CN202648631U - Structured-light generating device and minitype three-dimensional imaging device - Google Patents
Structured-light generating device and minitype three-dimensional imaging device Download PDFInfo
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Abstract
The utility model relates to a structured-light generating device and a minitype three-dimensional imaging device. The structured-light generating device comprises a plurality of optical fibers, comprising incident ends and emitting ends; and a light source device for generating a plurality of beams of light with different spectrums and wavelengths. The light source device is arranged on one side of the incident ends of the plurality of optical fibers in order to input the plurality of beams of light with different spectrums and wavelengths by the incident ends of the plurality of optical fibers and output the light by the emitting ends to generate the structured light. The minitype three-dimensional imaging device comprises the structured-light generating device and also comprises an image sensor and a carrier for bearing the optical fibers and the image sensor. The emitting ends of the optical fibers and the image sensor are fixed on one end of the carrier. The structured-light generating device provided by the utility model has relatively small size. One end of the minitype three-dimensional imaging device (for example, a detection end of an endoscope) can have relatively small size.
Description
Technical field
The utility model relates to three-dimensional surface imaging (three-dimensional surface imaging) field, the miniature three-dimensional imaging device that relates in particular to a kind of structured light generating means and have this device.
Background technology
The traditional design of structured light generator normally is comprised of projector, complex structure, and cost is high, and can't accomplish miniaturization, microminiaturization.Especially for being similar to the such miniature imaging system of miniature three-dimensional imaging device, the volume of front-end probe is very little, can't hold the structured light generator according to traditional structural design.
Fig. 1 and Fig. 2 are respectively the schematic diagram of two kinds of traditional structured light generation systems.Structured light generation systems among Fig. 1 utilizes light source and structured light wave filter to produce structured light projection, and this system comprises light source 1 and structured light filter plate 3, is passed through the modulation of structured light filter plate 3 by the light of light source 1 generation, forms projected image at target object.
Structured light generation systems among Fig. 2 utilizes conventional images or video projector 4 directly to produce required structured light projection image.
Can produce required structured light projection although be similar to structured light generator illustrated in figures 1 and 2, but the volume of this structured light generator itself is larger, range of application is narrow, generally can not be directly used in the miniature three-dimensional imaging device miniature three-dimensional imaging devices such as endoscope, probe.
The utility model content
Provide hereinafter about brief overview of the present utility model, in order to basic comprehension about some aspect of the present utility model is provided.Should be appreciated that this general introduction is not about exhaustive general introduction of the present utility model.It is not that intention is determined key of the present utility model or pith, neither be intended to limit scope of the present utility model.Its purpose only is that the form of simplifying provides some concept, with this as the in greater detail preorder of discussing after a while.
The miniature three-dimensional imaging device that a fundamental purpose of the present utility model is to provide the little structured light generating means of a kind of volume and uses this device.
For achieving the above object, the utility model provides a kind of structured light generating means, comprising: a plurality of optical fiber, and these a plurality of optical fiber comprise incident end and exit end;
Light supply apparatus is for generation of the different light of multi-beam spectrum wavelength;
This light supply apparatus is positioned at incident end one side of these a plurality of optical fiber, with the incident end input also exit end output of warp this a plurality of optical fiber of accordingly that the multi-beam spectrum wavelength that produces is different light through these a plurality of optical fiber, to produce structured light.
For achieving the above object, the utility model also provides a kind of miniature three-dimensional imaging device, comprises the said structure light generating apparatus, also comprises:
Imageing sensor is for the image of the target object under the structured light irradiation that gathers this structured light generating means generation;
Carrier is used for a plurality of optical fiber of this structured light generating means of carrying and the input end of this imageing sensor, and wherein, the exit end of these a plurality of optical fiber and the input end of this imageing sensor all are fixed on an end of this carrier.
