CN111947598A - 360-degree three-dimensional human head measuring method based on plane reflector - Google Patents
360-degree three-dimensional human head measuring method based on plane reflector Download PDFInfo
- Publication number
- CN111947598A CN111947598A CN202010721135.2A CN202010721135A CN111947598A CN 111947598 A CN111947598 A CN 111947598A CN 202010721135 A CN202010721135 A CN 202010721135A CN 111947598 A CN111947598 A CN 111947598A
- Authority
- CN
- China
- Prior art keywords
- human head
- dimensional
- reflector
- cameras
- degree
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/245—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a 360-degree three-dimensional head measurement method based on a plane reflector, which can obtain three-dimensional information of a head under different visual angles by using a head cover with speckle patterns on the head cover of a person and utilizing a digital image correlation algorithm (DIC) and calibration parameters between two cameras, and convert the three-dimensional information from different visual angles into a unified world coordinate system based on a reflection matrix of the reflector, thereby realizing single-frame and high-precision 360-degree three-dimensional head measurement. The invention can realize single-frame high-precision 360-degree three-dimensional head measurement by capturing a group of speckle patterns by only two cameras through the head cover with the speckle patterns on the head cover of the human by means of the reflection matrix of the plane reflector.
Description
Technical Field
The invention belongs to the technical field of optical measurement, and particularly relates to a 360-degree three-dimensional human head measuring method based on a plane mirror.
Background
In recent decades, three-dimensional contour measurement technology has been widely applied to various fields, such as online industrial detection, reverse modeling, three-dimensional face measurement, and the like. Among the three-dimensional profile measuring methods, the digital image correlation technique based on the speckle correlation and triangulation principle is one of the techniques with high measuring efficiency and high practicability, and has the advantages of no contact, full field, high precision, high efficiency and the like. However, in the conventional digital image correlation measurement system based on two cameras, due to limited or blocked view, it is generally impossible to obtain a 360 ° overall 3D topography result of the measured object, which limits the application of the digital image correlation measurement system. Therefore, to solve this problem, multiple measurements from different perspectives are necessary to obtain the overall topography of the measured object, and these existing methods can be divided into three broad categories: a turret based method, a mobile robot arm based method and a measurement system with a mirror. The first is a turntable-based method, which places a test object on a turntable and acquires overall 3D topographic data of the object to be tested by rotating the test object multiple times. In contrast to the first method, the second method requires that the measuring system is mounted on a movable robot arm and then makes a number of 3D measurements around the object to be measured. However, both of the above methods have to use a point cloud registration algorithm such as Iterative Closest Point (ICP) to perform complex post-processing operations of the post-scan 3D data. In summary, these 3D measurement systems require multiple measurements and perform time consuming and laborious registration algorithms, thus making it impossible to achieve fast 360 ° 3D topography measurements.
Unlike the first two methods, the third method is a measurement system with a mirror that can capture 2D images of the measured object simultaneously from three different perspectives, including a real camera and a virtual camera obtained through the mirror, potentially rendering a single measurement to enable a panoramic 3D topography reconstruction of the measured object to be realistic. However, a three-dimensional measurement method of 360 ° that can achieve high accuracy with only a single measurement is still lacking.
Disclosure of Invention
The invention aims to provide a 360-degree three-dimensional human head measuring method based on a plane reflector.
The technical solution for realizing the purpose of the invention is as follows: a360-degree three-dimensional human head measuring method based on a plane mirror comprises the following steps:
step 1: constructing a human head measuring system, wherein the measuring system comprises a reflector, two cameras and a headgear, the reflector is arranged on the left side and the right side behind a human head model respectively, the two cameras are arranged in front of the human head and are arranged up and down along a vertical line, and the headgear is sleeved on the human head model and is provided with speckle patterns;
step 2: shooting a human head model from three visual angles simultaneously through two cameras to obtain three pairs of speckle images, and determining corresponding parallax data of each effective pixel in each pair of speckle images; converting the parallax data into three-dimensional information by using calibration parameters between the two cameras to obtain three-dimensional data of the human head model at different visual angles;
and step 3: and acquiring calibration parameters of the reflector, and converting the three-dimensional data of the head model under different visual angles into a world coordinate system according to the calibration parameters and the reflection matrix of the reflector to finish three-dimensional head measurement.
Preferably, the included angle between the two reflecting mirrors in the human head measuring system is 100-140 degrees.
Preferably, the angle between the two mirrors in the head measurement system is 120 °.
Preferably, the headgear has a thickness of 0.001mm to 0.01 mm.
