera array according to claim 5, which is characterized in that the imaging list
Member includes the rigid connection bracket of at least two cameras and each camera of connection, and the relative position and posture between each camera keep solid
It is fixed, there is the visual field of overlapping between each camera.
7. the instantaneous three-dimensional image forming apparatus of sparse camera array according to claim 5, which is characterized in that the scaling board
By three or three or more, and the Code targets for the representative different coding being not arranged on the same straight line and corresponding rigid connection
Structure composition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910220714.6A CN110049304A (en) | 2019-03-22 | 2019-03-22 | A kind of method and device thereof of the instantaneous three-dimensional imaging of sparse camera array |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910220714.6A CN110049304A (en) | 2019-03-22 | 2019-03-22 | A kind of method and device thereof of the instantaneous three-dimensional imaging of sparse camera array |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110049304A true CN110049304A (en) | 2019-07-23 |
Family
ID=67273934
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910220714.6A Pending CN110049304A (en) | 2019-03-22 | 2019-03-22 | A kind of method and device thereof of the instantaneous three-dimensional imaging of sparse camera array |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110049304A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110415286A (en) * | 2019-09-24 | 2019-11-05 | 杭州蓝芯科技有限公司 | A kind of outer ginseng scaling method of more flight time depth camera systems |
| CN111445534A (en) * | 2020-04-03 | 2020-07-24 | 北京四维智联科技有限公司 | High-precision automatic calibration method and device for camera used for full-automatic parking |
| CN111462213A (en) * | 2020-03-16 | 2020-07-28 | 天目爱视（北京）科技有限公司 | Equipment and method for acquiring 3D coordinates and dimensions of object in motion process |
| CN112070816A (en) * | 2020-07-29 | 2020-12-11 | 深圳瀚维智能医疗科技有限公司 | Human back three-dimensional point cloud reconstruction method and device and computer readable storage medium |
| CN113034677A (en) * | 2021-03-31 | 2021-06-25 | 深圳鱼亮科技有限公司 | Three-dimensional imaging method based on multi-camera array |
| CN113487727A (en) * | 2021-07-14 | 2021-10-08 | 广西民族大学 | Three-dimensional modeling system, device and method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105303574A (en) * | 2015-07-30 | 2016-02-03 | 四川大学 | Integrated imaging camera array calibration method based on homography transformation |
| 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 |
| CN106600649A (en) * | 2016-12-07 | 2017-04-26 | 西安蒜泥电子科技有限责任公司 | Camera self-calibration method based on two-dimensional mark code |
| WO2017079278A1 (en) * | 2015-11-04 | 2017-05-11 | Intel Corporation | Hybrid foreground-background technique for 3d model reconstruction of dynamic scenes |
| EP3229209A1 (en) * | 2016-04-06 | 2017-10-11 | Facebook, Inc. | Camera calibration system |
| CN108122277A (en) * | 2016-11-28 | 2018-06-05 | 华为技术有限公司 | A kind of modeling method and device |
| CN108632538A (en) * | 2018-05-22 | 2018-10-09 | 长沙全度影像科技有限公司 | The bullet time camera system and method that a kind of CG animations and camera array are combined |
| CN109064404A (en) * | 2018-08-10 | 2018-12-21 | 西安电子科技大学 | It is a kind of based on polyphaser calibration panorama mosaic method, panoramic mosaic system |
-
2019
- 2019-03-22 CN CN201910220714.6A patent/CN110049304A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105303574A (en) * | 2015-07-30 | 2016-02-03 | 四川大学 | Integrated imaging camera array calibration method based on homography transformation |
| WO2017079278A1 (en) * | 2015-11-04 | 2017-05-11 | Intel Corporation | Hybrid foreground-background technique for 3d model reconstruction of dynamic scenes |
| EP3229209A1 (en) * | 2016-04-06 | 2017-10-11 | Facebook, Inc. | Camera calibration system |
| 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 |
| CN108122277A (en) * | 2016-11-28 | 2018-06-05 | 华为技术有限公司 | A kind of modeling method and device |
| CN106600649A (en) * | 2016-12-07 | 2017-04-26 | 西安蒜泥电子科技有限责任公司 | Camera self-calibration method based on two-dimensional mark code |
| CN108632538A (en) * | 2018-05-22 | 2018-10-09 | 长沙全度影像科技有限公司 | The bullet time camera system and method that a kind of CG animations and camera array are combined |
| CN109064404A (en) * | 2018-08-10 | 2018-12-21 | 西安电子科技大学 | It is a kind of based on polyphaser calibration panorama mosaic method, panoramic mosaic system |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110415286A (en) * | 2019-09-24 | 2019-11-05 | 杭州蓝芯科技有限公司 | A kind of outer ginseng scaling method of more flight time depth camera systems |
| CN110415286B (en) * | 2019-09-24 | 2020-01-17 | 杭州蓝芯科技有限公司 | External parameter calibration method of multi-flight time depth camera system |
| CN111462213A (en) * | 2020-03-16 | 2020-07-28 | 天目爱视（北京）科技有限公司 | Equipment and method for acquiring 3D coordinates and dimensions of object in motion process |
| CN111462213B (en) * | 2020-03-16 | 2021-07-13 | 天目爱视（北京）科技有限公司 | Equipment and method for acquiring 3D coordinates and dimensions of object in motion process |
| CN111445534A (en) * | 2020-04-03 | 2020-07-24 | 北京四维智联科技有限公司 | High-precision automatic calibration method and device for camera used for full-automatic parking |
| CN111445534B (en) * | 2020-04-03 | 2023-04-21 | 北京四维智联科技有限公司 | High-precision automatic calibration method and device for camera for full-automatic parking |
| CN112070816A (en) * | 2020-07-29 | 2020-12-11 | 深圳瀚维智能医疗科技有限公司 | Human back three-dimensional point cloud reconstruction method and device and computer readable storage medium |
| CN112070816B (en) * | 2020-07-29 | 2024-04-05 | 深圳瀚维智能医疗科技有限公司 | Human back three-dimensional point cloud reconstruction method and device for massage equipment and computer readable storage medium |
| CN113034677A (en) * | 2021-03-31 | 2021-06-25 | 深圳鱼亮科技有限公司 | Three-dimensional imaging method based on multi-camera array |
| CN113487727A (en) * | 2021-07-14 | 2021-10-08 | 广西民族大学 | Three-dimensional modeling system, device and method |
| CN113487727B (en) * | 2021-07-14 | 2022-09-02 | 广西民族大学 | Three-dimensional modeling system, device and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110049304A (en) | A kind of method and device thereof of the instantaneous three-dimensional imaging of sparse camera array | |
| CN108765498B (en) | Monocular vision tracking, device and storage medium | |
| CN105698699B (en) | A kind of Binocular vision photogrammetry method based on time rotating shaft constraint | |
| CN105157566B (en) | The method of 3 D stereo colour point clouds scanning | |
| CN107170043B (en) | A kind of three-dimensional rebuilding method | |
| AU2011312140B2 (en) | Rapid 3D modeling | |
| CN108038902A (en) | A kind of high-precision three-dimensional method for reconstructing and system towards depth camera | |
| CN106504321A (en) | Method using the method for photo or video reconstruction three-dimensional tooth mould and using RGBD image reconstructions three-dimensional tooth mould | |
| CN102032878B (en) | Accurate on-line measurement method based on binocular stereo vision measurement system | |
| CN105716542B (en) | A kind of three-dimensional data joining method based on flexible characteristic point | |
| CN106971403A (en) | Point cloud chart is as processing method and processing device | |
| CN103743352B (en) | A kind of 3 D deformation measuring method based on polyphaser coupling | |
| CN107610185A (en) | A kind of fisheye camera fast calibration device and scaling method | |
| CN109118545A (en) | 3-D imaging system scaling method and system based on rotary shaft and binocular camera | |
| CN105931234A (en) | Ground three-dimensional laser scanning point cloud and image fusion and registration method | |
| CN107358633A (en) | Join scaling method inside and outside a kind of polyphaser based on 3 points of demarcation things | |
| CN109559349A (en) | A kind of method and apparatus for calibration | |
| CN106991716A (en) | A kind of panorama three-dimensional modeling apparatus, method and system | |
| CN102184566A (en) | Micro projector mobile phone platform-based portable three-dimensional scanning system and method | |
| CN102184563B (en) | Three-dimensional scanning method, three-dimensional scanning system and three-dimensional scanning device used for plant organ form | |
| CN106534670B (en) | It is a kind of based on the panoramic video generation method for connecting firmly fish eye lens video camera group | |
| CN1897715A (en) | Three-dimensional vision semi-matter simulating system and method | |
| CN106170086B (en) | Method and device thereof, the system of drawing three-dimensional image | |
| CN110782498B (en) | Rapid universal calibration method for visual sensing network | |
| CN103292699A (en) | Three-dimensional scanning system and three-dimensional scanning method |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190723 |
|
| RJ01 | Rejection of invention patent application after publication |