CN110973763B - Foot intelligence 3D information acquisition measuring equipment - Google Patents
Foot intelligence 3D information acquisition measuring equipment Download PDFInfo
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- CN110973763B CN110973763B CN201911277064.5A CN201911277064A CN110973763B CN 110973763 B CN110973763 B CN 110973763B CN 201911277064 A CN201911277064 A CN 201911277064A CN 110973763 B CN110973763 B CN 110973763B
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- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D1/00—Foot or last measuring devices; Measuring devices for shoe parts
- A43D1/02—Foot-measuring devices
- A43D1/025—Foot-measuring devices comprising optical means, e.g. mirrors, photo-electric cells, for measuring or inspecting feet
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Abstract
The invention provides intelligent foot 3D information acquisition and measurement equipment, which comprises an image acquisition device and a background plate, wherein the image acquisition device and the background plate are arranged oppositely and synchronously rotate; the background plate and the image acquisition device are relatively arranged in the rotation process, so that the background plate becomes a background pattern of an image acquired by the image acquisition device during acquisition; the image acquisition device and the background plate rotate around the foot. It is first proposed to improve both the synthesis speed and the synthesis accuracy of the 3D model of the foot by increasing the way the background plate rotates with the camera. By optimizing the size of the background plate, the rotating burden is reduced, and meanwhile, the foot 3D synthesis speed and the synthesis precision can be improved.
Description
Technical Field
The invention relates to the technical field of topography measurement, in particular to the technical field of 3D topography measurement.
Background
In 3D measurement of the foot, one-dimensional and two-dimensional measurement methods are generally adopted, for example, a measuring tool is adopted to measure the length, width and height of the foot, and the obtained data can be used for selecting shoes with proper sizes for users. However, such shoes are designed by factory lines according to size specifications, and even users wearing shoes of the same size have different foot sizes. But the industry is not so subdivided at present.
In order to give the user a better wearing experience, shoes of different sizes and shapes should be custom designed for each user. To achieve this, 3D acquisition and measurement of the human foot is necessary.
For the acquisition of 3D information of feet, a common method at present includes acquiring pictures of an object from different angles by using a machine vision mode, and matching and splicing the pictures to form a 3D model. When pictures at different angles are collected, a plurality of cameras can be arranged at different angles of the object to be detected, and the pictures can be collected from different angles through rotation of a single camera or a plurality of cameras. However, both of these methods involve problems of synthesis speed and synthesis accuracy. The synthesis speed and the synthesis precision are a pair of contradictions to some extent, and the improvement of the synthesis speed can cause the final reduction of the 3D synthesis precision; to improve the 3D synthesis accuracy, the synthesis speed needs to be reduced, and more pictures need to be synthesized. In the prior art, in order to simultaneously improve the synthesis speed and the synthesis precision, the synthesis is generally realized by a method of optimizing an algorithm. And the art has always considered that the approach to solve the above problems lies in the selection and updating of algorithms, and no method for simultaneously improving the synthesis speed and the synthesis precision from other angles has been proposed so far. However, the optimization of the algorithm has reached a bottleneck at present, and before no more optimal theory appears, the improvement of the synthesis speed and the synthesis precision cannot be considered.
In the prior art, it has also been proposed to use empirical formulas including rotation angle, object size, object distance to define camera position, thereby taking into account the speed and effect of the synthesis. However, in practical applications it is found that: unless a precise angle measuring device is provided, the user is insensitive to the angle and is difficult to accurately determine the angle; the size of the target is difficult to accurately determine, and particularly, the target needs to be frequently replaced in certain application occasions, each measurement brings a large amount of extra workload, and professional equipment is needed to accurately measure irregular targets. The measured error causes the camera position setting error, thereby influencing the acquisition and synthesis speed and effect; accuracy and speed need to be further improved.
Therefore, the following technical problems are urgently needed to be solved: firstly, the synthesis speed and the synthesis precision of the foot 3D model can be improved simultaneously; and the 3D acquisition modeling cost of the feet is reduced, and the complexity and the volume of excessive equipment are not increased. The operation is convenient, professional equipment is not needed, and excessive measurement is not needed.