Preferably, the three-view photographed head model specifically includes a head model photographed from a direct photographing and a head model photographed from two mirrors.
Preferably, a digital image correlation algorithm is used to obtain corresponding parallax data of each effective pixel in the upper and lower speckle images.
Compared with the prior art, the invention has the following remarkable advantages: the invention can realize single-frame high-precision 360-degree three-dimensional head measurement by capturing a group of speckle patterns by only two cameras through the head cover with the speckle patterns on the head cover of the human by means of the reflection matrix of the plane reflector.
The present invention is described in further detail below with reference to the attached drawings.
Drawings
FIG. 1 is a flow chart of the present invention.
Fig. 2 is a speckle pattern of a human head model taken by a single camera.
Fig. 3 is a schematic diagram of three-dimensional measurement results of a human head model: (a) a schematic diagram of three-dimensional measurement results of the human head model under three visual angles; (b) and the 360-degree three-dimensional measurement result of the human head model is shown schematically.
Detailed Description
As shown in fig. 1, a 360 ° three-dimensional human head measurement method based on a plane mirror includes:
step 1: the measuring system comprises a reflector, two cameras and a headgear, wherein the reflector is arranged on the left side and the right side of the rear of the head model respectively, the two cameras are arranged in front of the head and are arranged up and down along a vertical line, the headgear is sleeved on the head model and is provided with speckle patterns, and the reflector on the left side of the rear of the head and the reflector on the right side of the rear of the head can be shot by the two cameras simultaneously.
In some embodiments, the angle between the two mirrors is between 100 ° and 140 °.
Preferably, the angle between the two mirrors is 120 °.
In certain embodiments, the headgear has a thickness of 0.001mm to 0.01 mm.
Step 2: the two cameras shoot the human head model from three visual angles simultaneously to obtain three pairs of speckle patterns. Each pair of speckle patterns is obtained by capturing an upper camera and a lower camera respectively, and corresponding parallax data of each effective pixel in the upper image and the lower image is obtained by using a digital image correlation algorithm (DIC). And converting the parallax data into three-dimensional information by using the calibration parameters between the two cameras to obtain the three-dimensional data of the human head model under different visual angles.
According to the invention, through the reflection action of the reflector, the camera images the human head model from three visual angles of the front surface, the left side reflector and the right side reflector, so that 360-degree two-dimensional information of the human head model is obtained.
And step 3: and simultaneously capturing a group of 3D characteristic point pairs by two cameras to realize the calibration of the reflector, thereby obtaining the calibration parameters of the reflector.
Three-dimensional information from different visual angles is converted into a unified world coordinate system by utilizing the calibration parameters of the reflector and the reflection matrix of the reflector, so that single-frame high-precision 360-degree three-dimensional head measurement can be realized.
According to the invention, two reflectors are arranged behind the human head model, and the camera can image the human head from the front and other two visual angles (a left mirror and a right mirror) through the reflection action of the reflectors, so that 360-degree two-dimensional information of the human head is obtained. Two cameras are placed in a vertical direction, a headset with a speckle pattern is placed over the human headset, and disparity data for the human head between the two camera views can be obtained using a digital image correlation algorithm (DIC). And converting the parallax data into corresponding three-dimensional information by using the calibration parameters between the two cameras. And then, a group of 3D characteristic point pairs are captured by two cameras simultaneously to realize the calibration of the reflector, so that the three-dimensional information from different visual angles is converted into a uniform world coordinate system. Compared with the traditional 360-degree three-dimensional measurement method, the method can realize single-frame high-precision 360-degree three-dimensional head measurement.
Examples
To verify the effectiveness of the present invention, a three-dimensional measurement device based on a 360 ° three-dimensional human head measurement system of a plane mirror and a method thereof was constructed using two cameras (model acA2440-75um, Basler), two front surface reflecting mirrors (size 30cm × 30cm) and a computer. The shooting speed of the device when the three-dimensional measurement of the object is carried out is 25 frames per second. Utilizing the step one, in a 360-degree three-dimensional human head measuring system formed by two cameras, two reflectors are arranged behind a measured object, and the included angle between the two reflectors is about 120 degrees. Through the reflection of the reflector, the camera can image the human head model from the front and other two different visual angles (a left reflector and a right reflector), so that 360-degree two-dimensional information of the human head model is obtained. And (4) placing the two cameras along the vertical direction to form a headset with a speckle pattern on the human headset, and obtaining parallax data of the human head between the visual angles of the two cameras by using a digital image correlation algorithm (DIC). Converting the parallax data into three-dimensional information of a human head model by using calibration parameters between two cameras; and step three, simultaneously capturing a group of 3D characteristic point pairs by two cameras to realize the calibration of the reflector, and converting the three-dimensional information from different visual angles into a unified world coordinate system, thereby realizing single-frame and high-precision panoramic three-dimensional measurement. A human head model measurement experiment is carried out, a speckle pattern of the human head model obtained by shooting with a single camera is shown in figure 2, and a corresponding full-surface 3D reconstruction result is shown in figure 3. Then, the corresponding results for three different perspectives are given to illustrate the reliability of the proposed method. Fig. 3(a) shows the three-dimensional reconstruction of the human head model at three viewing angles, and fig. 3(b) shows the 360 ° three-dimensional measurement of the human head model. Experimental results prove that the invention can realize 360-degree three-dimensional head measurement with single frame and high precision.