Structured light generating means of the present utility model adopts the light of Optical Fiber Transmission light supply apparatus to produce structured light, has greatly dwindled the volume of structure light generating apparatus.Miniature three-dimensional imaging device of the present utility model adopts the said structure light generating apparatus to adopt the structured light generating means of above-mentioned miniaturization, and that the size of an end (for example end of probe of endoscope) can be done is very little.
Description of drawings
With reference to below in conjunction with the explanation of accompanying drawing to the utility model embodiment, can understand more easily above and other purpose of the present utility model, characteristics and advantage.Parts in the accompanying drawing are just in order to illustrate principle of the present utility model.In the accompanying drawings, same or similar technical characterictic or parts will be adopted
Represent with same or similar Reference numeral.
The schematic diagram of a kind of structured light generating means that Fig. 1 provides for prior art.
The schematic diagram of the another kind of structured light generating means that Fig. 2 provides for prior art.
Fig. 3 is the structural representation of a kind of embodiment of structured light generating means of the present utility model, wherein a plurality of optical fiber ordered arrangements.
Fig. 4 is the structural representation of the another kind of embodiment of structured light generating means of the present utility model, wherein a plurality of optical fiber No-L aw Orders.
Fig. 5 utilizes prism to produce the schematic diagram of the space distribution light that spectral wavelength changes in particular range.
Fig. 6 utilizes diffraction grating to produce the schematic diagram of the space distribution light that spectral wavelength changes in particular range.
Fig. 7 utilizes the iridescence wave filter to produce the schematic diagram of the space distribution light that spectral wavelength changes in particular range.
Fig. 8 is that the structured light that utilizes the structured light generating means to produce carries out the schematic diagram that three dimensional surface data gathers.
Fig. 9 is the structural representation of a kind of embodiment of miniature three-dimensional imaging device of the present utility model.
Figure 10 is for adopting above-mentioned miniature three-dimensional imaging device to carry out the process flow diagram of a kind of embodiment of 3-D data collection.
Embodiment
Embodiment of the present utility model is described with reference to the accompanying drawings.The element of describing in an accompanying drawing of the present utility model or a kind of embodiment and feature can combine with element and the feature shown in one or more other accompanying drawing or the embodiment.Should be noted that for purpose clearly, omitted in accompanying drawing and the explanation and the utility model expression and description irrelevant, parts known to persons of ordinary skill in the art and processing.
The utility model discloses a kind of structured light generating means, its a kind of embodiment comprises:
A plurality of optical fiber, these a plurality of optical fiber comprise incident end and exit end;
Light supply apparatus is for generation of the different light of multi-beam spectrum wavelength;
This light supply apparatus is positioned at incident end one side of these a plurality of optical fiber, with the incident end input also exit end output of warp this a plurality of optical fiber of accordingly that the multi-beam spectrum wavelength that produces is different light through these a plurality of optical fiber, to produce structured light.
With reference to figure 3 and Fig. 4, a kind of embodiment of structured light generating means of the present utility model comprises a plurality of optical fiber 10, also comprises light supply apparatus 20.These a plurality of optical fiber comprise incident end 11 and exit end 12.Light supply apparatus 20 is for generation of the different light of multi-beam spectrum wavelength, and the different light of this multi-beam spectrum wavelength is corresponding one by one with these a plurality of optical fiber.Light supply apparatus 20 is positioned at a side of the incident end 11 of a plurality of optical fiber 10, exports through incident end 11 inputs of these a plurality of optical fiber 10 and through the exit end 12 of these a plurality of optical fiber 10 with the light that will produce.Particularly, optical fiber 10 outputs that each Shu Guangjing that light supply apparatus 20 will produce is corresponding are to produce structured light.
