CN1375741A - Complete object surface-restoring 3D device based on multiple stereo digital visual heads - Google Patents
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Abstract
The body complete surface three-D restoration equipment comprises several digital stereovision heads distributed on a polyhedral support, IEEE 1394 high-speed serial bus and computer; every digital stereovision head can be used to obtain stereoscopic picture pair of different sides of body, the steroscopic picture pair can be transferred into computer by means of IEEE 1394 high-speed serial bus, the computer can be used to process said sterescopic picture to obtain three-D web surface expression of every side of body, and convert the three-D web surface of every side of body into same coordinate and splice to obtain the three-D expression of complete surface of body. Said invention not only can high-accurately restore complete three-D surface of static body, but also can high-accurately restore complete three-D surface of dynamic body or deformed body.
Description
Technical field
The present invention is the complete object surface-restoring 3 D device based on multiple stereo digital visual heads, belongs to the machine vision technique field, particularly the stereovision technique of complete object surface 3-d recovery.
Background technology
Object dimensional surface recovery method mainly contains structured light scanning range finding imaging, laser radar scanning range finding imaging and stereoscopic vision range finding imaging etc.As the three-dimensional laser scanner GS100 of the ATOS precision optics measuring machine of, the ARANZ three-dimensional imaging instrument of Britain Applied ResearchAssociates NZ limited, German GOM company, French MENSI company and S10/S25 etc.The subject matter of this class range measurement system is: (1) can only recover the static rigidity object surfaces, can't recover the surface of dynamic object or deformable object; (2) to obtain the complete object surface data, object rotation or stadimeter need be rotated around object, at last that each local surfaces data are synthetic, to obtain a complete 3-D view, therefore generally need tens seconds to dozens of minutes; (3) many precise motion parts are arranged, technical sophistication, the cost height, maintenance and inconvenient operation, reliability is low.Stereovision technique can recover dynamically or the three-dimensional surface of deformable object, and movement-less part, and reliability is higher, but can only recover the three-dimensional surface of object viewable portion.The stereo visual system based on many baselines matching principle as U.S. Ka Neiji-Mei Long university (Carnegie Mellon University) design adopts 4～6 video cameras to recover the three-dimensional surface of object.If will recover the complete object three-dimensional surface, need the moving three-dimensional vision system, allow stereo visual system on a plurality of visual angles, object be taken; Object is rotated a circle around self center, and stereo visual system is taken continuously to object, then the partial 3 d surface that obtains under each visual angle is stitched together, and obtains the complete object three-dimensional surface.Therefore, this method still can not be recovered dynamically or the complete three-dimensional surface of deformable object.In order to recover the three-dimensional surface of moving object, the method that adopts is to write down the moving image of object under a plurality of viewpoints simultaneously at present, then, the image of noting is handled, and recovers the full surface information of object.As, " 3D ROOM " system that U.S. Ka Neiji-Mei Long university sets up has used 49 ccd video cameras that process is synchronous; Univ Maryland-Coll Park USA sets up a cover is made of 16 viewpoints 64 synchronous video cameras visual motion analysis system.The application background of said system mainly is a virtual reality modelling, their common feature is: (1) adopts high-performance micro computing machine (or workstation) and a plurality of image pick-up card of commercial ccd video camera, tens big internal memories to come images acquired, system complex, huge, cost is high; (2) picture synchronization collection between a plurality of video cameras needs special-purpose hardware device to finish, and the implementation method complexity when carrying out graphical analysis, need at first be extracted the temporal information of image acquisition.
Summary of the invention
Problem and shortage at above technology existence, the objective of the invention is to propose a kind of complete object surface-restoring 3 D device based on two above digital three-dimensional vision heads, this device need not the three-dimensional surface that sweep unit or moving component just can recover complete object.
Another object of the present invention is to propose a kind of complete object surface-restoring 3 D device based on two above digital three-dimensional vision heads, and this device can recover dynamic object or the complete three-dimensional surface of deformable object.