Claims (6)
1. A360-degree three-dimensional human head measuring method based on a plane reflector is characterized by comprising the following steps:
step 1: constructing a human head measuring system, wherein the measuring system comprises a reflector, two cameras and a headgear, the reflector is arranged on the left side and the right side behind a human head model respectively, the two cameras are arranged in front of the human head and are arranged up and down along a vertical line, and the headgear is sleeved on the human head model and is provided with speckle patterns;
step 2: shooting a human head model from three visual angles simultaneously through two cameras to obtain three pairs of speckle images, and determining corresponding parallax data of each effective pixel in each pair of speckle images; converting the parallax data into three-dimensional information by using calibration parameters between the two cameras to obtain three-dimensional data of the human head model at different visual angles;
and step 3: and acquiring calibration parameters of the reflector, and converting the three-dimensional data of the head model under different visual angles into a world coordinate system according to the calibration parameters and the reflection matrix of the reflector to finish three-dimensional head measurement.
2. The 360 ° three-dimensional human head measuring method based on plane mirror according to claim 1, wherein the included angle between two mirrors in the human head measuring system is 100 ° to 140 °.
3. A 360 ° three-dimensional human head measuring method based on plane mirror according to claim 1 or 2, characterized in that the angle between two mirrors in the human head measuring system is 120 °.
4. The planar mirror based 360 ° three dimensional human head measurement method according to claim 1, wherein the thickness of the headgear is 0.001mm to 0.01 mm.
5. The 360 ° three-dimensional human head measurement method based on plane mirrors according to claim 1, characterized in that the human head models shot from three angles of view specifically comprise a human head model shot from direct shooting and a human head model shot from two mirrors.
6. The planar mirror-based 360-degree three-dimensional human head measurement method according to claim 1, wherein a digital image correlation algorithm is used to obtain corresponding parallax data of each effective pixel in the upper and lower speckle images.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010721135.2A CN111947598B (en) | 2020-07-24 | 2020-07-24 | 360-degree three-dimensional human head measuring method based on plane reflector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010721135.2A CN111947598B (en) | 2020-07-24 | 2020-07-24 | 360-degree three-dimensional human head measuring method based on plane reflector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111947598A true CN111947598A (en) | 2020-11-17 |
| CN111947598B CN111947598B (en) | 2022-04-01 |
Family
ID=73337924
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010721135.2A Active CN111947598B (en) | 2020-07-24 | 2020-07-24 | 360-degree three-dimensional human head measuring method based on plane reflector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111947598B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115077420A (en) * | 2022-07-18 | 2022-09-20 | 北京航空航天大学 | Plane mirror reflection transformation calibration method based on fluorescent speckles |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010021972A1 (en) * | 2008-08-18 | 2010-02-25 | Brown University | Surround structured lighting for recovering 3d object shape and appearance |
| DE102006042311B4 (en) * | 2006-09-06 | 2013-12-05 | 3D-Shape Gmbh | Three-dimensional measurement of objects in an extended angle range |
| CN106091987A (en) * | 2016-06-14 | 2016-11-09 | 中国科学院上海光学精密机械研究所 | Based on the large scale optical blank method for three-dimensional measurement that speckle time domain is relevant |
| CN106556356A (en) * | 2016-12-07 | 2017-04-05 | 西安知象光电科技有限公司 | A kind of multi-angle measuring three-dimensional profile system and measuring method |
| CN208860308U (en) * | 2018-09-30 | 2019-05-14 | 华南理工大学 | A kind of digital speckle deformation detecting device of elliptical cylinder-shape shell |
| CN110514143A (en) * | 2019-08-09 | 2019-11-29 | 南京理工大学 | A kind of fringe projection system scaling method based on reflecting mirror |
| CN110672039A (en) * | 2019-09-18 | 2020-01-10 | 南京理工大学 | Object omnibearing three-dimensional measurement method based on plane reflector |
