CN111368700A

CN111368700A - Intelligent device based on identity association

Info

Publication number: CN111368700A
Application number: CN202010130360.9A
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: 2020-02-28
Filing date: 2020-02-28
Publication date: 2020-07-03
Anticipated expiration: 2040-02-28
Also published as: CN111368700B

Abstract

The invention provides intelligent equipment with a three-dimensional identity mark and a method thereof, wherein the three-dimensional identity mark is positioned on the intelligent equipment; the three-dimensional identity mark is taken from three-dimensional shape information of an organism; the smart device has an association with the organism. The identity association is put forward for the first time by taking the unique three-dimensional model of the owner organism as the identity association of the intelligent equipment, so that the uniqueness, the safety and the directness of the identity are improved.

Description

Intelligent device based on identity association

Technical Field

The invention relates to the technical field of topography measurement, in particular to the technical field of 3D topography measurement.

Background

Various smart devices are currently emerging. For example, home equipment such as a sweeping robot, equipment used in commercial environments such as a shopping guide robot, an intelligent transaction system used in a bank, a special robot used in fire emergency, an unmanned automobile and the like. Various intelligent devices bring great changes to life, but also have the problem of management confusion.

It is now common for intelligent devices to be managed in either hardware or software code, with specific codes or addresses assigned to them. Some intelligent devices can be used only by registering personal information such as WeChat and mobile phones, and actually code management is performed on the intelligent devices.

However, there are several problems with this kind of management, ① smart devices are not directly associated with the owner's identity, but are associated with the owner through other (cell phone, WeChat) information, but smart devices, such as unmanned vehicles, that can cause significant harm due to improper use are far from being associated with such indirect associations.

The invention provides a method for associating a three-dimensional master model with intelligent equipment as an identity verification mode. However, in the prior art of obtaining a three-dimensional model, 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, the technical problems that ① can directly, safely and uniquely associate the intelligent device with the owner and ② can quickly and accurately obtain the three-dimensional model of the owner are urgently needed to be solved.

Disclosure of Invention

In view of the above, the present invention has been developed to provide an intelligent device and method based on identity association that overcome or at least partially solve the above-mentioned problems.

The invention provides an intelligent device with a three-dimensional identity mark and a method thereof,

the three-dimensional identity mark is positioned on the intelligent equipment;

the three-dimensional identity mark is taken from three-dimensional shape information of an organism;

the smart device has an association with the organism.

Optionally, the three-dimensional morphology information is formed by splicing three-dimensional morphology information of a plurality of regions of the organism.

Optionally, the organism is the owner of the smart device.

Optionally, the three-dimensional identity mark has a corresponding authentication level, and the authentication level is determined by the three-dimensional shape information of the corresponding biological body.

Optionally, when the three-dimensional shape information of the organism is collected,

wherein L is the linear 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; δ is the adjustment coefficient.

Alternatively, δ < 0.603; preferably δ <0.498, δ <0.356, δ < 0.311.

The invention also provides an intelligent equipment identity recognition system, which comprises

A smart device having a three-dimensional identity tag;

the identification device is used for acquiring the three-dimensional appearance of the three-dimensional identity mark and generating three-dimensional model data to be identified; and comparing the three-dimensional model data to be identified with standard three-dimensional morphology information in a database, and identifying the owner of the intelligent equipment.

Optionally, the three-dimensional identity mark is a part with concave-convex change on the intelligent device.

Optionally, the position of the image acquisition device when acquiring a group of images of the identity tag meets the following condition:

μ <0.482, or μ < 0.357.

The invention also provides a three-dimensional identity tag for use in a device as described above.

Invention and technical effects

1. The identity association is put forward for the first time by taking the unique three-dimensional model of the owner organism as the identity association of the intelligent equipment, so that the uniqueness, the safety and the directness of the identity are improved.

2. The method improves the synthesis speed and the synthesis precision by the mode of optimizing the position of the camera for acquiring the picture and the optimized algorithm. 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 diagram of an intelligent device with three-dimensional identity information in an embodiment of the invention;

FIG. 2 is a schematic diagram of an intelligent device with another three-dimensional identity information in an embodiment of the present invention;

FIG. 3 is a schematic diagram of three-dimensional identity information on a smart device in an embodiment of the invention;

FIG. 4 is a schematic diagram of a head three-dimensional information acquisition device according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of forming three-dimensional identity information on an intelligent device by using a laser etching machine according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a three-dimensional identity information detection apparatus according to an embodiment of the present invention;

correspondence of reference numerals to the respective components:

10 intelligent equipment, 20 three-dimensional identity information, 1 background plate, 2 image acquisition devices, 3 rotating beams, 4 rotating devices, 5 supports, 6 seats, 7 bases, 51 transverse columns, 52 upright columns, 401 controllers, 402 storage media, 601 laser etching machines, 701 target object surfaces, 21 rotating devices and 31 cylindrical shells.

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.

Identity information of intelligent device

Intelligent devices, such as various robots, smart homes, smart appliances, unmanned vehicles, and other machine devices in various fields of life, production, and commerce, may be referred to as intelligent devices. Three-dimensional identity information 20 of its owner needs to be added to the smart device 10 to help determine the smart device's affiliation, its authority to perform activities, areas that are movable, etc. when needed.

For example, in the case of an autonomous vehicle, if the owner of the autonomous vehicle is restricted to activities in a certain area, a detection station is provided at the edge of the area, and the owner of the unmanned vehicle can be determined by the detection device, so that the autonomous vehicle can be found not to have authority to pass through the detection station, and can be restricted from leaving the area.

Therefore, the identity information on the intelligent device represents the attribution and the authority of the intelligent device, and can help the intelligent device to authenticate.

The identity information reflects the biological three-dimensional morphological characteristics of all or part of the body of the owner. For example, taking the three-dimensional information of the hands of the owner as an example, after the three-dimensional information of the hands of the owner is obtained (the specific device and method will be described in detail below), concave-convex areas engraved on the smart device are made according to the concave-convex change rule, and the concave-convex areas are areas carrying the three-dimensional information of the hands of the owner, that is, the three-dimensional identity information of the smart device. It is understood that the concave-convex is not only in the two states of "concave" and "convex", but is continuously changed in the depth direction, that is, the three-dimensional appearance of the hand of the owner is completely reproduced on the smart device 10. Of course, this reproduction is scalable and does not have to be reproduced in size. Such three-dimensional identity information 20 may ultimately be embodied on a smart device as a component having surface relief variations (reflecting the owner's three-dimensional topography). Such as topographical variations with irregularities in the skin steel plate.

From the perspective of easy recognition, the three-dimensional identity information 20 can be imprinted on the housing of the smart device 10. Referring to fig. 1 to 3, for example, if a roadside traffic unit collects three-dimensional identity information printed on a vehicle body of an unmanned vehicle during driving, owner information of the unmanned vehicle can be obtained immediately, so that all information of the vehicle can be obtained. However, in some cases, it is undesirable for such three-dimensional identity information to be easily detectable from a security perspective. At this time, the three-dimensional identity information can be arranged on the inner wall of the intelligent device shell, particularly on the inner core component of the intelligent device shell. Thus, only by detaching the smart device, the owner information can be obtained.

The convenience degree and the confidentiality of the detection are contradictory, so that a plurality of identity authentication levels can be set, and identity information of different authentication levels can be engraved at different positions.

The corresponding relation between the human body area and the authentication level can be set according to actual conditions.

Region(s)	Iris (iris)	Finger print	Palm of hand	Face (complete)	Hand (complete)	Ear
							Authentication level
	10	6	4	8	9	3

The above table is for reference, and different authentication levels can be set according to actual needs, for example, the authentication level can be set according to the acquisition and synthesis difficulty, and the authentication level can also be set according to the uniqueness of the biological features. It will be appreciated that a complete organ is not required for authentication, and that some region of the face, for example, is also possible, so that these local regions can all be set to corresponding authentication levels. Also, some other body parts may set the corresponding authentication level as well.

In addition, the three-dimensional identity information with different authentication levels can be spliced into an area and imprinted at a specific position of the intelligent device. That is, some identity information on the smart device may come from the concatenation of three-dimensional models of different parts of the owner.

Three-dimensional biological information acquisition equipment

1. Head three-dimensional information acquisition equipment

As shown in fig. 4, the device comprises a background plate 1, an image acquisition device 2, a rotating beam 3, a rotating device 4, a bracket 5, a seat 6 and a base 7. The support comprises a cross column 51 and a vertical column 52, the vertical column 52 is connected with the base 7, the cross column 51 is connected with the rotating beam 3 through the rotating device 4, and therefore the rotating beam 3 can rotate 360 degrees under the driving of the rotating device 4. The background plate 1 and the image acquisition device 2 are positioned at two ends of the rotating beam 3 and are arranged oppositely, and the rotating beam 3 rotates synchronously and always keeps opposite arrangement.

The base is provided with a seat 6, and the seat 6 is positioned between the background plate 1 and the image acquisition device 2. When the person sits down, the head is located just near the axis of rotation and between the image capture device 2 and the background plate 1, and preferably the person's head is located on the optical axis of the image capture device 2. The height of the head of each person is different because each person is different in height. The position of the human head in the field of view of the image acquisition device 2 can be adjusted by adjusting the height of the seat 6.

The adjustable seat 6 can be connected to the base by a manual adjustment device, for example, the seat 6 is connected to the base by a screw rod, and the height of the seat is adjusted by rotating the screw rod. Preferably, 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 is adjusted. The controller may be directly connected in the eyewear matching design device, for example, may be prevented from being near the seat armrests 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 glasses matching design equipment, 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.

In order to obtain the absolute size of the header 3D information, the user's head needs to be calibrated. However, if the user directly attaches the mark to the head according to the conventional method, the user experience is not good. And other positions are difficult to be pasted with the marked points. Therefore, the present invention skillfully sets a head rest on the seat 6, sets mark points on the head rest, and records the absolute distances between the mark points. When the image acquisition device 2 rotates to the back of the user, the mark points are acquired, and the size of the head 3D model is finally calculated according to the preset distance of the mark points. Meanwhile, the mark points are arranged at the position, so that the facial information acquisition of the user is not influenced. Therefore, it is one of the inventions of the present invention that the absolute distance of the head 3D information can be obtained while the user experience can be improved. Meanwhile, the mark point may be provided on the seat 6 as long as the position can be acquired by the image acquisition device 2. The marking point may be a standard gauge block, that is, a marker having a certain spatial size and a predetermined absolute size. Of course, in addition to setting the mark points on the head rest, the corresponding standard gauge blocks may be set at other positions as long as the standard gauge blocks are within the visual field of the camera and are still relative to the human head. For example, a hat, hair clip, etc. containing known marker points may be worn by the user.

The image acquisition device 2 is used for acquiring an image of a target object, and may 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, a smart glasses, a smart watch, a smart bracelet, or all devices with an image acquisition function. The image acquisition device comprises a camera body with a photosensitive element and a lens. Preferably, the camera body can adopt an industrial camera, such as MER-2000-19U 3M/C. Industrial cameras have a smaller volume and simplify unwanted functions and have better performance than home cameras. The image acquisition means 2 may be connected to the processing unit so as to transfer the acquired image to the processing unit. The connection method includes a wired method and a wireless method, and the transmission is performed by a plurality of protocols such as a data line, a network cable, an optical fiber, 4G, and 5G, wifi, for example, and it is needless to say that the transmission may be performed by using a combination of these.

The device further comprises a processor, which may also be a processing unit, for synthesizing a 3D model of the object according to the plurality of images acquired by the image acquisition means and according to a 3D synthesis algorithm, to obtain 3D information of the object.

The processing unit obtains 3D information of the object from a plurality of images in the set of images (a specific algorithm is described in detail below). The processing unit may be directly disposed in the housing where the image capturing device is located, or may be connected to the image capturing device 2 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 device 2 may be transmitted thereto to perform 3D synthesis. Meanwhile, the data of the image acquisition device 2 can be transmitted to the cloud platform, and 3D synthesis is performed by using the powerful computing capability of the cloud platform.

The background plate 1 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 1 is generally a flat plate, and preferably also a curved plate, such as a concave plate, a convex plate, a spherical plate, and even in some application scenarios, the background plate 1 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 shape of the surface of the background plate 1 being variable, the shape of the edge thereof may be selected as desired. Typically rectilinear, to form a rectangular plate. But in some applications the edges may be curved.

Preferably, the background plate 1 is a curved plate, so that the projection size of the background plate 1 can be minimized in the case of obtaining the maximum background range. This makes the background plate 1 require a smaller space when rotating, which is advantageous for reducing the volume of the apparatus, and reducing the weight of the apparatus, avoiding the rotation inertia, and thus being more advantageous for controlling the rotation.

The rotating beam 3 is connected with the fixed beam through the rotating device 4, the rotating device 4 drives the rotating beam 3 to rotate, so that the background plate 1 and the image acquisition device 2 at two ends of the beam are driven to rotate, however, no matter how the background plate rotates, the image acquisition device 2 and the background plate 1 are arranged oppositely, and particularly, the optical axis of the image acquisition device 1 penetrates through the center of the background plate 1.

The light source is arranged around the lens of the image acquisition device 2, can be an LED light source and can also be 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 2, for example, the light sources are ring-shaped LED lamps around the lens. When the collected object is a human body, the intensity of the light source needs to be controlled, and human discomfort is avoided. 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 addition, the light source may also be arranged on the housing of the rotating beam 3 carrying the image capturing device 2.

With the above apparatus, a plurality of images of the head of a human body can be obtained, and a three-dimensional model of the head can be constructed by a "three-dimensional model synthesis method" (described below) to obtain three-dimensional information of the entire head, or three-dimensional information of parts of the head, such as various parts of the face, cheeks, forehead, nose, mouth, and the like. Thereby providing data for identity information production.

The seat of the equipment is removed, a person stands on the base, and the image acquisition device can acquire the picture of the whole body of the human body, so that the 3D model of the whole body is synthesized. Thus, three-dimensional information of any part of the whole body can be obtained.

2. Hand and foot three-dimensional information acquisition equipment

The principle of the hand three-dimensional information acquisition equipment is similar to that of the head acquisition equipment, and an image acquisition device of the equipment is required to rotate around the hand for acquisition, so that a three-dimensional model of the hand is synthesized. In particular, a three-dimensional model of the finger fingerprint can be obtained. For specific structures, reference may be made to patents CN2020100701543 and CN 2020201382964.

3. Iris three-dimensional information acquisition equipment

The device can also be used for acquiring the information of the iris, but the precision is limited. Therefore, a rotatable image acquisition device specially aligned with the eyes of the human body can be arranged for acquiring the iris. It can use rotating arm, also can use rotating platform. Iris acquisition may also be achieved with, for example, the following structure.

The image acquisition device is fixed on the bearing device, one end of the bearing device is connected with the rotating device, and the other end of the bearing device is fixed with the image acquisition device. Meanwhile, the bearing device is connected with the Y track in a sliding mode and can slide on the Y track, and therefore the image acquisition device is driven to move in the Y direction. The Y track is orthogonal to the X track and is connected with the X track in a sliding mode, and the Y track module can slide on the X track, so that the Y track integrally moves in the X direction, and the carrying device on the Y track and the image acquisition device on the carrying device can move in the X direction.

The rotating device comprises a motor, a rotating shaft and a rotating arm. One end of the rotating arm is connected with the rotating shaft in a fixed connection mode (so that the rotating arm is driven to rotate); the other end of the rotating arm is connected with one end of the bearing device in a rotatable connection mode. The motor drives the rotation shaft to rotate, so that the rotating arm is driven to rotate, and the rotating arm drives the bearing device to rotate, so that the bearing device performs composite motion on the X track and the Y track, and the composite motion is actually rotation. However, for the X track, the carrying device only moves in the X direction; for the Y track, the carrier only performs Y direction motion. However, as the two directions carry out compound movement, the movement of the bearing device is a rotation movement around the circle center, so that the image acquisition device on the bearing device can rotate. The driving of the rotation is from the motor of the rotating device, and the rail is not an XY rail, and the rail more realizes a bearing function, namely the rail is a follow-up rail. Through the structure, the motion track of the image acquisition device is concave, namely the image acquisition device rotates approximately by taking the eyes of a human body as the center of a circle. That is to say, the rotating device drives the image acquisition device to rotate around a certain point in the direction towards the iris, and the rotating device is positioned behind the image acquisition device and deviates from the direction of the iris. The point can be an iris, and a certain point of the head or a certain point in space can be selected according to needs, but the motion track is concave as a whole, so that images of the iris at different angles can be shot.

According to a number of experiments, the separation distance of the acquisitions preferably satisfies the following empirical formula:

when 3D acquisition is performed, the positions of two adjacent image acquisition devices 2, or two adjacent acquisition positions of the image acquisition devices 2 satisfy the following conditions:

wherein L is the linear distance between the optical centers of the two image acquisition devices; f is the focal length of the image acquisition device; d is the rectangular length of a 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 factor, δ < 0.696.

When the image pickup device 2 is at 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 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, but since the position of the optical center of the image capturing device is not easily determined in some cases, the center of the photosensitive element of the image capturing device, the geometric center of the image capturing device 2, the axial center of the connection between the image capturing device 2 and the pan/tilt head (or platform, support), and the center of the proximal or distal surface of the lens may be used instead in some cases, and the error caused by the displacement is 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.

The camera lens is replaced, and the experiment is carried out again, so that the following experiment results are obtained.

From the above experimental results and a lot of experimental experiences, it can be found that the value of δ should satisfy δ <0.603, and at this time, a part of the 3D model can be synthesized, 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 <0.410, the balance between the synthesis effect and the synthesis time can be optimally taken into consideration; delta <0.356 can be chosen for better synthesis, where the synthesis time is increased but the synthesis quality is better. Of course, to further enhance the synthesis effect, δ <0.311 may be selected. When the delta is 0.681, 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.

Three-dimensional identity information production equipment

For any smart device, the three-dimensional biometric information obtained for its owner may be printed on its housing or in a specific location, or made directly as part of the smart device.

1. Using laser etching, machine tool, 3D printer

As shown in fig. 5, the laser etcher is taken as an example to specifically describe, after the 3D information of the human body part is obtained, the obtained information may be stored on a storage medium 402 such as a hard disk or a cloud server. The 3D data is read from the storage medium and transmitted to the controller 401, and the controller controls the laser etching machine 601 to etch and form concave-convex textures which are the same as or opposite to the 3D information on the surface of the intelligent device, namely the target object surface 701 according to the 3D data, so that the three-dimensional identity information of the intelligent device is formed. This identity information is determined by the biometric characteristics of the owner and is unique. And local three-dimensional information or splicing information of a plurality of local information can be adopted during manufacturing. For example, the forehead three-dimensional information and the fingerprint information can be spliced to form a three-dimensional image, and the three-dimensional image is etched on the surface of the intelligent device. Since the surface of the human body has a plurality of local areas (such as the area of the left half nose, the splicing area of the index finger of the right hand and the left forehead, and the like) containing three-dimensional information, other local three-dimensional information or other splicing information can be replaced as new identity information at will. Because the human body surface contains more local areas of three-dimensional information and can be mutually arranged and combined for splicing, the identity information content can be frequently changed, and the confidentiality of new identity information is not influenced by the imitation of one identity information. Therefore, not only can other identity information containing biological 3D characteristics be made for the client after one identity information is invalid, but also the identity information can be frequently replaced according to the needs of the user, and the safety is further improved.

The depth information of the concave-convex texture of the three-dimensional identity information is the same as or opposite to the depth information of the 3D information of the biological characteristics of the owner. The same or opposite may be the same or opposite of the absolute value of the depth, that is, the depth of the point a relative to the reference plane in the 3D information is +4mm (convex), and the depth of the point B relative to the reference plane is-1 mm (concave), at this time, the depth of the point a 'corresponding to the point a on the concave-convex texture on the smart device is +4mm relative to the reference plane of the target object, and the depth of the point B' corresponding to the point B relative to the reference plane of the target object is-1 mm. It is understood that the same or opposite may be the same or opposite of the depth relative value, that is, the depth of the point a in the 3D information with respect to the reference plane is +4mm (convex), the depth of the point B with respect to the reference plane is-1 mm (concave), and at this time, the depth of the point a 'corresponding to the point a on the concave-convex texture on the smart device with respect to the reference plane of the target object is +1mm, and the depth of the point B' corresponding to the point B with respect to the reference plane of the target object is-0.25 mm. Namely, the concave-convex texture of the target object proportionally reduces or enlarges the 3D information of the human body designated area, so that the concave-convex texture on the intelligent equipment can reflect the 3D outline of the human body designated area. It will be appreciated that this scaling up/down is not only in the depth Z direction, but also in the XY direction.

Optionally, the controller reads the 3D data from the storage medium, and controls the 3D printer according to the data to print out the target object, where the printed out target object includes a surface having a concave-convex structure capable of reflecting the human body 3D information.

In addition, a stamp pattern etched on the target surface 701 by using a mechanical, optical energy, and thermal energy, such as a graver, a machine tool, or a thermal fusing mechanism, may be used according to the 3D data.

2. Forming gray or color two-dimensional patterns

After the 3D information of the human body part is obtained, the information can be stored in a storage medium such as a hard disk and a cloud server. And reading the 3D data from the storage medium, transmitting the 3D data to the controller, and controlling the printer to print and form three-dimensional identity information corresponding to the 3D information on the surface of the target object by the controller according to the 3D data. For example, the human body local 3D information includes a point a having coordinate values of (X1, Y1, Z1), and a point B having coordinate values of (X2, Y2, Z2). Then, on the smart device, the XY coordinates of the a 'point corresponding to the a point are (X1', Y1 '), the XY coordinates of the B' point corresponding to the B point are (X2 ', Y2'), and the depth information of the a 'and B' points is represented by gray scale information G1, G2, where G1/Z1 is G2/Z2. Meanwhile, the distance between the points A 'and B' can be proportionally enlarged or reduced according to the distance between the points A 'and B', namely the XY direction coordinates of the points A 'and B' are proportionally enlarged or reduced, so that the patterns on the intelligent equipment can accurately reflect the human body 3D information.

It is to be understood that the above-mentioned gradation information may also be represented by color information. I.e. the specific depth information Z is represented by any one of the values in the specific R, G, B. For example, a corresponding relation between the R value and the depth information Z is established, that is, the stamp pattern forms red images with different shades, and the shade of red represents the depth information of the corresponding point.

Meanwhile, a fixed relationship can be established between the depth information and the color, for example, a certain depth information corresponds to a unique RGB value, so that the stamp pattern forms a graph with different colors, and the different colors represent the depth information of corresponding points.

3. Forming coding patterns

Although the above scheme adopts various means to protect the privacy of the client, the scheme mainly takes image information as the main part. In order to increase the difficulty of an observer for observing the identity information pattern on the intelligent device to obtain the appearance of a client, one or more of XYZ coordinate information, texture information, color information, gray information and adjacent point relation information in the 3D information can be used for forming a two-dimensional code pattern according to the coding rule of the two-dimensional code to be used as the identity information pattern. It will be appreciated that other encoding rules may be used to form the encoding pattern as the identity information pattern.

In this way, when printing a stamp pattern, a two-dimensional code identification information pattern corresponding to 3D information can be formed on the object surface 701 using a device capable of forming a pattern, such as a printer, a copier, a projector, an ink jet device, or a transfer device.

It is understood that depth information is one of important information as 3D information, and gray scale information, color information, and a relationship with adjacent points corresponding to the point are also important information, and these information may be also embodied in the identity information pattern.

Three-dimensional identity information detection equipment

In order to identify the identity information on the smart device and thereby identify its owner, a device detection device is required. The detection device is similar in principle to the acquisition device. The difference is that the acquisition object of the detection equipment is identity information on the intelligent equipment.

The image acquisition device of the detection equipment is aligned to the identity information area on the intelligent equipment, the image acquisition equipment is rotated to acquire a plurality of pictures of the identity information area, and the three-dimensional model of the identity information is constructed by using the three-dimensional model synthesis method, so that the three-dimensional information of the owner of the intelligent equipment can be acquired.

And comparing the detected three-dimensional information with the three-dimensional information stored in the database to obtain the identity of the owner.

It is to be noted here that since the identity information may be a combination of three-dimensional biometrics of a plurality of areas of the owner, the authentication levels of different biometrics and the degrees of uniqueness corresponding to the owner are not the same.

Therefore, the detection device can detect the identity information of all the areas at one time or in steps. For example, only the identity information with the lower authentication level is detected for the first time, the identity information with the higher authentication level is detected for the second time, and so on. Thereby being suitable for different occasions. For example, in some situations such a high level of authentication may not be required, and only a low level of authentication may be required to determine the owner's identity. And in some occasions, the highest-level authentication is required, and the identity of the owner needs to be accurately confirmed.

It will be appreciated that prior to use, the owner's biological three-dimensional topographic data is stored in the database as standard three-dimensional data. After the detection device detects and collects the three-dimensional identity information of the intelligent equipment, a three-dimensional model can be formed by using a three-dimensional model synthesis method, so that three-dimensional data to be identified is formed. The three-dimensional data to be recognized actually reflects the biological three-dimensional appearance of the owner of the intelligent equipment. Therefore, the three-dimensional data to be identified can be identified by comparing the three-dimensional data to be identified with the standard three-dimensional data in the database, so that the intelligent equipment is associated with the owner, and the identification of the intelligent equipment is realized. The above is the operation mode of the identification device.

The above described acquisition is not suitable for wrap around acquisition in some cases, except that a similar device to the owner's biometric device may be utilized, in which case an acquisition device of the following form may be used, see fig. 6.

Comprises an image acquisition device 2, a rotating device 21 and a cylindrical shell 31. As shown in the figure, the image pickup device 2 is mounted on a rotating device 21, and the rotating device 21 is accommodated in a cylindrical housing 31 and can freely rotate in the cylindrical housing 31.

The image acquisition device 2 is used for acquiring a group of images of the target object through the relative movement of an acquisition area of the image acquisition device 2 and the target object; and the acquisition area moving device is used for driving the acquisition area of the image acquisition device to generate relative motion with the target object. The collection area is the effective field range of the image collection device.

The image capturing device 2 may be a camera and the rotating device 21 may be a turntable. The camera is arranged 2 on the rotary table, a certain included angle is formed between the optical axis of the camera and the rotary table, and the rotary table surface is approximately parallel to the target object to be collected. The turntable drives the camera to rotate, so that the camera can acquire images of the target object at different positions.

Further, the camera is mounted on the turntable through an angle adjusting device, as shown in the figure, the angle adjusting device can rotate to adjust the included angle between the optical axis of the image acquisition device 2 and the surface of the turntable, and the adjusting range is-90 degrees < gamma <90 degrees. When a nearer target object is shot, the optical axis of the image acquisition device 2 can be deviated towards the central axis direction of the turntable, namely, the gamma direction is adjusted to be minus 90 degrees. When the inside of the shooting cavity is shot, the optical axis of the image acquisition device 2 can deviate from the central axis direction of the turntable, namely, the gamma is adjusted to 90 degrees. The adjustment can be manually completed, or a distance measuring device can be arranged on the 3D intelligent vision equipment to measure the distance between the 3D intelligent vision equipment and the target object, and the gamma angle is automatically adjusted according to the distance.

The turntable can be connected with the motor through a transmission device, and is driven by the motor to rotate, and the image acquisition device 2 is driven to rotate. The transmission means may be a gear system or a belt or other conventional mechanical structure.

In order to improve the acquisition efficiency, a plurality of image acquisition devices 2 may be disposed on the turntable. The plurality of image acquisition devices 2 are distributed in sequence along the circumference of the turntable. For example, two image capturing devices 2 can be respectively arranged at two ends of any diameter of the turntable. Or one image acquisition device 2 can be arranged at intervals of 60 degrees of circumferential angle, and 6 image acquisition devices 2 are uniformly arranged on the whole disc. The plurality of image acquisition devices can be the same type of camera or different types of cameras. For example, a visible light camera and an infrared camera are arranged on the turntable, so that images of different wave bands can be acquired.

When 3D acquisition is carried out, the direction of the optical axis of the image acquisition device at different acquisition positions does not change relative to the target object, and is generally approximately vertical to the surface of the target object, and at the moment, the positions of two adjacent image acquisition devices or two adjacent acquisition positions of the image acquisition devices meet the following conditions:

μ＜0.482

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 of a photosensitive element (CCD) of the image acquisition device; m is the distance from the photosensitive element of the image acquisition device to the surface of the target object along the optical axis; μ is an empirical coefficient.

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 acquisition device is at any one of the two positions, the distance from the photosensitive element to the surface of the target object along the optical axis is taken as M.

As mentioned above, L should be a straight-line distance between the optical centers of the two image capturing devices, but since the optical center position of the image capturing device is not easily determined in some cases, the center of the photosensitive element of the image capturing device, the geometric center of the image capturing device, the axial center of the connection between the image capturing device and the pan/tilt head (or platform, support), and the center of the proximal or distal surface of the lens may be used in some cases instead, and the error caused by the displacement is found to be within an acceptable range through experiments, and therefore the above range is also within the protection scope of the present invention.

It can be derived from a lot of experimental experience that the value of μ should satisfy μ <0.482, when it is already possible to synthesize a part of the 3D model, although some parts cannot be automatically synthesized, it is acceptable in case of low demand, and the part that cannot be synthesized can be compensated manually or by replacing the algorithm. Particularly, when the value satisfies μ <0.357, the balance between the synthesis effect and the synthesis time can be optimally taken into consideration; mu <0.198 can be chosen for better synthesis, where the synthesis time increases but the synthesis quality is better. When μ is 0.5078, it cannot be synthesized. It should be noted that the above ranges are only preferred embodiments and should not be construed as limiting the scope of protection.

Three-dimensional model synthesis method

According to the above-mentioned acquisition apparatus and method, the image acquisition device acquires a set of images of the object by moving relative to the object;

the processing unit obtains 3D information of the object according to a plurality of images in the group of images. The specific algorithm is as follows. Of course, the processing unit may be directly disposed in the housing where the image capturing device 2 is located, or may be connected to the image capturing device 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 image data acquired by the image acquisition device may be transmitted thereto to perform 3D synthesis. Meanwhile, the data of the image acquisition device can be transmitted to the cloud platform, and 3D synthesis is performed by utilizing the strong computing power of the cloud platform.

When the collected picture is used for 3D synthesis, the current algorithm can be adopted, and the optimized algorithm provided by the invention can also be adopted, taking a human face as an example, 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_fC ∈ (0, 1) is the spreading constant of the image variance, and b ∈ (0, 1) is 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, 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 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.

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. An intelligent device with three-dimensional identity mark and a method thereof are characterized in that:

the three-dimensional identity mark is positioned on the intelligent equipment;

the smart device has an association with the organism.

2. The apparatus and method of claim 1, wherein: the three-dimensional shape information is formed by splicing a plurality of areas of the organism.

3. The apparatus and method of claim 1, wherein: the organism is the owner of the smart device.

4. The apparatus and method of claim 1, wherein: the three-dimensional identity mark has a corresponding authentication level, and the authentication level is determined by the three-dimensional shape information of the corresponding organism.

5. The apparatus and method of claim 1, wherein: when the three-dimensional appearance information of the organism is collected,

6. The apparatus and method of claim 1, wherein: δ < 0.603; preferably δ <0.498, δ <0.356, δ < 0.311.

7. The utility model provides an intelligent equipment identification system which characterized in that: comprises that

A smart device having a three-dimensional identity tag;

8. The identification system of claim 7, wherein: the three-dimensional identity mark is a part with concave-convex change on the intelligent equipment.

9. The identification system of claim 7, wherein: the position of the image acquisition device when acquiring a group of images of the identity mark meets the following conditions:

μ <0.482, or μ < 0.357.

10. A three-dimensional identity tag for use in the apparatus of claims 1-9.