CN111064949A

CN111064949A - Intelligent 3D acquisition module for mobile terminal

Info

Publication number: CN111064949A
Application number: CN201911276020.0A
Authority: CN
Inventors: 左忠斌; 左达宇
Original assignee: Tianmu Aishi Beijing Technology Co Ltd
Current assignee: Tianmu Aishi Beijing Technology Co Ltd
Priority date: 2019-12-12
Filing date: 2019-12-12
Publication date: 2020-04-24
Anticipated expiration: 2039-12-12
Also published as: CN111064949B

Abstract

The invention provides a module for intelligent 3D acquisition of a mobile terminal and the mobile terminal, wherein the module comprises a data interface, a motion driving device, a motion device and an image acquisition device; wherein the image acquisition device is arranged on the movement device; the motion driving device is connected with the motion device; the motion driving device is electrically connected with the mobile terminal through a data interface; the image acquisition device is electrically connected with the mobile terminal through the data interface. The invention provides a device structure capable of carrying out 3D acquisition by applying an image splicing principle in a mobile terminal for the first time. The number of cameras used is reduced by the movement of the image capturing device. The mobile terminal can be externally connected, and a new 3D acquisition function is conveniently added to the existing mobile phone. Whole equipment can remove, makes things convenient for outdoor use. The external connection mode is adopted, the existing mobile phone is not required to be modified, the universality is higher, and the cost is lower.

Description

Intelligent 3D acquisition module for mobile terminal

Technical Field

The invention relates to the technical field of object acquisition, in particular to the technical field of three-dimensional acquisition of a target object by using a camera in a mobile terminal.

Background

At present, common 3D acquisition methods include a structured light method and a laser scanning method, but these methods all require a light source and a beam shaping system, and have high cost, large power consumption, and large occupied space.

However, the current mobile phone usually has 1-3 cameras, so as to realize some special shooting effects, such as background blurring. But at present, no camera system capable of being used for 3D acquisition on a mobile phone exists. If only use present camera system, because the shooting angle is limited, it is difficult to carry out 3D concatenation, can't obtain the 3D image. If the shooting angle is increased and the redundancy of the shot image is improved, a plurality of cameras need to be arranged. For example, the Digital Emily project at university of southern california, employs a ball-type cradle on which hundreds of cameras are mounted at different positions and angles. The conventional system for 3D acquisition by using an image acquisition device is difficult to be used in small-sized mobile terminal devices such as mobile phones.

Meanwhile, at present, a camera on a mobile phone is directly used for shooting a plurality of angle images of a target object through the mobile phone, and then the images are spliced. However, this movement either requires the handset to be mounted on extra rails or free movement without rails (e.g., handheld movement). The former limits the usage scenarios, while the latter results in a reduced acquisition quality.

At present, a camera capable of rotating is arranged on a mobile phone, and is usually driven in a manual or electric mode, but the purpose of the camera is to shoot a corresponding angle picture, not to scan, and even to synthesize a 3D model.

In addition, in the prior art, it has also been proposed to use an empirical formula including a rotation angle, a target size, and an object distance to define a camera position so as to achieve both a synthesis speed and an effect. 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, there is a great need in the art for a high-quality, low-cost, fast 3D acquisition device that can be applied to mobile terminals.

Disclosure of Invention

In view of the above, the present invention has been made to provide an intelligent 3D acquisition module for a mobile terminal that overcomes or at least partially solves the above mentioned problems.

The invention provides an intelligent 3D acquisition module for a mobile terminal, which comprises a data interface, a motion driving device, a motion device and an image acquisition device, wherein the data interface is connected with the motion driving device;

wherein the image acquisition device is arranged on the movement device;

the motion driving device is connected with the motion device;

the motion driving device is electrically connected with the mobile terminal through a data interface;

the image acquisition device is electrically connected with the mobile terminal through a data interface;

the moving device drives the image acquisition device to move, so that the images of the target object are acquired from different angles;

the images are used to construct 3D information of the object.

Optionally, the movement means comprises a guide rail and/or a turntable.

Optionally, the module and the mobile terminal are independent from each other, and the module is rigidly connected with the mobile terminal.

Optionally, the mobile terminal is embedded in the module, and the module is connected with the mobile terminal through a data interface.

Optionally, the number of the image acquisition devices is multiple.

Optionally, the image capturing device includes a visible light image capturing device and/or an infrared image capturing device.