Another object of the present invention is to propose a kind of complete object surface-restoring 3 D device based on two above digital three-dimensional vision heads, and this installs movement-less part, the reliability height, and maintenanceability is good.
Another object of the present invention is to propose a kind of complete object surface-restoring 3 D device based on two above digital three-dimensional vision heads, and this apparatus structure is simple, and is easy to operate, and cost is low.
Basic design philosophy of the present invention is to adopt a plurality of digital three-dimensional vision heads, the stereo-picture that obtains each side of object from different visual angles is right, and import computing machine into by IEEE 1394 high-speed serial bus, the computing machine stereoscopic image is represented handling the three-dimensional wire side that obtains each side of object; The three-dimensional wire side of each side transformed under the same coordinate system splice, obtain the three dimensional representation of complete object surface.
(1) movement-less part or sweep unit.The present invention adopts a polyhedron support, and as regular polygon or other similar polyhedral structure, each digital three-dimensional vision head is positioned on the polyhedron support; Use high-strength black filament or high-intensity fine bar to constitute the center that article carrying platform places object on the polyhedron support.Each digital three-dimensional vision head that is positioned on the polyhedron support can be taken object from each visual angle, comprises the end face and the bottom surface portions of object.Therefore need not sweep unit or moving component can recover the complete object three-dimensional surface.
The used digital three-dimensional vision head of the present invention is to be made of two above video cameras, self is a cover stereo vision apparatus, can recover the three-dimensional surface of object viewable portion from above-mentioned all angles.The three-dimensional surface of all angles object viewable portion spliced just form the complete object three-dimension surface image.
(2) image data transmission.Because video camera is distributed in all angles of object surrounding space, between the digital three-dimensional vision head certain distance is arranged, adopt parallel bus to come transmit image data and order, will make system very complicated and huge.The present invention adopts IEEE 1394 high-speed serial bus to come images, and this bus can reach the transfer rate of 400MBPS.Adopt the topological structure of IEEE1394 high-speed serial bus that each digital three-dimensional vision head is coupled together, adopt the asynchronous data packets of IEEE 1394 to send order and reading system state, come images with the isochronal data bag of IEEE 1394.With IEEE 1394 cables certain digital three-dimensional vision head is linked to each other with computing machine by IEEE 1394 bus controllers, each digital three-dimensional vision head just and computing machine set up contact, just can by the IEEE1394 bus view data of each digital three-dimensional vision head be sent in the computing machine by the computer control total system.
(3) picture signal is synchronous.In the present invention, each digital three-dimensional vision head comprises two above video cameras, and field sync signal and line synchronizing signal between each video camera are connected in parallel, and has guaranteed the synchronous of each camera review signal.Each digital three-dimensional vision head also provides a synchronizing signal interface, and this interface can receive the field sync signal and the line synchronizing signal of other stereoscopic vision head, so that each video camera synchronously on this digital three-dimensional vision head.This digital three-dimensional vision head also can provide synchronizing signal to other digital three-dimensional vision head.In all digital three-dimensional vision heads, a number stereo digital visual heads is arranged as source of synchronising signal, send synchronizing signal to other digital three-dimensional vision hair, so just guaranteed in the total system picture signal between each digital three-dimensional vision head synchronously.
(4) a digital three-dimensional vision synchronous acquisition image.Right in order to ensure each digital three-dimensional vision head at the stereo-picture that synchronization obtains object, need each digital three-dimensional vision synchronous acquisition image.The present invention adopts the transmission feature of IEEE 1394 bus broadcast packets to realize the synchronous images collection of each digital three-dimensional vision head.During images acquired, computing machine sends the broadcast data packet of images acquired order to bus, this packet arrives each digital three-dimensional vision head simultaneously, and the controller on each digital three-dimensional vision head is waited for first field sync signal after receiving the image acquisition order.After each digital three-dimensional vision head receives field sync signal, begin images acquired, and image is stored in the frame memory.Because the picture signal of each video camera is synchronous, image acquisition beginning under same field sync signal control has guaranteed the synchronous of image acquisition.