Embodiment 2
On the basis of embodiment 1, if in advance these a plurality of optical fiber 10 are carried out ordered arrangement, namely these a plurality of optical fiber 10 at the position relationship at its incident end 11 places with identical at the position relationship at its exit end 12 places, the characteristic that is coupled to the image of incident end 11 remains unchanged through Optical Fiber Transmission, i.e. the image of incident end 11 receptions can be transferred to exit end 12 unchangeably.The image of exit end 12 can directly or through the projection optics element project the image that the structured light generating means produces on the target object.For example, this structured light can be the image with given shape, such as " 3D " graph image among Fig. 3.
Alternatively, on the basis of embodiment 1, in these a plurality of optical fiber 10, the position relationship of each optical fiber 10 incident ends 11 part is different from the position relationship of each optical fiber 10 exit ends 12 part.
For example, if these a plurality of optical fiber 10 do not pass through ordered arrangement, namely these a plurality of optical fiber 10 are different from its position relationship at incident end 11 places at the position relationship at its exit end 12 places, then the figure of the structured light of structured light generating means output and light supply apparatus 20 outputs is different, as shown in Figure 4, light supply apparatus 20 can project the light that spectral wavelength from left to right changes, after a plurality of optical fiber 10 transmission, exit end at a plurality of optical fiber 10 has formed structured light, the corresponding spectral wavelength of this structured light is not that the rule during according to incident changes, but irregular.
Further, on the basis of embodiment 1 or 3, light supply apparatus is specially: the light supply apparatus of the space distribution light that changes in specific scope for generation of spectral wavelength.As shown in Figure 4, the space distribution light that changes in specific scope of the spectral wavelength that produces of light supply apparatus 20 is as the different light of this multi-beam spectrum wavelength, for example iridescence among Fig. 4.This space distribution light is transferred to this a plurality of optical fiber 10 through the incident end 11 of these a plurality of optical fiber, and is exported by the exit end 12 of these a plurality of optical fiber 10, and the space distribution light after the output can directly or through the projection optics element project on the target object.
Embodiment 5
On the basis of embodiment 1 or 3, light supply apparatus comprises white light source and light-dividing device; White light source is positioned at a side of light-dividing device, produces the different light of this multi-beam spectrum wavelength with the white light that white light source is produced after the light-dividing device light splitting.
Shown in Fig. 5-7, light supply apparatus 20 can produce this space distribution light by several different methods, light supply apparatus 20 can comprise white light source 21 and light-dividing device, white light source 21 is positioned at a side of light-dividing device, produces the different light of this multi-beam spectrum wavelength with the white light that white light source 21 is produced after the light-dividing device light splitting.
Alternatively, light-dividing device 22 can be grating 22b among prism 22a, Fig. 6 among Fig. 5 or the iridescence wave filter 22c among Fig. 7.
Among Fig. 5, prism 22a is used for the composition of the light of decomposition white light source 21 emissions, makes light present the color of original spectrum.Because refractive index is relevant with light frequency, after the white light that is mixing various frequencies enters prism, the light of different frequency has been subject to deviation in various degree, produced the space distribution light that spectral wavelength changes in specific scope, therefore the light that is coupled to the incident end 11 of a plurality of optical fiber 10 has different wavelength, and the light wavelength of a plurality of optical fiber 10 exit ends 12 outputs is also different.