Disclosure of Invention
In view of the above, the present invention has been developed to provide a collecting device that overcomes, or at least partially solves, the above-mentioned problems.
The invention provides foot intelligent 3D information acquisition and measurement equipment, which comprises an image acquisition device and a background plate, wherein the image acquisition device is used for acquiring images of feet, and the background plate is used for acquiring images of the feet
The image acquisition device and the background plate are oppositely arranged and synchronously rotate;
the background plate and the image acquisition device are relatively arranged in the rotation process, so that the background plate becomes a background pattern of an image acquired by the image acquisition device during acquisition;
the image acquisition device and the background plate rotate around the foot.
Optionally, when the image acquisition device acquires the target object, the two adjacent acquisition positions meet the following conditions:
l is the straight line distance of the optical center of the image acquisition device at two adjacent acquisition positions; f is the focal length of the image acquisition device; d is the rectangular length or width of the photosensitive element of the image acquisition device; t is the distance from the photosensitive element of the image acquisition device to the surface of the target along the optical axis; to adjust the coefficient;
and < 0.5955.
Optionally, the background plate satisfies: projected in a direction perpendicular to the surface to be imaged, and has a projection shape with a length W in the horizontal direction1Length W in the vertical direction of the projected shape2Is determined by the following conditions:
wherein d is1For the length of the imaging element in the horizontal direction, d2Is the length of the imaging element in the vertical direction, T is the vertical distance from the sensing element of the image acquisition device to the background plate in the direction of the optical axis, f is the focal length of the image acquisition device, A1、A2Is an empirical coefficient;
wherein A is1>1.04，A2>1.04。
Alternatively, <4524, or < 0.3374.
Optionally, the rotating device is a turntable, one end of the turntable is connected with the image acquisition device, and the other opposite end of the turntable is connected with the background plate.
Optionally, a foot support device is provided between the image capture device and the background plate.
Optionally, the foot support device comprises a light transmissive material.
Optionally, the leg support device further comprises a seat, and the seat is provided with the leg support device.
Optionally, the background plate is a curved surface.
In another aspect, the invention provides a method and apparatus for manufacturing a foot appendage using the apparatus and method.
Invention of the inventionPoint and technical effect
1. It is first proposed to improve both the synthesis speed and the synthesis accuracy of the 3D model of the foot by increasing the way the background plate rotates with the camera.
2. By optimizing the size of the background plate, the rotating burden is reduced, and meanwhile, the foot 3D synthesis speed and the synthesis precision can be improved.
3. The position of a camera for collecting pictures is optimized, so that the 3D synthesis speed and the synthesis precision of the feet can be improved; and when the position is optimized, the angle and the target size do not need to be measured, and the applicability is stronger.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a schematic structural diagram of a foot 3D information acquisition device according to an embodiment of the invention;
FIG. 2 is a schematic view of another structure of a foot 3D information acquisition device according to an embodiment of the invention;
the correspondence of reference numerals to the respective components is as follows:
the device comprises an image acquisition device 1, a background plate 2, a rotating device 3, a foot supporting device 4, a leg supporting device 5, a seat 6 and a base 7.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Foot 3D information acquisition device structure
In order to solve the above technical problem, the present invention provides a foot 3D information acquisition device, as shown in fig. 1, including an image acquisition device 1, a background plate 2, a rotation device 3, a rotation driving device, a foot supporting device 4, a leg supporting device 5, a seat 6 and a base 7.
The image acquisition device 1 and the background plate 2 are arranged oppositely and respectively arranged at two ends of the rotating device 3, and the rotating device 3 is driven by the rotary driving device to rotate, so that the image acquisition device 1 and the background plate 2 are driven to rotate synchronously, and the image acquired by the image acquisition device 1 in the acquisition process is ensured to use the background plate 2 as an image background. The foot supporting device 4 is located in the middle of the base 7 and located between the image acquisition device 1 and the background plate 2, so that when the feet of a user are placed on the foot supporting device 4, the image acquisition device 1 can acquire multiple images of the feet of the user in 360 degrees during rotation, and image data are provided for 3D modeling and synthesis. The image acquisition device 1 sends the acquired multiple images to the processing unit, and synthesizes the 3D model of the user foot in the processing unit by using 3D synthesis modeling software.
The image capturing apparatus 1 includes at least two sets of cameras, one of which captures the upper part of the user's foot (foot surface) from the top down, and the other captures the lower part of the user's foot (foot bottom) from the bottom up. Two sets of cameras of the image acquisition device 1 are both installed on the rotating arm and are installed on the rotating device 3 through the rotating arm, so that the rotating device 3 drives the rotating arm to rotate when rotating, and therefore the two sets of cameras are shot around the rotation of the feet of the user to acquire multiple sets of complete images of all positions of the feet of the user, including the surfaces of the feet, the soles, multiple sides of the feet and the like.
The processing unit obtains the 3D information of the feet of the user according to a plurality of images in the plurality of groups of images. And the processing unit is used for synthesizing a 3D model of the target object according to the plurality of images acquired by the image acquisition device and a 3D synthesis algorithm to obtain 3D information of the target object.
The processing unit may be directly disposed in the housing where the image capturing device 1 is located, or may be connected to the image capturing device 1 through a data line or in a wireless manner. For example, an independent computer, a server, a cluster server, or the like may be used as a processing unit, and the image data acquired by the image acquisition apparatus 1 may be transmitted thereto to perform 3D synthesis. Meanwhile, the data of the image acquisition device 1 can be transmitted to the cloud platform, and 3D synthesis is performed by using the powerful computing capability of the cloud platform.
The rotating device 3 is a rotary disc and is arranged on the base, one end of the rotary disc is connected with the rotary arm, the other end of the rotary disc is connected with the background plate 2, and a hole is formed in the center of the rotary disc, so that the foot supporting device 4 can be fixedly connected to the base through the hole. So that the foot support means 4 is not affected when the turntable is rotated. Of course, the rotating means 3 may also have other forms, such as a rotating arm with a hole in the middle.
The foot support device 4 comprises a support plate 41 and a support post 42, as shown in fig. 2, wherein the support plate 41 is made of a light-transmitting material, which may be a glass plate, or a lens resin plate, for example. The support plate 41 may also be made partially of a light-transmitting material, for example in the area in which the user's foot is placed. The light transmissive material also has foot region indicia thereon indicating that a user has placed a foot in the center of the light transmissive material. Preferably, an external light source can be used for indicating: in the user preparation stage, the foot area is projected on the light-transmitting material through the external light source, so that the user is helped to place the foot at the right position. But at the beginning of the acquisition the light source is switched off. This prevents the marking of the foot region from affecting subsequent 3D synthetic modeling. Alternatively, the device may have a display coupled to the camera for displaying an image of the foot captured by the camera. Meanwhile, marks of the foot area are displayed on the display, the image of the foot collected by the camera is superposed with the marks on the display, and the position of the foot can be adjusted by observing the display, so that the foot is aligned with the marks.
However, the refractive index of the light-transmitting material is different from that of air, and some light rays are reflected or scattered by the light-transmitting material, and the reflected or scattered light rays are also collected by the image collecting device, and form an object reflection on the collected image, so that the image becomes a noise image. To solve this problem, an antireflection film may be provided on the transparent material so that the light from the foot is totally transmitted to the underside without being reflected, preventing a noisy image from appearing. However, both the antireflection film and the antireflection film have an operating wavelength, and therefore, when the above film system is used, a light source having a corresponding wavelength should be selected. Of course, these noise images can also be removed by preprocessing the subsequent images.
The background plate 2 is entirely of a solid color, or mostly (body) of a solid color. In particular, the color plate can be a white plate or a black plate, and the specific color can be selected according to the color of the object body. The background plate 2 is generally a flat plate, and preferably a curved plate, such as a concave plate, a convex plate, a spherical plate, and even in some application scenarios, the background plate 2 with a wavy surface; the plate can also be made into various shapes, for example, three sections of planes can be spliced to form a concave shape as a whole, or a plane and a curved surface can be spliced. In addition to the surface of the background plate 2, the shape of the edge thereof may be changed as desired. Typically rectilinear, to form a rectangular plate. But in some applications the edges may be curved.
Size calculation of background plate
Preferably, the background plate 3 is a curved plate, so that the projection size of the background plate 3 can be minimized in the case of obtaining the maximum background range. This makes the space that the background board needs when rotating littleer, is favorable to dwindling equipment volume to reduce equipment weight avoids rotating inertia, thereby more is favorable to controlling and rotates.
Regardless of the surface shape and edge shape of the background plate 3, the projection is performed in a direction perpendicular to the surface to be photographed, and the projection shape has a length W in the horizontal direction1Length W in the vertical direction of the projected shape2Is determined by the following conditions:
wherein d is1For the length of the imaging element in the horizontal direction, d2As an imaging elementLength in the vertical direction, T is the vertical distance from the image acquisition device sensing element to the background plate along the optical axis, f is the focal length of the image acquisition device, A1、A2Are empirical coefficients.
After a large number of experiments, preferably, A1>1.04，A2>1.04; more preferably 2>A1>1.1，2>A2>1.1。
In some application scenarios, the edge of the background plate is non-linear, resulting in the projected image edge being also non-linear after projection. At this time, W is measured at different positions1、W2All are different, so that W is actually calculated1、W2It is not easy to determine. Therefore, it is possible to take 3 to 5 points on the opposite sides of the background plate 3 at the edges, respectively, measure the linear distances between the opposite points, and take the average of the measurements as W in the above-mentioned condition1、W2。
The following table shows experimental control results:
the experimental conditions are as follows:
acquiring an object: human foot
| Empirical coefficient | Time of synthesis | Synthetic accuracy |
| A1＝1.2，A2＝1.2 | 3.1 minutes | Height of |
| A1＝1.4，A2＝1.4 | 3.2 minutes | Height of |
| A1＝0.9，A2＝0.9 | 3.91 minutes | Middle and high |
| Is free of | 6.8 minutes | In |
The seat 6 is disposed behind the foot supporting means 4 so that the feet of the user can naturally rest on the foot supporting means 4 when the user sits on the seat 6. Since each person is different in height and leg length, the position of the user's foot can be adjusted by adjusting the height of the seat at this time, so that it can be naturally placed on the foot supporting device 4. The adjustable seat 6 can be connected with the base through a manual adjusting device, for example, the seat 6 is connected with the base through a screw rod, and the height of the seat 6 is adjusted through rotating the screw rod. Preferably, a lifting driving device is provided, the lifting driving device is in data connection with the controller, and the height of the lifting device is controlled through the controller, so that the height of the seat 6 is adjusted. The controller may be directly connected in the foot 3D acquisition device, for example may be prevented from being near the armrest of the seat 6 to facilitate user adjustment. The controller may also be a mobile terminal such as a cell phone. Therefore, the mobile terminal is connected with the foot 3D acquisition, and the height of the seat can be controlled by controlling the lifting driving device in the mobile terminal. The mobile terminal can be operated by an operator or a user, is more convenient and is not limited by position. Of course, the controller may also be assumed by the upper computer, or by the server and the cluster server. Of course, the cloud platform may also be responsible for the network. The upper computers, the servers, the cluster servers and the cloud platforms can be shared with the upper computers, the servers, the cluster servers and the cloud platforms which are used for 3D synthesis processing, and double functions of control and 3D synthesis are achieved.
The seat 6 is provided with a leg support device 5 for limiting the leg of the user, ensuring the position of the foot to be fixed in the collecting process and preventing the relative movement of the foot of the user and the foot support device caused by the movement of the leg. The leg support means 5 may be a semi-cylindrical recess.
The light source may be arranged on the image acquisition apparatus 1 or on the boom. The light source can be an LED light source or an intelligent light source, namely, the light source parameters are automatically adjusted according to the conditions of the target object and the ambient light. Usually, the light sources are distributed around the lens of the image capturing device, for example, the light sources are ring-shaped LED lamps around the lens. In particular, a light softening means, for example a light softening envelope, may be arranged in the light path of the light source. Or the LED surface light source is directly adopted, so that the light is soft, and the light is more uniform. Preferably, an OLED light source can be adopted, the size is smaller, the light is softer, and the flexible OLED light source has the flexible characteristic and can be attached to a curved surface.
In order to facilitate the measurement of the actual size of the user's foot, a marker point with known coordinates may be provided at a position where the image capturing apparatus 1 can capture. For example, may be provided on the foot-supporting device 4. The absolute size of the 3D synthetic model is obtained by collecting the mark points and combining the coordinates thereof.
During use of the foot 3D information acquisition device, a user sits on the seat 6 and the legs rest on and are restrained by the leg support 5. The user's foot naturally rests on the light-transmitting material portion of the foot-supporting device 4. The rotation driving device drives the rotation device 3 to rotate, so as to drive the image acquisition device 1 and the background plate 2 to synchronously rotate together. Every time the image acquisition device 1 rotates a certain distance, the upper and lower two groups of cameras of the image acquisition device 1 acquire an image of a target object, and when the rotation device 3 completes a circle of rotation, the image acquisition device 1 also rotates a circle around the foot of the user. At this time, the image capturing device 1 can capture a set of images of the target object by 360 °. Since the image capturing device 1 may comprise a plurality of sets of cameras, each set of cameras will obtain a corresponding set of images. The image acquisition process can be completed synchronously with the rotation, and at the moment, a shutter of the camera needs to be set, and a higher shutter is needed. Or the camera can rotate for a certain distance and then stop, and then continue to rotate after shooting, and so on. And transmitting the plurality of groups of images to a processing unit, and constructing a 3D model of the foot of the user in a natural unstressed state by using a 3D synthesis modeling algorithm in the processing unit.
After the images of the feet of the user in the natural state are collected, the user can stand, the shooting process is repeated, the images of the feet of the user under the daily stress condition are obtained, and finally the 3D model of the feet of the user under the daily stress condition is constructed.
Acquisition position optimization of image acquisition device
According to a number of experiments, the separation distance of the acquisitions preferably satisfies the following empirical formula:
when 3D acquisition is performed, the two adjacent acquisition positions of the image acquisition device 1 satisfy the following conditions:
wherein L is the linear distance of the optical center of the image acquisition device 1 at two adjacent acquisition positions; f is the focal length of the image acquisition device 1; d is the rectangular length or width of the photosensitive element (CCD) of the image acquisition device 1; t is the distance from the photosensitive element of the image acquisition device 1 to the surface of the target along the optical axis; to adjust the coefficient, < 0.5955.
When the two positions are along the length direction of the photosensitive element of the image acquisition device 1, d is a rectangular length; when the two positions are along the width direction of the photosensitive element of the image pickup device 1, d takes a rectangular width.
When the image pickup device 1 is in any one of the two positions, the distance from the photosensitive element to the surface of the object along the optical axis is taken as T. In addition to this method, in another case, L is An、An+1Linear distance between optical centers of two image capturing devices 1 and An、An+1Two image capturing devices 1 adjacent to each other An-1、An+2Two image capturing devices 1 and An、An+1The distance between the photosensitive element of each of the two image capturing devices 1 and the surface of the target object along the optical axisIs other than Tn-1、Tn、Tn+1、Tn+2，T＝(Tn-1+Tn+Tn+1+Tn+2)/4. Of course, the average value may be calculated by using more positions than the adjacent 4 positions.
L should be a straight-line distance between the optical centers of the two image capturing devices 1, but since the optical center positions of the image capturing devices are not easily determined in some cases, the centers of the photosensitive elements of the image capturing devices 1, the geometric centers of the image capturing devices 1, the axial centers of the image capturing devices 1 connected to the pan/tilt head (or platform, support), and the centers of the lens proximal and distal surfaces may be used instead in some cases, and the errors caused by the replacement are found to be within an acceptable range through experiments.
In general, parameters such as object size and angle of view are used as means for estimating the position of a camera in the prior art, and the positional relationship between two cameras is also expressed in terms of angle. Because the angle is not well measured in the actual use process, it is inconvenient in the actual use. Also, the size of the object may vary with the variation of the measurement object. For example, when the head of a child is collected after 3D information on the head of an adult is collected, the head size needs to be measured again and calculated again. The inconvenient measurement and the repeated measurement bring errors in measurement, thereby causing errors in camera position estimation. According to the scheme, the experience conditions required to be met by the position of the camera are given according to a large amount of experimental data, so that the problem that the measurement is difficult to accurately measure the angle is solved, and the size of an object does not need to be directly measured. In the empirical condition, d and f are both fixed parameters of the camera, and corresponding parameters can be given by a manufacturer when the camera and the lens are purchased without measurement. And T is only a straight line distance, and can be conveniently measured by using a traditional measuring method, such as a ruler and a laser range finder. Therefore, the empirical formula of the invention enables the preparation process to be convenient and fast, and simultaneously improves the arrangement accuracy of the camera position, so that the camera can be arranged in an optimized position, thereby simultaneously considering the 3D synthesis precision and speed, and the specific experimental data is shown in the following.
Experiments were conducted using the apparatus of the present invention, and the following experimental results were obtained.
A camera: MER-2000-19U3M/C
Lens: OPT-C1616-10M
From the above experimental results and a lot of experimental experience, it can be derived that the value should satisfy <0.5955, and at this time, a part of the 3D model can be synthesized, and although a part cannot be automatically synthesized, it is acceptable in the case of low requirement, and the part which cannot be synthesized can be compensated manually or by replacing the algorithm. Particularly, when the value satisfies <0.453, the balance between the synthesis effect and the synthesis time can be optimally taken into consideration; to obtain better synthesis results, <0.338 may be chosen, where the synthesis time will increase, but the synthesis quality is better. And 0.7053, the synthesis is not possible. It should be noted that the above ranges are only preferred embodiments and should not be construed as limiting the scope of protection.
Moreover, as can be seen from the above experiment, for the determination of the photographing position of the camera, only the camera parameters (focal length f, CCD size) and the distance T between the camera CCD and the object surface need to be obtained according to the above formula, which makes it easy to design and debug the device. Since the camera parameters (focal length f, CCD size) are determined at the time of purchase of the camera and are indicated in the product description, they are readily available. Therefore, the camera position can be easily calculated according to the formula without carrying out complicated view angle measurement and object size measurement. Particularly, in some occasions, the lens of the camera needs to be replaced, and then the position of the camera can be obtained by directly replacing the conventional parameter f of the lens and calculating; similarly, when different objects are collected, the measurement of the size of the object is complicated due to the different sizes of the objects. By using the method of the invention, the position of the camera can be determined more conveniently without measuring the size of the object. And the camera position determined by the invention can give consideration to both the synthesis time and the synthesis effect. Therefore, the above-described empirical condition is one of the points of the present invention.
The above data are obtained by experiments for verifying the conditions of the formula, and do not limit the invention. Without these data, the objectivity of the formula is not affected. Those skilled in the art can adjust the equipment parameters and the step details as required to perform experiments, and obtain other data which also meet the formula conditions.
Making foot appendages
In order to make shoes suitable for foot shapes for users, 3D information of feet of the users is collected, and 3D models are synthesized, so that the appropriate shoes are designed or selected according to the sizes of the 3D models of the feet. The above production should refer to the 3D model size of the user's foot in a naturally unstressed state and the 3D model size of the user's foot in a daily stressed state.
In addition to shoe fabrication, a prosthetic can also be fabricated based on the above data. For example, a patient's foot requires amputation, and the 3D model of the foot is collected and constructed prior to amputation to provide the foot with a properly sized prosthesis after amputation.
In addition, any processing or fabrication that can be performed using the foot data is possible, and the present invention is not limited thereto.
The rotation movement of the invention is that the front position collection plane and the back position collection plane are crossed but not parallel in the collection process, or the optical axis of the front position image collection device and the optical axis of the back position image collection device are crossed but not parallel. That is, the capture area of the image capture device moves around or partially around the target, both of which can be considered as relative rotation. Although the embodiment of the present invention exemplifies more orbital rotation, it should be understood that the limitation of the present invention can be used as long as the non-parallel motion between the acquisition region of the image acquisition device and the target object is rotation. The scope of the invention is not limited to the embodiment with track rotation.
The adjacent acquisition positions refer to two adjacent positions on a movement track where acquisition actions occur when the image acquisition device moves relative to a target object. This is generally easily understood for the image acquisition device movements. However, when the target object moves to cause relative movement between the two, the movement of the target object should be converted into the movement of the target object, which is still, and the image capturing device moves according to the relativity of the movement. And then measuring two adjacent positions of the image acquisition device in the converted movement track.
The target object, and the object all represent objects for which three-dimensional information is to be acquired. The object may be a solid object or a plurality of object components. For example, the head, hands, etc. The three-dimensional information of the target object comprises a three-dimensional image, a three-dimensional point cloud, a three-dimensional grid, a local three-dimensional feature, a three-dimensional size and all parameters with the three-dimensional feature of the target object. Three-dimensional in the present invention means having XYZ three-direction information, particularly depth information, and is essentially different from only two-dimensional plane information. It is also fundamentally different from some definitions, which are called three-dimensional, panoramic, holographic, three-dimensional, but actually comprise only two-dimensional information, in particular not depth information.
The capture area in the present invention refers to a range in which an image capture device (e.g., a camera) can capture an image. The image acquisition device can be a CCD, a CMOS, a camera, a video camera, an industrial camera, a monitor, a camera, a mobile phone, a tablet, a notebook, a mobile terminal, a wearable device, intelligent glasses, an intelligent watch, an intelligent bracelet and all devices with image acquisition functions.
The 3D information of multiple regions of the target obtained in the above embodiments can be used for comparison, for example, for identification of identity. Firstly, the scheme of the invention is utilized to acquire the 3D information of the face and the iris of the human body, and the information is stored in a server as standard data. When the system is used, for example, when the system needs to perform identity authentication to perform operations such as payment and door opening, the 3D acquisition device can be used for acquiring and acquiring the 3D information of the face and the iris of the human body again, the acquired information is compared with standard data, and if the comparison is successful, the next action is allowed. It can be understood that the comparison can also be used for identifying fixed assets such as antiques and artworks, namely, the 3D information of a plurality of areas of the antiques and the artworks is firstly acquired as standard data, when the identification is needed, the 3D information of the plurality of areas is acquired again and compared with the standard data, and the authenticity is identified.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It will be appreciated by those skilled in the art that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some or all of the components in an apparatus in accordance with embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been illustrated and described in detail herein, many other variations or modifications consistent with the principles of the invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.
Claims (19)
1. A foot 3D information acquisition and measurement device is characterized in that: comprises an image acquisition device and a background plate, wherein
The image acquisition device and the background plate are oppositely arranged and synchronously rotate;
the background plate and the image acquisition device are relatively arranged in the rotation process, so that the background plate becomes a background pattern of an image acquired by the image acquisition device during acquisition;
the image acquisition device and the background plate rotate around the foot;
when the image acquisition device acquires a target object, the two adjacent acquisition positions meet the following conditions:
l is the straight line distance of the optical center of the image acquisition device at two adjacent acquisition positions; f is the focal length of the image acquisition device; d is the rectangular length or width of the photosensitive element of the image acquisition device; t is the distance from the photosensitive element of the image acquisition device to the surface of the target along the optical axis; to adjust the coefficient;
and < 0.5955.
2. The apparatus of claim 1, wherein: < 0.452.
3. The apparatus of claim 1, wherein: < 0.3374.
4. The apparatus of claim 1, wherein: < 0.2159.
5. The apparatus of claim 1, wherein: the rotating device is a turntable, one end of the turntable is connected with an image acquisition device, and the other opposite end of the turntable is connected with a background plate.
6. The apparatus of claim 1, wherein: the image acquisition device and the background plate are provided with a foot supporting device between.
7. The apparatus of claim 6, wherein: the foot support device includes a light transmissive material.
8. The apparatus of claim 1, wherein: the leg support device is characterized by further comprising a seat, wherein the seat is provided with a leg support device.
9. The apparatus of claim 1, wherein: the background plate is a curved surface.
10. A foot attachment manufacturing apparatus, characterised in that the apparatus of any one of claims 1 to 9 is used.
11. A method of manufacturing a foot appendage, characterised by using the apparatus of any one of claims 1 to 9.
12. A foot 3D information acquisition and measurement device is characterized in that: comprises an image acquisition device and a background plate, wherein
The image acquisition device and the background plate are oppositely arranged and synchronously rotate;
the background plate and the image acquisition device are relatively arranged in the rotation process, so that the background plate becomes a background pattern of an image acquired by the image acquisition device during acquisition;
the image acquisition device and the background plate rotate around the foot;
the background plate satisfies: projected in a direction perpendicular to the surface to be imaged, and has a projection shape with a length W in the horizontal direction1Length W in the vertical direction of the projected shape2Is determined by the following conditions:
wherein d is1For the length of the imaging element in the horizontal direction, d2Is the length of the imaging element in the vertical direction, T is the vertical distance from the sensing element of the image acquisition device to the background plate in the direction of the optical axis, f is the focal length of the image acquisition device, A1、A2Is an empirical coefficient;
wherein A is1>1.04，A2>1.04。
13. The apparatus of claim 12, wherein: the rotating device is a turntable, one end of the turntable is connected with an image acquisition device, and the other opposite end of the turntable is connected with a background plate.
14. The apparatus of claim 12, wherein: the image acquisition device and the background plate are provided with a foot supporting device between.
15. The apparatus of claim 14, wherein: the foot support device includes a light transmissive material.
16. The apparatus of claim 12, wherein: the leg support device is characterized by further comprising a seat, wherein the seat is provided with a leg support device.
17. The apparatus of claim 12, wherein: the background plate is a curved surface.
18. A foot attachment manufacturing apparatus, characterised in that an apparatus as claimed in any one of claims 12 to 17 is used.
19. A method of manufacturing a foot appendage, characterised by using the apparatus of any one of claims 12 to 17.
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| CN201911277064.5A CN110973763B (en) | 2019-12-12 | 2019-12-12 | Foot intelligence 3D information acquisition measuring equipment |
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| CN201911277064.5A CN110973763B (en) | 2019-12-12 | 2019-12-12 | Foot intelligence 3D information acquisition measuring equipment |
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| CN113100754B (en) * | 2020-01-21 | 2023-02-03 | 天目爱视（北京）科技有限公司 | 3D information acquisition measuring equipment |
| CN111445529B (en) * | 2020-03-16 | 2021-03-23 | 天目爱视（北京）科技有限公司 | Calibration equipment and method based on multi-laser ranging |
| WO2023091004A1 (en) * | 2021-11-17 | 2023-05-25 | Jb Holding B.V. | Device for ergonomically measuring footwear |
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| CN108209052A (en) * | 2018-01-31 | 2018-06-29 | 福建铁工机智能机器人有限公司 | A kind of multi-function foot scanner |
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| CN202026938U (en) * | 2010-12-21 | 2011-11-09 | 北京博维恒信科技发展有限公司 | Portable foot type three-dimensional scanning measuring system |
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| CN109196303B (en) * | 2016-04-01 | 2020-10-23 | 乐高公司 | Toy scanner |
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