The complete object surface recovery device based on multiple stereo digital visual heads that the present invention proposes is characterized in that:
(1) integrated two above video cameras on each digital three-dimensional vision head (based on the video camera of CCD technology or based on the video camera of CMOS technology), A/D converter, frame memory, IEEE 1394 interfaces, light source drive, synchronizing signal interface and controller are controlled the various piece united and coordinating by controller.
(2) each video camera on each digital three-dimensional vision head obtains subject image synchronously, and image acquisition is synchronous between each digital three-dimensional vision head.Each digital three-dimensional vision head self is a stereo visual system, can recover the three-dimensional surface of viewable portion on the object.
(3) topological structure with IEEE 1394 universal serial bus interconnects between a plurality of digital three-dimensional vision heads, has very big dirigibility.Interconnection mode is simple, very easily expands.Image acquisition control, light source control, data transmission are all finished by a high-speed serial bus.
(4) both image can be gathered simultaneously between each digital three-dimensional vision head, also image can be gathered respectively; Can control each digital three-dimensional vision head respectively by computing machine.
(5) each digital three-dimensional vision head is distributed on the polyhedron support, uses high-strength black filament or high-intensity fine bar to constitute the center that article carrying platform places object on the polyhedron support.System does not have moving component, need not to rotate video camera or be resumed object to obtain the complete three-dimensional information of body surface.
(6) process control of complete object surface 3-d recovery is flexible.The image of being gathered by each digital three-dimensional vision head can be directly by bus transfer in computing machine, also can be through after some pre-service, in computing machine, obtain the 3-D view of complete object by bus transfer after through the handling procedure computing by computing machine.
(7) system has energy-saving mode.When the needs acquisition of image data, start each digital three-dimensional vision head by control command and begin to gather image, when not needing image acquisition, controller on the digital three-dimensional vision head is in the time interval of a setting, do not receive any control command, to make image acquisition control module and the Lights section enter energy-saving mode, also can under the control command that computing machine sends, enter energy-saving mode, energy savings consumption.
The present invention has following advantage:
(1) can recover static, dynamic and the complete three-dimensional surface of deformable object;
(2) image acquisition, transmission, light source control all realize by computer software control, system's movement-less part, and being resumed object does not need rotation or motion, good reliability;
(3) only need to be resumed object and be fixed in carriage center, other operation is finished by computer control, and complete object three-dimensional surface rejuvenation is simple to operate;
(4) each digital three-dimensional vision head uses conventional camera, can high precision recover object surface depth figure under the specific light source illumination, and cost is low, recovers the precision height.At 1.5 meters, the depth survey error can satisfy the requirement of all kinds of body surfaces measurements and modeling less than 0.5 millimeter;
(5) a plurality of digital three-dimensional vision heads have very big dirigibility by the topological structure interconnection of IEEE 1394 universal serial bus, and interconnection mode is simple, very easily expands.Can be widely used in profiling in kind, object modeling, field such as processing and production quality control automatically.
Description of drawings Fig. 1 is one-piece construction figure of the present invention.Fig. 2 is a digital three-dimensional vision outside drawing of the present invention.Fig. 3 is the composition frame chart of digital three-dimensional vision head of the present invention.Fig. 4 is the topology diagram that the present invention uses.Fig. 5 is that complete object surface of the present invention recovers process flow diagram.Fig. 6 is the one-piece construction figure that polyhedron support of the present invention is 24 bodies.
Primary structure is among the figure: digital three-dimensional vision head [1], polyhedron support [2], IEEE 1394 cables [3], IEEE 1394 bus controllers [4], computing machine [5], A/D converter [6], frame memory [7], video camera [8], IEEE 1394 interfaces [9], power interface [10], synchronizing signal interface [11], light source interface [12], controller [13], light source drive [14], object [15].