Among Fig. 6, grating 22b can be diffraction grating, the space distribution light that the white light that white light source 21 sends changes in specific scope through forming this spectral wavelength behind the diffraction of diffraction grating.Grating 22b among Fig. 6 is based on fraunhofer and stitches diffraction effect work more.Describe optical grating construction and the incident angle of light and the formula of angle of diffraction Relations Among and be called " grating equation ".Ripple is when propagating, and each point on the wave front can be considered to an independent inferior wave source, and these times wave source sends the sphere subwave again, and then the wave front in the later a certain moment is exactly the enveloping surface (Huygens' principle) of these sphere subwaves of this moment.Desirable diffraction grating can think and be comprised of one group of equally spaced, endless, unlimited narrow slit, and the spacing between the slit is d, is called grating constant.When wavelength is the plane wave of λ when being normally incident in grating, the point on every slit has all been played the part of the role of inferior wave source.Propagate (being the ball corrugated) from the light that these times wave source sends along all directions, because slit is endless, can only consider the situation on the plane vertical with slit, namely slit is reduced to the row's point of one on this plane.Then the light field along a certain specific direction is by thinking dried being formed by stacking from the light of every slit outgoing on this plane.When interfering, since all different in the phase place of interference point from the light of every slit outgoing, can partly or entirely offset between them.Yet when the optical path difference that arrives interference point from the light of adjacent two slit outgoing was the integral multiple of light wavelength, the two-beam phase of line was identical, will interfere the reinforcement phenomenon.Describe with formula, when diffraction angle m satisfy concern dsin θ m/ λ=| interfere the reinforcement phenomenon during m|, wherein d is slit separation, it is grating constant, m is an integer, value is 0, ± 1, ± 2 ... this interference hard point is called diffraction maximum, therefore, diffraction light will be obtained when angle of diffraction is θ m greatly, that is:
dsin θm=mλ （1）
Following formula (1) is grating equation.When plane wave with incidence angle θ
iDuring incident, grating equation is:
d（sinθm+sinθ
i）=mλ （2）
Among Fig. 7, adopted the iridescence wave filter as light-dividing device, iridescence wave filter 22c is a kind of special optical device, and it is different at the light frequency that each different horizontal level penetrates, and namely wavelength X is the function of horizontal level x: λ=F (x).Behind the light process iridescence wave filter 22c of white light source 21 emissions, the wavelength of the light that each angle projects is different, and namely wavelength X is shooting angle θ
oFunction: λ=H
1(θ
o).
Because each root optical fiber 10 is fixed at the position relationship of incident end 11 and exit end, therefore the exit end when a plurality of optical fiber 10 projects light onto on the object, the shooting angle of each root optical fiber is fixed, again by top description as can be known, for each root optical fiber 10, the light wavelength of its exit end output is different, therefore the exit end when a plurality of optical fiber 10 projects light onto on the object, for each root optical fiber, the shooting angle of exit end and the light wavelength of exporting have unique mapping relations, that is to say, the light wavelength λ of each optical fiber 10 exit ends output is the function of the shooting angle (θ) of its exit end, be λ=H (θ), wherein, θ is the emergence angle of each corresponding projection ray of pixel.
Because the spectral wavelength of the light that each optical fiber 10 transmits is different, therefore the corresponding spectral wavelength of structured light each point that forms is also different, when a plurality of optical fiber 10 are lack of alignment, can be in advance with the direction of structured light to preset that forms, vertical direction for example, be incident upon on the Reference, this Reference can be, for example smooth blank sheet of paper.
By analyzing the wavelength of the structured light each point on the Reference, can be according to unique mapping relations of the shooting angle of light wavelength and optical fiber exit end, identify each each optical fiber of optical fiber 10(at exit end 12 places and have intrinsic characteristic, and then obtain each optical fiber 10 at the position relationship at exit end 12 places the specific spectral wavelength of the light that namely transmits).
Therefore, the structured light that produces when the structured light generation device of the present embodiment projects on the target object, in order to obtain any three-dimensional location data of target object, can at first obtain the spectral wavelength that is incident upon the light on this aspect of target object and identify corresponding optical fiber 10, and obtain the crevice projection angle of this point according to the optical fiber 10 residing positions of identification.
Embodiment 6
Alternatively, structured light generating means of the present utility model also comprises stationary installation 50, and a plurality of optical fiber 10 pass this stationary installation 50.
By this stationary installation 50, the data acquisition error that can avoid product in application process, to cause owing to the optical fiber displacement.
The application of structured light generating means
With reference to figure 8, structured light generating means of the present utility model can throw the light with certain space and/or Time Change: I (u, v), generates projected image on the target object surface.The variation of projected image is relevant with the three-dimension curved surface shape on target object surface with degreeof tortuosity.Can utilize imageing sensor to adopt the image that 30 collection have the target object of structured light projection, the image that gathers is processed and analyzed, draw the three-dimensional data (xij, yij, zij) corresponding to each pixel (i, j), i=1,2 ... I, j=1,2 ... J.
As shown in Figure 8, utilization is incident upon structured light on the target object, can identify the corresponding light wavelength of each pixel in the image of collection, according to unique mapping relations of the corresponding light wavelength of each pixel and each optical fiber 10 and each optical fiber 10 of obtaining in advance position relationship at exit end, can identify exactly the emergence angle (θ) of each corresponding projection ray of pixel in the image of collection, imageing sensor 30 can be drawn by the calibrating parameters of imageing sensor 30 emergence angle (α) of each pixel.Therefore, the distance R of target object surface distance imageing sensor 30 optical centres can be drawn by following formula:
Wherein, B is the distance " baseline " of the optical centre of the optical centre of imageing sensor and structured light generating means, θ is the angle of the corresponding projection ray of each pixel and baseline, and α is that imageing sensor 30 is to the emerging ray of each pixel and the angle between the baseline.In the present embodiment, the distance of the optical centre of structured light generating means can be, for example, and the center of a plurality of optical fiber 10 exit ends.Relative space relation according to imageing sensor 30 and structured light generating means, can be drawn by the distance R of target object surface distance imageing sensor optical centre the D coordinates value (xij of target object surface each point (for example putting P), yij, zij), i=1,2, I, j=1,2, J, thus view picture three dimensional surface data (3-D view) produced.
Structured light generating means of the present utility model is compared traditional structured light generator, and volume can reduce greatly, therefore can be applied in the miniature three-dimensional imaging devices such as endoscope, probe.
With reference to figure 9, a kind of embodiment of miniature three-dimensional imaging device of the present utility model comprises above-mentioned structured light generating means, also comprises imageing sensor 30 and carrier 40, and imageing sensor 30 is used for gathering the image of the target object under the structured light irradiation of structured light generating means output.Carrier 40 is used for the fibre bundle 10 of bearing structure light generating apparatus and the input end of this imageing sensor 30, and wherein, the input end of the exit end of a plurality of optical fiber 10 and imageing sensor 30 all is fixed on an end of carrier 40.Miniature three-dimensional imaging device of the present utility model can utilize the principle shown in Fig. 8 to obtain the three dimensional surface data of target object.
Alternatively, this miniature three-dimensional imaging device can be endoscope or probe, and carrier 40 can be the probe of endoscope.The exit end 12 of a plurality of optical fiber 10 and the input end of imageing sensor 30 can be arranged on the front end of the probe of endoscope, for example, and an end that need to go deep into surveying in the human body.
Alternatively, the incident end 11 of these a plurality of optical fiber 10 stretches out from the other end of carrier 40, take endoscope as example, the incident end 11 of these a plurality of optical fiber 10 can stretch out from the rear end of endoscope probe, so also can avoid the larger light source of volume to be arranged on the endoscope probe front end and cause the endoscope distal end volume excessive.The stationary installation 50 of structured light generating means can be arranged in the carrier 40.
Alternatively, the lighting device of miniature three-dimensional imaging device can be this a plurality of optical fiber 10, namely these a plurality of optical fiber 10 reusables are the lighting device of miniature three-dimensional imaging device, for example, in endoscope, generally has special illumination passage, after using structured light generating means of the present utility model, can need not extra illumination passage is set, but simultaneously should a plurality of optical fiber as structured light generation passage and illumination passage, further simplified the structure of endoscope.
With reference to Figure 10, the utility model also provides a kind of 3-D data collection method, utilizes above-mentioned miniature three-dimensional imaging device to gather the three dimensional surface data of target object, and this 3-D data collection method comprises:
Step S10: the light that the multi-beam spectrum wavelength is different projects on the target object to form structured light at target object through the exit end of a plurality of optical fiber 10 of correspondence;
Step S20: the image that gathers this target object by imageing sensor 30;
Step S30: the corresponding spectral wavelength of each pixel on the image of the target object that analysis gathers;
Step S40: identify corresponding optical fiber 10 according to the corresponding spectral wavelength of each pixel on the image of target object, and determine the shooting angle of each optical fiber 10 exit end according to each optical fiber 10 at the position relationship of its exit end;
Step S50: determine the distance of these target object surface each point range image sensor 30 optical centres according to the emergence angle of each pixel on the image of the distance of the optical centre of the optical centre of the shooting angle of each optical fiber 10 exit end, this imageing sensor 30 and this structured light generating means, 30 pairs of target objects of imageing sensor, to obtain the three dimensional surface data of this target object.
Alternatively, this 3-D data collection method is to determine that by following steps these a plurality of optical fiber 10 are at the position relationship of its exit end:
First step: the light that this multi-beam spectrum wavelength is different projects on the Reference to form structured light at Reference through the exit end of a plurality of optical fiber 10 of this correspondence with default direction;
Second step: the image that gathers this Reference by imageing sensor 30;
Third step: analyze the corresponding spectral wavelength of each pixel on the image that gathers in the second step;
The 4th step: according to optical fiber 10 corresponding to the corresponding spectral wavelength identification of each pixel on the image that gathers in the second step, and obtain these a plurality of optical fiber 10 at the position relationship of its exit end.
Structured light generating means of the present utility model adopts the light of Optical Fiber Transmission light supply apparatus to produce structured light, has greatly dwindled the volume of structure light generating apparatus.Miniature three-dimensional imaging device of the present utility model adopts the structured light generating means of above-mentioned miniaturization, that the size of one end (for example end of probe of endoscope) can be done is very little, and miniature three-dimensional imaging device of the present utility model only need gather piece image and just can analyze the three dimensional surface data that obtains target object.
Imageing sensor can also carry out high-speed image sampling, to obtain dynamic three-dimension surface image data, i.e. 3 d video images.
In system of the present utility model, obviously, after can decomposing, make up and/or decompose, each parts or each step reconfigure.These decomposition and/or reconfigure and to be considered as equivalents of the present utility model.Simultaneously, in the above in the description to the utility model specific embodiment, can in one or more other embodiment, use in same or similar mode for the feature that a kind of embodiment is described and/or illustrated, combined with the feature in other embodiment, or the feature in alternative other embodiment.
Should emphasize, term " comprises/comprise " existence that refers to feature, key element, step or assembly when this paper uses, but does not get rid of the existence of one or more further feature, key element, step or assembly or additional.
Although described the utility model and advantage thereof in detail, be to be understood that and in the situation that does not exceed the spirit and scope of the present utility model that limited by appended claim, can carry out various changes, alternative and conversion.And scope of the present utility model is not limited only to the specific embodiment of the described process of instructions, equipment, means, method and step.The one of ordinary skilled in the art will readily appreciate that from disclosure of the present utility model, according to the utility model can use carry out with the essentially identical function of corresponding embodiment described herein or obtain result essentially identical with it, existing and want exploited process, equipment, means, method or step future.Therefore, appended claim is intended to comprise such process, equipment, means, method or step in their scope.
Claims (8)
1. a structured light generating means is characterized in that, comprising:
A plurality of optical fiber, described a plurality of optical fiber comprise incident end and exit end;
Light supply apparatus is for generation of the different light of multi-beam spectrum wavelength;
Described light supply apparatus is positioned at incident end one side of described a plurality of optical fiber, exports to produce structured light with accordingly that the multi-beam spectrum wavelength that produces is different light through the incident end input of described a plurality of optical fiber and through the exit end of described a plurality of optical fiber.
2. structured light generating means according to claim 1 is characterized in that, in described a plurality of optical fiber, the position relationship of each optical fiber incident end parts is different from the position relationship of each optical fiber exit end part.
3. structured light generating means according to claim 1 and 2 is characterized in that, described light supply apparatus comprises white light source and light-dividing device; Described white light source is positioned at a side of described light-dividing device, produces the different light of described multi-beam spectrum wavelength with the white light that described white light source is produced after described light-dividing device light splitting.
4. structured light generating means according to claim 3 is characterized in that, described light-dividing device is prism, grating or iridescence wave filter.
5. structured light generating means according to claim 1 and 2 is characterized in that, also comprises stationary installation, and described a plurality of optical fiber pass described stationary installation.
6. a miniature three-dimensional imaging device is characterized in that, comprises each described structured light generating means such as claim 1-5, also comprises:
Imageing sensor is for the image of the target object under the structured light irradiation that gathers described structured light generating means generation;
Carrier is used for carrying a plurality of optical fiber of described structured light generating means and the input end of described imageing sensor, and wherein, the exit end of described a plurality of optical fiber and the input end of described imageing sensor all are fixed on an end of described carrier.
7. miniature three-dimensional imaging device according to claim 6 is characterized in that, the incident end of described a plurality of optical fiber stretches out from the other end of described carrier, and the stationary installation of described structured light generating means is arranged in the described carrier.
8. according to claim 6 or 7 described miniature three-dimensional imaging devices, it is characterized in that, the lighting device of described miniature three-dimensional imaging device is described a plurality of optical fiber.
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| CN103226009A (en) * | 2013-03-19 | 2013-07-31 | 陕西科技大学 | Self-imaging structured light projection and phase shift device and method |
| CN103513330A (en) * | 2012-06-28 | 2014-01-15 | 耿征 | Structured light generating device, minitype three-dimensional imaging device and method for collecting three-dimensional data |
| CN103575236A (en) * | 2013-11-08 | 2014-02-12 | 湖北汽车工业学院 | Miniature three-dimensional measurement system based on double-core optical fiber interference fringes |
| CN104814712A (en) * | 2013-11-07 | 2015-08-05 | 南京三维视嘉科技发展有限公司 | Three-dimensional endoscope and three-dimensional imaging method |
| CN106839977A (en) * | 2016-12-23 | 2017-06-13 | 西安科技大学 | Shield dregs volume method for real-time measurement based on optical grating projection binocular imaging technology |
| CN108245121A (en) * | 2016-12-29 | 2018-07-06 | 刘小华 | Endoscope and its imaging method and intelligent diagnosis system |
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| CN103513330A (en) * | 2012-06-28 | 2014-01-15 | 耿征 | Structured light generating device, minitype three-dimensional imaging device and method for collecting three-dimensional data |
| CN103226009A (en) * | 2013-03-19 | 2013-07-31 | 陕西科技大学 | Self-imaging structured light projection and phase shift device and method |
| CN103226009B (en) * | 2013-03-19 | 2015-06-24 | 陕西科技大学 | Self-imaging structured light projection and phase shift device and method |
| CN104814712A (en) * | 2013-11-07 | 2015-08-05 | 南京三维视嘉科技发展有限公司 | Three-dimensional endoscope and three-dimensional imaging method |
| CN103575236A (en) * | 2013-11-08 | 2014-02-12 | 湖北汽车工业学院 | Miniature three-dimensional measurement system based on double-core optical fiber interference fringes |
| CN106839977A (en) * | 2016-12-23 | 2017-06-13 | 西安科技大学 | Shield dregs volume method for real-time measurement based on optical grating projection binocular imaging technology |
| CN106839977B (en) * | 2016-12-23 | 2019-05-07 | 西安科技大学 | Shield dregs volume method for real-time measurement based on optical grating projection binocular imaging technology |
| CN108245121A (en) * | 2016-12-29 | 2018-07-06 | 刘小华 | Endoscope and its imaging method and intelligent diagnosis system |
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