Optionally, the image capture device extends out of the module housing.

Optionally, the area where the image capturing device moves further comprises a light-transmissive shell portion.

Optionally, the module is connected with a voice module and/or a display module in the mobile terminal.

Optionally, the optical axis direction of the image capturing device is different at different capturing positions.

Optionally, the mobile terminal receives a plurality of images sent by the data interface, and the mobile terminal processor synthesizes the images into a 3D model of the target object; or the module comprises a processor, synthesizes the images acquired by the image acquisition device into a 3D model and sends the 3D model to the mobile terminal through the data interface.

Optionally, the image capturing device has capturing positions:

δ<0.593

wherein L is the linear distance between the optical centers of the two adjacent image acquisition positions; f is the focal length of the image acquisition device; d is the rectangular length or width of the photosensitive element (CCD) 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; δ is the adjustment coefficient.

The invention also provides a mobile terminal which comprises any one of the modules.

Invention and technical effects

1. The device structure capable of carrying out 3D acquisition by applying the image stitching principle in the mobile terminal is provided for the first time.

2. The number of cameras used is reduced by the movement of the image capturing device.

3. The mobile terminal can be externally connected, and a new 3D acquisition function is conveniently added to the existing mobile phone.

4. Whole equipment can remove, makes things convenient for outdoor use.

5. The external connection mode is adopted, the existing mobile phone is not required to be modified, the universality is higher, and the cost is lower.

6. The camera position is optimized through the condition more suitable for actual use, and the acquisition speed and the effect are considered.

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 an embodiment of a 3D acquisition module according to the present invention;

fig. 2 is a schematic structural diagram of another embodiment of a 3D acquisition module according to an embodiment of the present disclosure;

FIG. 3 is a schematic structural diagram of a 3D acquisition module according to a third embodiment of the present disclosure;

FIG. 4 is a schematic structural diagram of a 3D acquisition module according to a fourth embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of a 3D acquisition module according to a fifth embodiment of the present disclosure;

the system comprises a data interface 1, a motion driving device 2, a motion device 3 and an image acquisition device 4.

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.

Example 1

The mobile phone module structure:

in order to solve the above technical problem, an embodiment of the present invention provides an intelligent 3D acquisition module for a mobile terminal. As shown in fig. 1 to 5, the method specifically includes: the device comprises a data interface 1, a motion driving device 2, a motion device 3 and an image acquisition device 4.

Wherein the image acquisition device 4 is arranged on the movement device 3. The moving device 3 can be a guide rail comprising a sliding table, the image acquisition device 4 is arranged on the sliding table, or the shell of the image acquisition device 4 is directly arranged on the guide rail as the sliding table, or the shell of the image acquisition device 4 and the module shell mutually form sliding fit, so that the image acquisition device 4 can translate on the guide rail. The motion driving device 2 is connected with the motion device 3 and can drive the sliding table or directly drive the shell of the image acquisition device 4 to move. For a threaded spindle or a toothed rail, corresponding structures can also be driven, so that the image acquisition device 4 is translated. That is, the image capturing device 4 is not moved manually, but is driven to move according to the capturing purpose, and has certain requirements on the capturing position, and needs to be set according to an empirical formula (detailed below), so as to ensure the accuracy of the 3D captured information. If only the client is relied on to move manually, the image information is collected unevenly, incompletely and even difficult to match and splice into a 3D image. At the same time, it is not necessary to move the entire mobile phone to acquire images, because such movement requires either mounting the mobile phone on an additional rail or free movement without rails. The former limits the usage scenarios, while the latter results in a reduced acquisition quality.

The guide rail is curved, for example, circular arc, so that when the image acquisition device 4 moves on the guide rail, the movement track is arc-shaped, thereby realizing the rotation around the target object. As shown in fig. 4 and 5.

The guide rail is linear, so that when the image acquisition device 4 moves on the guide rail, the movement track is linear, and the scanning of the target object is realized. Of course, the image capturing device 4 can rotate relative to the linear guide while moving linearly on the guide, so that its optical axis rotates approximately around the target object. In which case the linear guide needs to be coupled to the turntable. As shown in fig. 1, 2 and 3.

The image capturing device 4 may be multiple, and each image capturing device 4 moves along a single guide track, and the movement track is similar to the above. For example, two image acquisition devices 4 can be arranged and respectively move along the upper guide rail and the lower guide rail, so that the acquisition range can be enlarged, more pictures can be acquired in unit time, and the efficiency is higher. Of course, the two image capturing devices 4 may be cameras of different wavelength bands, such as infrared and visible wavelength bands, for special needs. At the same time, it is also possible to operate a plurality of image recording devices 4 with one guide rail. Efficiency can likewise be increased by running two image acquisition devices 4 side by side on a single rail, for example.

In one case the image acquisition means 4 are exposed outside the acquisition module housing, i.e. the acquisition module housing has a corresponding recess from which the image acquisition means 4 protrude, as shown in fig. 2, 3, 4. Of course, it is further contemplated that the image capture device 4 may extend out of the recess when desired and retract into the housing when not in use. And the recess has a cover which can close the recess when the image capturing device 4 is retracted, avoiding dust.

In one case, as shown in fig. 1 and 5, on the motion trajectory of the image capturing device 4, the housing of the capturing module opposite to the image capturing device 4 is made of a transparent material. Thus, the image capturing device 4 can directly capture the movement without extending out of the housing. This is advantageous for water and dust prevention.

The motion driving device 2 is driven to be connected with the motion device 3, and the image acquisition device 4 is driven to move according to the preset requirement of 3D acquisition, so that the motion driving device 2 needs to be provided with a data interface 1 to receive a corresponding motion instruction, namely, the motion driving device 2 is electrically connected with the mobile terminal through the data interface 1. The motion driving device 2 can be a motor, a motor and the like, and the motion device can be a slide block, a slide rail, a turntable and the like.

In an embodiment, the whole module is external, and the data interface 1 may be an interface matching with a Type-c interface, a micro USB interface, a Lightning interface, a wifi interface, a bluetooth interface, and a cellular network interface, and is connected to the mobile terminal in a wired or wireless manner.

In another embodiment the whole module is built-in, in which case the data interface 1 can be directly connected internally to the processor of the mobile terminal.

And the processor 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.

In another embodiment, the structure of the module is a part of the mobile phone, that is, although the invention is described with the module, the structure is actually a part of the mobile phone and is completed when the mobile phone is manufactured.

In order to reduce the volume and the power consumption of the whole module, the image acquisition device 4 is electrically connected with the mobile terminal through the data interface 1, so that the acquired image is transmitted to the mobile terminal for storage and subsequent 3D processing.

Whether the module is externally arranged or internally arranged, the module is mechanically connected with the mobile terminal. For example, in the external type, the module is inserted into a headphone jack of the mobile terminal through a headphone plug. Since the module and the mobile terminal are to transmit control signals and image data to each other, there is an electrical connection, particularly a signal connection, between the two in addition to a mechanical connection.

In the external type, the mechanical connection and the electrical connection are realized through the same structure. The mobile phone module is connected with the mobile phone through the mechanical connector/the electrical connector, and the mobile phone module is relatively rigidly connected with the mobile phone, so that the mobile phone module and the mobile phone are integrated. Such as the above-described earphone plug, is inserted into an earphone jack of a mobile terminal while achieving both mechanical and electrical connections. The module and the mobile phone can be rigidly fixed with each other and can transmit signals with each other. The mechanical connection may also utilize additional mechanical connections. For example, additional plugs and jacks, bulges and clamping grooves are arranged between the module and the mobile phone to realize rigid fixed connection between the module and the mobile phone. Of course, the existing socket of the mobile phone, such as the earphone plug, the microUSB plug, the TepyC plug, and the Lightning plug, may be used to be plugged into the corresponding socket of the mobile phone, but the plugging is only used as a mechanical connection, and no signal transmission is performed, and the signal is connected by other means. Through such mechanical connection, the module and the mobile phone are integrated, the module can be fixed relative to the target object when the mobile phone is held by a user and is fixed, and pictures at different angles are shot through the movement of the image acquisition device 4.

In one embodiment the movement means 3 may also be a turntable, providing the image acquisition means 4 with the possibility of rotation. So that the image pickup device 4 picks up images in a plurality of directions by rotating horizontally or up and down. It will be appreciated that the movement means 3 may also be a combination of a guide rail and a turntable.

In order to facilitate the translation or rotation of the image acquisition device 4, the movement device 3 may include a magnetic levitation device, so that the movement process is smoother, and the user experience is improved.

The image acquisition means 4 move inside the housing of the module, the part of the housing involved in the area of movement being made of a transparent material, for example a transparent resin material.

The image capturing device 4 may be a visible light camera/camera module or an infrared camera/camera module. When the image is acquired at night, the visible camera cannot acquire the image completely due to light limitation. At the moment, the infrared camera can be used for collecting, and in the subsequent processing, images collected by the visible light camera and the infrared camera are matched and fused with each other, so that the 3D information collection is realized. Of course, it is also possible to rely on only one of a visible light camera or an infrared camera. And the image pickup device 4 may be plural.

In the solution with an infrared camera, the infrared camera and the visible light camera may be side by side in the track. Two rails may also be provided, with an infrared camera and a visible light camera mounted respectively. And a single camera with a wider spectrum sensing range can be used, and a visible light camera and an infrared camera are taken into consideration at the same time.

The shell of module has the light source, and the light source is LED lamp pearl, but also can set up intelligent light source, for example can select different light source luminance, bright and go out etc. as required. The light source is used for illuminating the target object, and the target object is prevented from being too dark to influence the acquisition effect and accuracy. But also prevent the light source from being too bright, resulting in loss of texture information of the object. The light source can also be a self-contained light source of the mobile terminal so as to illuminate the part to be scanned.

In order to improve user experience, images collected by the module can be transmitted to a display module of the mobile terminal to be displayed, so that a user can conveniently observe the collection process. Especially, the acquisition module can display the object too far or too close to the object through the display module, and can remind through the voice module. It can be understood that the image collected by the module can not be displayed in the display module of the mobile terminal, but the information that the image is too far away from or too close to the target object can be broadcasted through the voice of the mobile terminal, so that the user is prompted to move. The module is connected with the voice or display module of the mobile terminal through the data interface 1 of the module.

Acquisition position optimization of image acquisition device

When 3D acquisition is performed, the image acquisition device 4 changes relative to the target object in the direction of the optical axis at different acquisition positions, and the positions of two adjacent image acquisition devices 4 or two adjacent acquisition positions of the image acquisition devices 4 satisfy the following conditions:

δ<0.593，

When the two positions are along the length direction of the photosensitive element of the image acquisition device, d is a rectangle; when the two positions are along the width direction of the photosensitive element of the image acquisition device, d is in a rectangular width.

When the image pickup device 4 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 A_n、A_n+1Linear distance between optical centers of two image capturing devices, and A_n、A_n+1Two image acquisition devices adjacent to each other_n-1、A_n+2Two image acquisition devices and A_n、A_n+1The distances from the respective photosensitive elements of the two image acquisition devices to the surface of the target object along the optical axis are respectively T_n-1、T_n、T_n+1、T_n+2，T＝(T_n-1+T_n+T_n+1+T_n+2)/4. Of course, the position is not limited to the adjacent 4 positions, and more positions can be usedAnd calculating an average value.

As mentioned above, L should be a straight-line distance between two optical centers of the image capturing devices, 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 4, the geometric centers of the image capturing devices 4, the axial centers of the image capturing devices 4 connected to the pan/tilt head (or platform, support), and the centers of the lens proximal or distal surfaces may be used instead in some cases, and the errors caused by the displacement are found to be within an acceptable range through experiments, and therefore the above range is also within the protection scope of the present invention.

In general, parameters such as object size and field angle are used as a way to estimate the position of a mobile phone camera module in the prior art, and the two positional relationships are also expressed in terms of angles. 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 repeated re-measurement bring errors in measurement, so that the position of the mobile phone camera module is calculated incorrectly. According to the scheme, the experience condition required to be met by the position of the mobile phone camera module is given according to a large amount of experimental data, so that the problem that the measurement is difficult to accurately measure the angle is avoided, and the size of an object does not need to be directly measured. D and f are fixed parameters of the mobile phone camera module in the experience condition, and when the mobile phone camera module is purchased, a manufacturer can give corresponding parameters 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 preparation process becomes convenient and fast through the empirical formula, the arrangement accuracy of the position of the mobile phone camera module is improved, the mobile phone camera module can be arranged in the optimized position, the 3D synthesis precision and speed are considered at the same time, and specific experimental data are shown in the following.

The following experimental results were obtained by carrying out experiments using commercially available mobile phone camera modules and the device of the present invention.

Serial number	Delta value	Time of synthesis	Area of synthesis region
				1	0.7033	1.2min	/
2	0.5930	1.6min	65％
				3	0.4316	1.7min	90％
4	0.1121	1.9min	100％

From the above experimental results and a lot of experimental experiences, it can be found that the value of δ should satisfy δ <0.593, and at this time, a part of 3D models can be synthesized, and although a part cannot be automatically synthesized, it is acceptable in the case of low requirements, and the part which cannot be synthesized can be compensated manually or by replacing the algorithm. Particularly, when the value of δ satisfies δ <0.4316, the balance between the synthesis effect and the synthesis time can be optimally taken into consideration; δ <0.1121 can be chosen for better synthesis, where the synthesis time increases but the synthesis quality is better. When the delta is 0.7033, 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 experiments, for the determination of the photographing position of the mobile phone camera module, the parameters (focal length f, CCD size) of the mobile phone camera module and the distance T between the CCD and the object surface can be obtained according to the above formula, which makes the device design and debugging easy. The camera parameters (focal length f and CCD size) are determined when the mobile phone camera module is purchased and are marked in the product description, so that the camera parameters are easily obtained. Therefore, the position of the mobile phone camera module can be easily calculated according to the formula without carrying out complicated view field angle measurement and object size measurement. 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, the position of the mobile phone camera module can be determined more conveniently without measuring the size of an object. The position of the mobile phone camera module determined by the invention can give consideration to 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.

3D synthesis method

The image collected by the image collecting device 4 is transmitted to a storage unit through the data interface 1, and after the processor obtains the stored image, the collected image is subjected to 3D synthesis. The specific method comprises the following steps:

when the collected pictures are used for 3D synthesis, the existing algorithm can be adopted, and the optimized algorithm provided by the invention can also be adopted, and the method mainly comprises the following steps:

step 1: and performing image enhancement processing on all input photos. The contrast of the original picture is enhanced and simultaneously the noise suppressed using the following filters.

In the formula: g (x, y) is the gray value of the original image at (x, y), f (x, y) is the gray value of the original image at the position after being enhanced by the Wallis filter, and m_gIs the local gray average value, s, of the original image_gIs the local standard deviation of gray scale of the original image, m_fFor the transformed image local gray scale target value, s_fThe target value of the standard deviation of the local gray scale of the image after transformation. c belongs to (0, 1) as the expansion constant of the image variance, and b belongs to (0, 1) as the image brightness coefficient constant.

The filter can greatly enhance image texture modes of different scales in an image, so that the quantity and the precision of feature points can be improved when the point features of the image are extracted, and the reliability and the precision of a matching result are improved in photo feature matching.

The method mainly comprises the steps of ① constructing a Hessian matrix, generating all interest points for feature extraction, aiming at generating stable edge points (mutant points) of an image, ② constructing a scale space feature point position, comparing each pixel point processed by the Hessian matrix with 26 points in a two-dimensional image space and scale space neighborhood, preliminarily positioning key points, filtering weak key points compared with energy, screening out the finally positioned key points, selecting a stable key point, and taking the maximum charar direction as a wavelet characteristic vector matching region, taking the maximum charar direction of the wavelet characteristic vector matching region as a wavelet characteristic vector matching horizontal characteristic vector, taking the maximum charar direction of the wavelet characteristic vector matching region as a vertical characteristic vector matching vector, taking the maximum charar direction of the wavelet characteristic vector matching horizontal characteristic vector of two adjacent points as a vertical characteristic vector matching region, taking the maximum charar direction of the wavelet characteristic vector matching horizontal characteristic vector matching region as a vertical characteristic vector matching region, taking the maximum charar vector matching horizontal characteristic vector matching horizontal characteristic vector matching region as a vertical characteristic vector matching region, taking the wavelet characteristic vector matching region as a vertical characteristic vector matching region, taking the maximum charar matching vector matching horizontal characteristic vector matching region as a vertical characteristic vector matching region, taking the wavelet transform region as a vertical characteristic vector matching region, and a wavelet transform region, and a vertical characteristic vector matching region as a wavelet transform region, wherein the wavelet transform region, the wavelet.

And step 3: inputting matched feature point coordinates, resolving sparse human face three-dimensional point cloud and position and posture data of a photographing camera by using a light beam method adjustment, namely obtaining model coordinate values of the sparse human face model three-dimensional point cloud and the position; and performing multi-view photo dense matching by taking the sparse feature points as initial values to obtain dense point cloud data. The process mainly comprises four steps: stereo pair selection, depth map calculation, depth map optimization and depth map fusion. For each image in the input data set, we select a reference image to form a stereo pair for use in computing the depth map. Therefore, we can get rough depth maps of all images, which may contain noise and errors, and we use its neighborhood depth map to perform consistency check to optimize the depth map of each image. And finally, carrying out depth map fusion to obtain the three-dimensional point cloud of the whole scene.

And 4, step 4: and reconstructing a human face curved surface by using the dense point cloud. The method comprises the steps of defining an octree, setting a function space, creating a vector field, solving a Poisson equation and extracting an isosurface. And obtaining an integral relation between the sampling point and the indicating function according to the gradient relation, obtaining a vector field of the point cloud according to the integral relation, and calculating the approximation of the gradient field of the indicating function to form a Poisson equation. And (3) solving an approximate solution by using matrix iteration according to a Poisson equation, extracting an isosurface by adopting a moving cube algorithm, and reconstructing a model of the measured point cloud.

The method comprises the following steps of 5, carrying out full-automatic texture mapping on a face model, carrying out texture mapping after the surface model is built, wherein the main process comprises ① obtaining texture data to obtain a surface triangular surface grid of a target reconstructed through an image, ② analyzing the visibility of a triangular surface of the reconstructed model, calculating a visible image set and an optimal reference image of each triangular surface by using calibration information of the image, ③ clustering the triangular surfaces to generate texture patches, clustering the triangular surfaces into a plurality of reference image texture patches according to the visible image set, the optimal reference image and the neighborhood topological relation of the triangular surfaces, automatically sequencing ④ texture patches to generate texture images, sequencing the generated texture patches according to the size relation, generating the texture image with the minimum surrounding area, and obtaining texture mapping coordinates of each triangular surface.

It should be noted that the above algorithm is an optimization algorithm of the present invention, the algorithm is matched with the image acquisition condition, and the use of the algorithm takes account of the time and quality of the synthesis, which is one of the inventions of the present invention. Of course, it can be implemented using conventional 3D synthesis algorithms in the prior art, except that the synthesis effect and speed are somewhat affected.

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, a vehicle, a large sculpture, 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. The three-dimensional information of the plurality of regions of the target object obtained in the above embodiment can be used for designing, producing and manufacturing a kit for the target object. For example, three-dimensional data of the oral cavity and the teeth of a human body are obtained, and a more proper denture can be designed and manufactured for the human body. The three-dimensional information of the target object obtained in the above embodiments can also be used for measuring the geometric dimension and the outline of the target object.

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.

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

1. The utility model provides an intelligence 3D gathers module for mobile terminal which characterized in that: the device comprises a data interface, a motion driving device, a motion device and an image acquisition device;

wherein the image acquisition device is arranged on the movement device;

the motion driving device is connected with the motion device;

the images are used to construct 3D information of the object.

2. The module of claim 1, wherein: the movement means comprise a guide rail and/or a turntable.

3. The module of claim 1, wherein: the module and the mobile terminal are mutually independent, and the module is rigidly connected with the mobile terminal.

4. The module of claim 1, wherein: the mobile terminal is embedded in the module, and the module is connected with the mobile terminal through a data interface.

5. The module of claim 1, wherein: the image acquisition device is a plurality of.

6. The module of claim 1, wherein: the image acquisition device comprises a visible light image acquisition device and/or an infrared image acquisition device.

7. The module of claim 1, wherein: the image acquisition device extends out of the module shell.

8. The module of claim 1, wherein: the area of motion of the image capture device also includes a light transmissive shell portion.

9. The module of claim 1, wherein: the module is connected with a voice module and/or a display module in the mobile terminal.

10. The module of claim 1, wherein: at different acquisition positions, the optical axis directions of the image acquisition devices are different.

11. The module of claim 1, wherein: the mobile terminal receives a plurality of images sent by the data interface, and the mobile terminal processor synthesizes the images into a 3D model of the target object; or the module comprises a processor, synthesizes the images acquired by the image acquisition device into a 3D model and sends the 3D model to the mobile terminal through the data interface.

12. The module of claim 1, wherein: the acquisition positions of the image acquisition device are as follows:

δ<0.593，

wherein L is the linear distance between the optical centers of the two adjacent image 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; δ is the adjustment coefficient. Preferably, δ <0.4316 or δ < 0.1121.

13. A mobile terminal characterized in that it comprises a module according to any of claims 1-12.