Embodiment
Structure based on the complete object surface recovery device of multiple stereo digital visual heads: as shown in Figure 1,20 number stereo digital visual heads [1] are distributed on each summit of a regular dodecahedron support [2], connect and compose a network by 1394 cables [3] between the digital three-dimensional vision head [1], be connected to computing machine [5] by IEEE 1394 bus controllers [4] then.Use high-strength black filament or high-intensity fine bar to constitute the center that article carrying platform places object [15] regular dodecahedron support [2].
Fig. 3 is the composition frame chart of digital three-dimensional vision head [1].Each digital three-dimensional vision head [1] is made up of three video cameras [8], A/D converter [6], frame memory [7], light source drive [14], IEEE1394 interface [9], synchronizing signal interface [11], controller [13] etc.Controller [13] is the core of whole digital three-dimensional vision head [1], control figure stereoscopic vision head [1] various piece co-ordination, acceptance and transmission data.Controller [13] is accepted the instruction of computing machine [5] by IEEE 1394 interfaces [9], finishes parameter setting and image acquisition control to video camera [8] by image acquisition control module (comprising A/D converter [6] and synchronizing signal interface [11]) then.Controller [13] controls the startup of light source by light source drive [14] and cuts out, to cooperate the image acquisition of video camera [8].Controller [13] arrives computing machine [5] by IEEE 1394 interfaces [9] with image data transmission.Video camera [8] is finished the collection of synchronous images under the control of image acquisition control module.The effect of frame memory [7] is the view data that temporary video camera [8] collects. make the work that system can be stable.Operating personnel can realize the reading of control, system state to the setting of video camera [8] parameter and modification, light source by the control program on the computing machine [5].
Each digital three-dimensional vision head [1] all has a light source interface [12], and light source control and image acquisition control are unified.As required, light source interface [12] can connect light source, also can not use this interface.When connecting light source, the corresponding state position of controller [13] is set, and computing machine [5] can be differentiated a number stereo digital visual heads and whether connects light source by inquiring about this position, if connect light source, promptly can control it.
Light source is used for producing striped or piebald when irradiating object, to increase the textural characteristics of no grain surface, improve the reliability of finding the solution corresponding point.
IEEE 1394 interfaces [9] are linking number stereo digital visual heads [1] and other digital three-dimensional vision heads [1], and the passage of digital three-dimensional vision head [1] and computing machine [5], are made up of physical chip and link layer chip and interface thereof.Computing machine [5] is to the control of each digital three-dimensional vision head [1], and the message exchange between each digital three-dimensional vision head [1] is all passed through IEEE 1394 interfaces [9] and realized.
Be the topological structure that measurement mechanism uses as shown in Figure 4, utilize the topological structure interconnection of IEEE 1394 universal serial bus, have very big dirigibility, interconnection mode is simple, very easily expands.
Each digital three-dimensional vision head [1] self is a cover stereo visual system.So three width of cloth synchronous images of being gathered by each digital three-dimensional vision head [1] can be handled the partial 3 d wire side that obtains so that this digital three-dimensional vision head [1] is the object of benchmark and represent.The three-dimensional wire side of each side of object transformed under the same coordinate splice, just obtain the three dimensional representation of complete object surface.
Using method based on the complete object surface recovery device of multiple stereo digital visual heads [1]: the position and the angle of regulating each digital three-dimensional vision head [1], make all digital three-dimensional vision heads [1] all point to the center of polyhedron support [2], then all digital three-dimensional vision heads [1] are demarcated.After demarcation is finished, constitute the center that article carrying platform places object [15] regular dodecahedron support [2] with high-strength black filament or high-intensity fine bar.Start gatherer process by computing machine [5] control program.Each digital three-dimensional vision head [1] is after receiving the beginning acquisition, under the synchronizing signal effect, obtain the image of object under all angles synchronously, the view data that all are collected arrives in computing machine [5] internal memory by bus transfer then, automatically finish the splicing of the three-dimensional wire side of complete object by handling procedure, and store or show the three-dimensional information of object.
The data that obtain based on the complete object surface recovery device of multiple stereo digital visual heads [1] can generate the model data for other application program use through Data Format Transform.The three-dimensional information that obtains can be widely used in product mapping, quality control, the configuration design on the commercial production, and automatic engraving system etc., purposes is widely arranged.
Applicating example 1
Based on the complete object surface recovery device of multiple stereo digital visual heads [1], as shown in Figure 1, comprise a plurality of digital three-dimensional vision heads [1], regular dodecahedron support [2], IEEE 1394 cables [3], IEEE 1394 bus controllers [4] and computing machine [5].20 number stereo digital visual heads [1] are evenly distributed on each summit of a regular dodecahedron support [2]; Be resumed object [15] is fixed in regular dodecahedron support [2] with very thin things such as steel wire center, connect and compose a topological network by IEEE 1394 cables [3] between the digital three-dimensional vision head [1], be connected to computing machine [5] by IEEE 1394 bus controllers [4] then.Fig. 5 is based on the head model schematic flow sheet of terra cotta warriors and horses of complete object surface recovery device recovery of multiple stereo digital visual heads [1], the image information of each side of terra cotta warriors and horses of being gathered by 20 number stereo digital visual heads [1] is transferred in the computing machine [5] by IEEE 1394 universal serial bus, obtain the complete three-dimensional information of terra cotta warriors and horses head model through computing, the three-dimensional information that obtains can store for subsequent applications, as automatic engraving system etc., shown under three different angles the 3-D view of terra cotta warriors and horses head model among the figure.
Applicating example 2
Based on the complete object surface recovery device of multiple stereo digital visual heads, as shown in Figure 6, comprise 14 number stereo digital visual heads [1], 24 body support frames [2], IEEE 1394 cables [3], IEEE 1394 bus controllers [4] and many computing machines [5].14 number stereo digital visual heads [1] are distributed on 24 body support frames [2].
Claims (7)
1. complete object surface-restoring 3 D device based on multiple stereo digital visual heads, be made up of video camera [8] and computing machine [5], it is characterized in that: this device comprises two above digital three-dimensional vision heads [1], polyhedron support [2], IEEE 1394 cables [3], IEEE 1394 bus controllers [4] and computing machine [5]; Digital three-dimensional vision head [1] is to be made of two above video cameras [8], light source drive [14], IEEE 1394 interfaces [9] and controller [13], each digital three-dimensional vision head [1] is distributed on the polyhedron support [2], and points to the center of polyhedron support [2]; Each digital three-dimensional vision head [1] connects and composes a topological network by IEEE 1394 interfaces [9] and IEEE 1394 cables [3], and be connected on IEEE 1394 bus controllers [4], the stereo-picture that digital three-dimensional vision head [1] is obtained through the IEEE1394 high-speed serial bus is to sending in the computing machine [5], and computing machine [5] obtains the complete object surface three dimensional representation to these stereo-pictures to handling.
2. the described complete object surface-restoring 3 D device of claim 1 based on multiple stereo digital visual heads, it is characterized in that: digital three-dimensional vision head mainly is made up of two above video cameras [8], A/D converter [6], frame memory [7], IEEE 1394 interfaces [9], light source drive [14], synchronizing signal interface [11] and controller [13], and its middle controller [13] logarithm stereo digital visual heads each several part carries out united and coordinating control.
3. the described complete object surface-restoring 3 D device of claim 1 based on multiple stereo digital visual heads, it is characterized in that: between each digital three-dimensional vision head [1], between digital three-dimensional vision head [1] and the computing machine [5], utilize the topological structure interconnection of IEEE 1394 high-speed serial bus.
4. the described complete object surface-restoring 3 D device based on multiple stereo digital visual heads of claim 1 is characterized in that: utilize IEEE 1394 high-speed serial bus to finish the control of camera parameters setting, image acquisition control, light source control, image data transmission and whole device.
5. the described complete object surface-restoring 3 D device based on multiple stereo digital visual heads of claim 1 is characterized in that: all digital three-dimensional vision heads [1] can the synchronous acquisition image, also can independent images acquired; Each video camera synchronous acquisition image in each digital three-dimensional vision head; Computing machine can once read the image of all camera acquisitions on the digital three-dimensional vision head, also can only read the image that single camera is gathered.
6. the described complete object surface-restoring 3 D device of claim 1 based on multiple stereo digital visual heads, it is characterized in that: between each digital three-dimensional vision head [1], be fully synchronous between video camera [8] and the video camera [8], by a line synchro interconnection.
7. the described complete object surface-restoring 3 D device of claim 1 based on multiple stereo digital visual heads, it is characterized in that: system has energy-saving mode, when the needs acquisition of image data, start each digital three-dimensional vision head [1], when not needing to gather, each digital three-dimensional vision head [1] enters energy-saving mode under the control of controller [13].
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1318942C (en) * | 2003-09-30 | 2007-05-30 | 佳能株式会社 | Data conversion method and apparatus, and orientation measurement apparatus |
| CN100343625C (en) * | 2005-12-05 | 2007-10-17 | 天津大学 | Measuring splice method and device of large three-dimensional body shape based on splicing target |
| CN106056587A (en) * | 2016-05-24 | 2016-10-26 | 杭州电子科技大学 | Full-view linear laser scanning 3D imaging calibration device and full-view linear laser scanning 3D imaging calibration method |
| CN106530315A (en) * | 2016-12-27 | 2017-03-22 | 浙江大学常州工业技术研究院 | Full-angle target extraction system and method for small and medium-sized object |
| CN107044830A (en) * | 2016-12-27 | 2017-08-15 | 江苏量淘数据技术有限公司 | Distributed multi-view stereo vision system and target extraction method |
| CN110621957A (en) * | 2017-05-08 | 2019-12-27 | 乌本产权有限公司 | Method for referencing a plurality of sensor units and associated measuring device |
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| CN1304878C (en) * | 2005-02-28 | 2007-03-14 | 北京理工大学 | Compound eye stereoscopic vision device |
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2002
- 2002-04-30 CN CNB021167346A patent/CN1177256C/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1318942C (en) * | 2003-09-30 | 2007-05-30 | 佳能株式会社 | Data conversion method and apparatus, and orientation measurement apparatus |
| US7414596B2 (en) | 2003-09-30 | 2008-08-19 | Canon Kabushiki Kaisha | Data conversion method and apparatus, and orientation measurement apparatus |
| CN100343625C (en) * | 2005-12-05 | 2007-10-17 | 天津大学 | Measuring splice method and device of large three-dimensional body shape based on splicing target |
| CN106056587A (en) * | 2016-05-24 | 2016-10-26 | 杭州电子科技大学 | Full-view linear laser scanning 3D imaging calibration device and full-view linear laser scanning 3D imaging calibration method |
| CN106056587B (en) * | 2016-05-24 | 2018-11-09 | 杭州电子科技大学 | Full view line laser structured light three-dimensional imaging caliberating device and method |
| CN106530315A (en) * | 2016-12-27 | 2017-03-22 | 浙江大学常州工业技术研究院 | Full-angle target extraction system and method for small and medium-sized object |
| CN107044830A (en) * | 2016-12-27 | 2017-08-15 | 江苏量淘数据技术有限公司 | Distributed multi-view stereo vision system and target extraction method |
| CN107044830B (en) * | 2016-12-27 | 2023-08-11 | 浙江大学常州工业技术研究院 | Distributed multi-view stereoscopic vision system and target extraction method |
| CN106530315B (en) * | 2016-12-27 | 2024-02-27 | 浙江大学常州工业技术研究院 | Target extraction system and method for medium and small objects under full angle |
| CN110621957A (en) * | 2017-05-08 | 2019-12-27 | 乌本产权有限公司 | Method for referencing a plurality of sensor units and associated measuring device |
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| CN1177256C (en) | 2004-11-24 |
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