| CN110940295A (en) * | 2019-11-29 | 2020-03-31 | 北京理工大学 | High-reflection object measurement method and system based on laser speckle limit constraint projection |
-
2020
- 2020-07-24 CN CN202010721135.2A patent/CN111947598B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102006042311B4 (en) * | 2006-09-06 | 2013-12-05 | 3D-Shape Gmbh | Three-dimensional measurement of objects in an extended angle range |
| WO2010021972A1 (en) * | 2008-08-18 | 2010-02-25 | Brown University | Surround structured lighting for recovering 3d object shape and appearance |
| CN106091987A (en) * | 2016-06-14 | 2016-11-09 | 中国科学院上海光学精密机械研究所 | Based on the large scale optical blank method for three-dimensional measurement that speckle time domain is relevant |
| CN106556356A (en) * | 2016-12-07 | 2017-04-05 | 西安知象光电科技有限公司 | A kind of multi-angle measuring three-dimensional profile system and measuring method |
| CN208860308U (en) * | 2018-09-30 | 2019-05-14 | 华南理工大学 | A kind of digital speckle deformation detecting device of elliptical cylinder-shape shell |
| CN110514143A (en) * | 2019-08-09 | 2019-11-29 | 南京理工大学 | A kind of fringe projection system scaling method based on reflecting mirror |
| CN110672039A (en) * | 2019-09-18 | 2020-01-10 | 南京理工大学 | Object omnibearing three-dimensional measurement method based on plane reflector |
| CN110940295A (en) * | 2019-11-29 | 2020-03-31 | 北京理工大学 | High-reflection object measurement method and system based on laser speckle limit constraint projection |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115077420A (en) * | 2022-07-18 | 2022-09-20 | 北京航空航天大学 | Plane mirror reflection transformation calibration method based on fluorescent speckles |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111947598B (en) | 2022-04-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111750806B (en) | Multi-view three-dimensional measurement system and method | |
| WO2021027719A1 (en) | Reflector-based calibration method for fringe projection system | |
| CN114998499B (en) | Binocular three-dimensional reconstruction method and system based on line laser galvanometer scanning | |
| CN106500629B (en) | Microscopic three-dimensional measuring device and system | |
| CN106500625B (en) | A kind of telecentricity stereo vision measurement method | |
| CN108010125A (en) | True scale three-dimensional reconstruction system and method based on line-structured light and image information | |
| CN112489109B (en) | Three-dimensional imaging system method and device and three-dimensional imaging system | |
| CN106767526A (en) | A kind of colored multi-thread 3-d laser measurement method based on the projection of laser MEMS galvanometers | |
| CN107560554A (en) | A kind of three-dimensional information vision measuring method based on relay lens | |
| CN111353997B (en) | Real-time three-dimensional surface defect detection method based on fringe projection | |
| CN111947598B (en) | 360-degree three-dimensional human head measuring method based on plane reflector | |
| CN115359127A (en) | Polarization camera array calibration method suitable for multilayer medium environment | |
| Chen et al. | Field-of-view-enlarged single-camera 3-D shape reconstruction | |
| CN108182727B (en) | Phase unwrapping method based on multi-viewpoint geometric consistency | |
| CN116147534A (en) | Multi-view three-dimensional laser scanning system based on mirror surface assistance and complex surface panoramic measurement method | |
| CN116242277A (en) | Automatic measurement method for size of power supply cabinet structural member based on full-field three-dimensional vision | |
| CN106934861B (en) | Object three-dimensional reconstruction method and device | |
| CN108981609A (en) | A kind of complexity precision castings 3 D measuring method | |
| Yamazaki et al. | Coplanar shadowgrams for acquiring visual hulls of intricate objects | |
| Jahnke et al. | Development of a time-resolved catadioptric stereo digital image correlation technique for the study of blast loading of composite material structures | |
| Lee et al. | 3D surface reconstruction using structured circular light patterns | |
| Jin et al. | Shadow-Based Lightsource Localization with Direct Camera-Lightsource Geometry | |
| Parvathi et al. | Refraction Corrected Pose Estimation for 3D reconstruction of underwater objects | |
| CN207637202U (en) | True scale three-dimensional reconstruction system based on line-structured light and image information | |
| Hu | It's all done with mirrors: Calibration-and-correspondence-free 3D reconstruction |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |