CN207198919U - Camera array three-dimensional reconstruction apparatus and system - Google Patents
Camera array three-dimensional reconstruction apparatus and system Download PDFInfo
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- CN207198919U CN207198919U CN201720646422.5U CN201720646422U CN207198919U CN 207198919 U CN207198919 U CN 207198919U CN 201720646422 U CN201720646422 U CN 201720646422U CN 207198919 U CN207198919 U CN 207198919U
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Abstract
It the utility model is related to a kind of camera array three-dimensional reconstruction apparatus and system.Wherein, device includes the acquisition module and control module of electrical connection；Acquisition module is applied to receive the control command of control module, and carries out IMAQ to the object of three-dimensional reconstruction to be carried out according to control command；The work that control module is applied to acquisition module is controlled, and obtains image information from acquisition module；And acquisition module includes slr camera, projecting apparatus and lighting apparatus；Control module includes control panel and Raspberry Pi；Control panel connects slr camera and lighting apparatus, and control of taking pictures is carried out to slr camera and lighting apparatus；Raspberry Pi connects slr camera and projecting apparatus, suitable for obtaining image information and control projecting apparatus progress image projection from slr camera.Slr camera can instantaneously obtain the weak texture subject image of high-resolution in the device, and so as to ensure the quality of model in successive image processing, which greatly enhances modeling quality and stability.
Description
Technical field
It the utility model is related to technical field of computer vision, more particularly to a kind of camera array three-dimensional reconstruction apparatus and be
System.
Background technology
With the extensive use of the technology such as 3D printing, VR, AR, three-dimensional data demand rapidly increases.Pass through laser, structure
It is the current main method for obtaining three-dimensional data that light, image, which complete three-dimensional reconstruction,.Wherein using array camera collection view data
Carrying out three-dimensional reconstruction has the features such as picking rate is fast, and collecting efficiency is high.The technology can obtain generation threedimensional model in one second
All view data, extensively with the field such as 3D portraits, cultural relic digitalization, 3D electric business, production of film and TV.In conventional art, make
IMAQ is carried out with more cameras, and needs to take pictures twice, uses for the first time using projecting apparatus increase fill-in light, this method
Image without fill-in light, second is taken pictures using the image for having fill-in light, and during modeling, software is entered using the software of fill-in light
Row three-dimensional reconstruction, texture mapping is carried out using the image without fill-in light.But the texture image textures of final mask are not clear enough,
Influence the quality of three-dimensional modeling.
Utility model content
Based on this, it is necessary in view of the above-mentioned problems, providing a kind of camera battle array that can form clearly texture image textures
Row three-dimensional reconstruction apparatus and system.
To realize a kind of camera array three-dimensional reconstruction apparatus of the utility model purpose offer, including support frame and setting
Acquisition module and control module on support frame as described above, the acquisition module electrically connect with the control module；
The acquisition module is applied to receive the control command of the control module, and according to the control command to enter
The object of row three-dimensional reconstruction carries out IMAQ；
The work that the control module is applied to the acquisition module is controlled, and is obtained and schemed from the acquisition module
As information；And
The acquisition module includes slr camera, projecting apparatus and lighting apparatus；The control module includes control panel and tree
The certain kind of berries is sent；
The control panel connects the slr camera and the lighting apparatus, to the slr camera and the lighting apparatus
Carry out control of taking pictures；The Raspberry Pi connects the slr camera and the projecting apparatus, suitable for being obtained from the slr camera
Image information and the control projecting apparatus carry out image projection.
In the camera array three-dimensional reconstruction apparatus of wherein one embodiment, the slr camera is set up by the first regulation
Put on support frame as described above, the photo angle of the slr camera can be adjusted by first adjusting bracket；The projecting apparatus leads to
Cross the second adjusting bracket to be arranged on support frame as described above, the projector angle can be adjusted by second adjusting bracket.
In the camera array three-dimensional reconstruction apparatus of wherein one embodiment, first adjusting bracket is two-dimensional pan-tilt, institute
State two-dimensional pan-tilt one end and be fixedly connected with support frame as described above, the other end fixes the slr camera.
In the camera array three-dimensional reconstruction apparatus of wherein one embodiment, second adjusting bracket includes fixed plate, led
Rail and one-dimensional head；
The fixed plate is fixedly connected with support frame as described above, and deep-slotted chip breaker is provided with the fixed plate；
The guide rail is slidably connected with the fixed plate, and the guide rail can be slided along the deep-slotted chip breaker to adjust described lead
The horizontal direction of rail；
Described one-dimensional head one end is slidably connected with the guide rail, can be slided along the guide rail to adjust the one-dimensional cloud
The distance between platform and photo-object；The one-dimensional head other end connects the projecting apparatus.
In the camera array three-dimensional reconstruction apparatus of wherein one embodiment, the quantity of the slr camera two with
On.
In the camera array three-dimensional reconstruction apparatus of wherein one embodiment, the lighting apparatus is LED.
In the camera array three-dimensional reconstruction apparatus of wherein one embodiment, the quantity of the Raspberry Pi is more than one,
And every Raspberry Pi is connected by usb hub with more than two slr cameras.
In the camera array three-dimensional reconstruction apparatus of wherein one embodiment, the control panel passes through cable release and the phase
Machine connects.
In the camera array three-dimensional reconstruction apparatus of wherein one embodiment, in addition to support frame, the control module and
The acquisition module is fixedly installed on support frame as described above.
Based on same design, the utility model also provides a kind of camera array three-dimensional reconstruction system, includes foregoing any reality
Apply camera array three-dimensional reconstruction apparatus, data transmission module and the terminal processing device of example；
The data transmission module connects with the control module and terminal processing device communication respectively, suitable for passing
Defeated image information；
The terminal processing device connects with data transmission module communication, suitable for receiving the data transmission module
The picture signal that transmission comes, and handled.
In the camera array three-dimensional reconstruction system of wherein one embodiment, the control panel is provided with the first wireless receiving and dispatching
Device, for the control signal of receiving terminal processing unit, and control command is sent to the acquisition module.
In the camera array three-dimensional reconstruction system of wherein one embodiment, the data transmission module include router,
Interchanger and the second wireless transceiver；The Raspberry Pi connects the interchanger by netting twine；The router and the exchange
Machine communication connection composition LAN；The second wireless transceiver communication connects the control panel and the terminal processing device.
In the camera array three-dimensional reconstruction system of wherein one embodiment, the system includes three cameras described above
Array three-dimensional reconstructing device.
The beneficial effects of the utility model include：In a kind of camera array three-dimensional reconstruction apparatus provided by the utility model,
Control panel is connected with slr camera and lighting apparatus, and slr camera can be controlled to obtain the figure of object under different lighting conditions
Picture.And the image of shooting is obtained using Raspberry Pi connection slr camera, and the different image of projector projects is controlled as background
With reference to.When carrying out three-dimensional modeling to object, image taking twice is carried out to object, uses the image of no fill-in light for the first time,
Second is taken pictures using the image for having fill-in light, and during modeling, three are carried out using the software of fill-in light using computer software
Dimension is rebuild, and texture mapping is carried out using the image without fill-in light；The scheme combined using slr camera with fill-in light, was both overcome
The problem of weak texture object modeling difficulty, and can make last model keep clearly texture mapping.Use the apparatus array phase
Machine can instantaneously obtain weak texture subject image, and ensure the quality of model, and which greatly enhances modeling quality and stability, extension
Array camera three-dimensional modeling target zone.
Brief description of the drawings
Fig. 1 is a kind of structural representation of a specific embodiment of camera array three-dimensional reconstruction apparatus of the utility model；
Fig. 2 is that a kind of assembling mechanism of another specific embodiment of camera array three-dimensional reconstruction apparatus of the utility model is illustrated
Figure；
Fig. 3 is that a kind of the first adjusting bracket of a specific embodiment of camera array three-dimensional reconstruction apparatus of the utility model is illustrated
Figure；
Fig. 4 is that a kind of the second adjusting bracket of a specific embodiment of camera array three-dimensional reconstruction apparatus of the utility model is illustrated
Figure；
Fig. 5 is a kind of structural representation of a specific embodiment of camera array three-dimensional reconstruction system of the utility model；
Fig. 6 is an a kind of concrete structure block schematic illustration of camera array three-dimensional reconstruction system of the utility model；
Fig. 7 is that image obtained when carrying out object dimensional modeling using camera array three-dimensional reconstruction system of the present utility model
Journey schematic diagram.
Embodiment
In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing to this reality
Illustrated with the embodiment of new camera array three-dimensional reconstruction apparatus and system.It is it should be appreciated that described herein
Specific embodiment only explaining the utility model, be not used to limit the utility model.
As shown in figure 1, in the camera array three-dimensional reconstruction apparatus of wherein one embodiment, including support frame (not shown)
And acquisition module 100 and control module 200 on support frame as described above are arranged on, the acquisition module 100 and the control mould
Block 200 electrically connects.Wherein, the acquisition module 100 is applied to receive the control command of control module 200, and is ordered according to control
Make and IMAQ is carried out to the object of three-dimensional reconstruction to be carried out；The control module 200 is applied to the work to acquisition module 100
It is controlled, and image information is obtained from acquisition module 100.
Need what is illustrated, the acquisition module and the control module combine by hardware element connection, and make
Used time, the acquisition module 100 and the control module can be determined onto support frame, three-dimensional reconstruction thing is wanted with stable shooting
The photo of body.Specifically, acquisition module includes slr camera 110, projecting apparatus 120 and lighting apparatus 130.The slr camera
110 are used to take pictures to the object of wanted three-dimensional modeling, the instantaneous weak texture image for obtaining object, subsequently to captured figure
As being handled, the threedimensional model of object is built.Compared to the camera used in conventional apparatus, but the object of slr camera shooting
Image definition is higher, higher to object progress three-dimensional modeling accuracy according to captured image, can greatly improve object
The quality of three-dimensional modeling.The projecting apparatus 120 is used for the texture image projection for carrying out shooting background.Certainly the Background projected
There is larger contrast in itself with object as, be easy to the processing of successive image.The lighting apparatus 130 is used to aid in shining
It is bright, various types of light fixtures can be used as the lighting apparatus in device, such as fluorescent lamp, LED.
It is preferred that in one of the embodiments, projector image is formed by the way of random point generation.Projection
The image of the texture of instrument projection has uniqueness, is easy to subsequently make a distinction image when handling multiple images.
Include control panel 210 and Raspberry Pi 220 in the control module 200.Referring to Fig. 1, the control panel 210 connects
Slr camera 110 and lighting apparatus 130, control of taking pictures is carried out to slr camera 110 and lighting apparatus 130.
In one of the embodiments, control panel is connected by cable release with slr camera, and control camera is taken pictures, and can be with
The switch of the lighting apparatus to being connected is controlled simultaneously.Open or close in different stage control lighting apparatus of taking pictures
Close, such as when carrying out image taking to object, can at twice carry out, once close lighting apparatus, in the texture image of projecting apparatus
Under the image of object is shot, open lighting apparatus for second, shooting object lighting apparatus projected image.
In addition, the control panel 210 also connects the Raspberry Pi 220, the Raspberry Pi 220 and slr camera to be connected supply
Electricity.Specifically, control panel connects 220V AC powers in itself, and it is acceptable straight to be internally converted into slr camera, Raspberry Pi
Stream electricity.
Specifically, in one of the embodiments, the control panel 210 is three-dimensional (Jiangsu) limited company type of view
Number it is JZSW-A8-V1 control panels.
The Raspberry Pi electrical connection slr camera and projecting apparatus, suitable for obtaining image information and control throwing from slr camera
Shadow instrument carries out image projection.During specific embodiment, the Raspberry Pi can be set by terminals such as network connection such as computers
It is standby, obtain the specific projected image of projecting apparatus.
As shown in Fig. 2 slr camera 110, projecting apparatus 120 and lighting apparatus 130 in the acquisition module 100, and
Control panel and Raspberry Pi in control module are fixedly installed on support frame 300, when carrying out image taking to object, by thing
Body is placed on before support frame as described above 300 and relevant apparatus, and object is taken pictures using each device on support frame 300.
More preferably, in one of the embodiments, more than two slr cameras are installed on a support frame, every list is anti-
Camera is connected by usb hub with Raspberry Pi, so as to which view data is transferred into Raspberry Pi by USB port, and logical
Cross the image processing equipment that Raspberry Pi is transferred to outside.
For Raspberry Pi and the quantity of the control panel, one can be respectively provided with a camera array three-dimensional reconstruction apparatus
Individual, a control panel, a Raspberry Pi and more cameras form an array.Certainly, in other embodiments, can also set
Multiple control panels and multiple Raspberry Pis.
It should also be noted that, the illumination of the slr camera fixed on support frame, projecting apparatus and floor light is set
It is standby to be fixed on upper-lower position, and support frame as described above can be surrounded and rotated.Certainly, more preferably, relevant device can also be set
It can removably be moved up and down along support frame as described above.
For the control panel and the Raspberry Pi, can be configured according to the installation site of each camera and projecting apparatus, such as
The length of connecting line between each device can be reduced as far as possible.
In another embodiment, each device in control module is both placed in the bottom position of support frame, makes camera battle array
Row three-dimensional reconstruction apparatus overall structure is more neat, reduces the probability that control unit is touched by mistake.
More preferably, as shown in figure 3, in one of the embodiments, slr camera is arranged on branch by the first adjusting bracket 101
On support, the photo angle of the slr camera can be adjusted by first adjusting bracket 101；First adjusting bracket is Planar clouds
Platform, described two-dimensional pan-tilt one end are fixedly connected with support frame as described above, and the other end fixes the slr camera 110.Specifically, described two
Dimension head includes the first rotation section 1011 and the second rotation section 1012, and is provided with latch segment on second rotation section 1012
1013.The camera angle of pitch can be adjusted by the first rotation section 1011, adjusting camera by the second rotation section 1012 rotates horizontally.
As shown in figure 4, in the camera array three-dimensional reconstruction apparatus of wherein one embodiment, projecting apparatus 120 passes through second
Adjusting bracket 102 is arranged on support frame as described above 300, and the projected angle of projecting apparatus 120 can be adjusted by second adjusting bracket 102
Degree.Second adjusting bracket includes fixed plate 1021, guide rail 1022 and one-dimensional head 1023.Fixed plate 1021 and support frame 300
It is fixedly connected, and deep-slotted chip breaker 10211 is provided with fixed plate 1021；Guide rail 1022 is slidably connected with fixed plate 1021, guide rail
1022 can slide along the deep-slotted chip breaker 10211 to adjust the horizontal direction of the guide rail 1022.One-dimensional one end of head 1023 with
The guide rail is slidably connected, and can be slided along the guide rail to adjust the distance between the one-dimensional head and photo-object；Institute
State the one-dimensional head other end and connect the projecting apparatus, so as to adjust projecting apparatus upright projection angle by adjusting one-dimensional head
Degree.
As shown in figure 4, in this embodiment, connecting plate 1024 and one-dimensional head of the projecting apparatus 120 by a triangle
Connection, make projecting apparatus more stable, effectively prevent that projection is rocked in image shoot process.
For the material of support frame, preferably from light material-structure, in order to movement.Such as use aluminum alloy materials
Deng.More preferably, it can set movable universal wheel that universal wheel locking knot can be more set to aid in moving in support frame bottom
Structure, ensure slr camera stability during image taking.
Preferably also select more light material that section material guide rail is made for the guide rail shown in Fig. 4, and when in use will
Guide rail vertical support frame 300 is installed.By adjusting one-dimensional head, projecting apparatus vertical direction projection angle can be adjusted.By making
One-dimensional head slides along section material guide rail, can adjust the distance of projecting apparatus and subject.By make section material guide rail along
Deep-slotted chip breaker in fixed plate slides, can be with Level tune projector direction.So pass through second adjusting bracket, Ke Yishi
Existing projector direction is freely adjusted.
The utility model also provides a kind of camera array three-dimensional reconstruction system simultaneously, and foregoing any embodiment is included in system
Camera array three-dimensional reconstruction apparatus, in addition to data transmission module 400 and terminal processing device 500.It is emphasized that institute
It is also that the device combination connected and composed is combined by hardware component to state data transmission module, and the terminal processing device is to enter
Row image, the equipment of data processing, such as common computer.
As shown in figure 5, the data transmission module 400 in system is logical with control module 200 and terminal processing device 500 respectively
News connection, for transmitting image information.Terminal processing device 500 in system connects with the communication of data transmission module 400, is used for
The picture signal that the transmission of data transmission module 400 comes is received, and is handled.Described image process signal is data transfer mould
The image for multiple objects that block obtains from the acquisition module.
As shown in fig. 6, it is divided into using whole system for four parts, including adopting in camera array three-dimensional reconstruction apparatus
Collect module and control module, and data transmission module and terminal processing device device, and it is general in the terminal processing device
Display device is had, internal processes include User Interface, and user can be by the User Interface to image
Shooting and lighting apparatus are controlled, and can send the display image of projecting apparatus by it.
It is further to note that acquisition module is illustrated in Fig. 6 includes the structure type of multiple slr cameras, in system
There are n slr camera, respectively slr camera 1, slr camera 2 and slr camera n；Also include m projecting apparatus, respectively projecting apparatus
1, projecting apparatus 2 and projecting apparatus m；Also include s LED, respectively LED 1, LED 2 and LED s, wherein, m, n, s is
Positive integer more than or equal to 3, and three can with it is equal can also be unequal, and be provided with a control module.Need to illustrate
, Fig. 6 is a kind of signal mechanism, in a particular embodiment, can be flexibly configured, such as can be in a camera array
More cameras are set in three-dimensional reconstruction apparatus, but a projecting apparatus, a LED and a control module are simply set.Or
Person can also set more than two control modules in a camera array three-dimensional reconstruction apparatus, and connect in a control module
The slr camera and the quantity of projecting apparatus connect can be configured according to demand.Certainly, a preferably camera array Three-dimensional Gravity
Build the control module in device and only connect component in the acquisition module of itself, be easy to user to pass through the terminal processing device
The equipment in acquisition module is controlled using control module.
Referring to Fig. 7, the flow that three-dimensional modeling is carried out to object is as follows：
Step 1
Terminal processing device is sent by wireless transceiver gathers image command, in the control panel into control module.
Step 2
The control panel control LED of control module is closed；
Terminal processing device sends switching projecting apparatus order, Raspberry Pi switching projector by LAN to Raspberry Pi
Texture image.
Step 3
Control module sends photographing command, and more cameras of control are taken pictures simultaneously.
Step 4
Control module control LED is opened；
Terminal processing device sends switching projecting apparatus order, Raspberry Pi switching projector by LAN to Raspberry Pi
Black image.
Step 5
Control module sends photographing command, and more cameras of control are taken pictures simultaneously.
Step 6
Control module controls camera, performs download function, and every camera downloads two images, will by data transmission module
The image transmitting of download is to terminal processing device and is stored on disk.
It should be noted that in above-mentioned steps, above-mentioned steps 2 and step 4 are commutative.2,3,4 are performed in order and are held
The step of row 4,3,2 can realize identical effect.
Preferably, may include 3 to 12 in camera array three-dimensional reconstruction system, the camera of even more previous embodiments
Array three-dimensional reconstructing device.When to object take pictures three-dimensional modeling, object is placed on multiple camera array three-dimensional reconstructions
The centre of device, each device are uniformly distributed around the object, and object is taken pictures from multiple angles, and essence is carried out to object
True three-dimensional reconstruction.
In addition, in one of the embodiments, control panel is provided with the first wireless transceiver.Control panel can pass through institute
State the first wireless transceiver directly with terminal processing device radio communication.The control signal of receiving terminal processing unit, send control
Acquisition module is arrived in system order.
And for the data transmission module, in one of the embodiments, the data transmission module include router,
Interchanger and the second wireless transceiver.Raspberry Pi is connected by router and group of switches into LAN using netting twine with interchanger
Connect；Terminal processing device module is connected with interchanger using netting twine, so that terminal processing device, Raspberry Pi are at one
Under LAN.Wherein Raspberry Pi and terminal processing device have independent IP address.So as to be schemed by ICP/IP protocol
As being sent to terminal processing device module.Illustrating, in the present embodiment, every Raspberry Pi is connected by HDMI with projecting apparatus,
Different images is projected into projecting apparatus by Raspberry Pi, realizes the switching of projective textures image.
Further, second wireless transceiver is made up of two parts, part connection terminal processing device, a part
Control panel is connected, so that the two can be communicated.
One of ordinary skill in the art will appreciate that realize all or part of flow in above-described embodiment method, being can be with
The hardware of correlation is instructed to complete by computer program, described program can be stored in a computer read/write memory medium
In, the program is upon execution, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, described storage medium can be magnetic
Dish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access
Memory, RAM) etc..
Embodiment described above only expresses several embodiments of the present utility model, and its description is more specific and detailed,
But therefore it can not be interpreted as the limitation to the utility model patent scope.It should be pointed out that for the common of this area
For technical staff, without departing from the concept of the premise utility, various modifications and improvements can be made, these all belong to
In the scope of protection of the utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (11)
1. a kind of camera array three-dimensional reconstruction apparatus, it is characterised in that including support frame and be arranged on support frame as described above
Acquisition module and control module；The acquisition module and control module electrical connection；
The acquisition module is applied to receive the control command of the control module, and according to the control command to carry out three
The object that dimension is rebuild carries out IMAQ；
The work that the control module is applied to the acquisition module is controlled, and obtains image letter from the acquisition module
Breath；And
The acquisition module includes slr camera, projecting apparatus and lighting apparatus；The control module includes control panel and Raspberry Pi；
The control panel connects the slr camera and the lighting apparatus, and the slr camera and the lighting apparatus are carried out
Take pictures control；The Raspberry Pi connects the slr camera and the projecting apparatus, suitable for obtaining image from the slr camera
Information and the control projecting apparatus carry out image projection.
2. camera array three-dimensional reconstruction apparatus according to claim 1, it is characterised in that the slr camera passes through first
Adjusting bracket is arranged on support frame as described above, and the photo angle of the slr camera can be adjusted by first adjusting bracket；It is described
Projecting apparatus is arranged on support frame as described above by the second adjusting bracket, can adjust the projector by second adjusting bracket
Angle.
3. camera array three-dimensional reconstruction apparatus according to claim 2, it is characterised in that first adjusting bracket is two dimension
Head, described two-dimensional pan-tilt one end are fixedly connected with support frame as described above, and the other end fixes the slr camera.
4. camera array three-dimensional reconstruction apparatus according to claim 2, it is characterised in that second adjusting bracket includes solid
Fixed board, guide rail and one-dimensional head；
The fixed plate is fixedly connected with support frame as described above, and deep-slotted chip breaker is provided with the fixed plate；
The guide rail is slidably connected with the fixed plate, and the guide rail can be slided along the deep-slotted chip breaker to adjust the guide rail
Horizontal direction；
Described one-dimensional head one end is slidably connected with the guide rail, can along the guide rail slide with adjust the one-dimensional head with
The distance between photo-object；The one-dimensional head other end connects the projecting apparatus.
5. camera array three-dimensional reconstruction apparatus according to claim 1, it is characterised in that the quantity of the slr camera exists
More than two.
6. camera array three-dimensional reconstruction apparatus according to claim 1, it is characterised in that the quantity of the Raspberry Pi is one
More than individual, and every Raspberry Pi is connected by usb hub with more than two slr cameras.
7. camera array three-dimensional reconstruction apparatus according to claim 1, it is characterised in that the control panel passes through cable release
It is connected with the camera.
8. a kind of camera array three-dimensional reconstruction system, it is characterised in that include the camera battle array described in any one of claim 1 to 7
Row three-dimensional reconstruction apparatus, data transmission module and terminal processing device；
The data transmission module connects with the control module and terminal processing device communication respectively, schemes suitable for transmission
As information；
The terminal processing device connects with data transmission module communication, is transmitted suitable for receiving the data transmission module
The picture signal come, and handled.
9. camera array three-dimensional reconstruction system according to claim 8, it is characterised in that the control panel is provided with first
Wireless transceiver, for the control signal of receiving terminal processing unit, and control command is sent to the acquisition module.
10. camera array three-dimensional reconstruction system according to claim 8, it is characterised in that the data transmission module bag
Include router, interchanger and the second wireless transceiver；The Raspberry Pi connects the interchanger by netting twine；The router and
The interchanger communication connection composition LAN；The second wireless transceiver communication connects the control panel and the end
Manage device.
11. camera array three-dimensional reconstruction system according to claim 8, it is characterised in that the system include three with
The upper camera array three-dimensional reconstruction apparatus.
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| CN201720646422.5U CN207198919U (en) | 2017-06-05 | 2017-06-05 | Camera array three-dimensional reconstruction apparatus and system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110763136A (en) * | 2019-07-31 | 2020-02-07 | 武汉理工大学 | High-precision three-dimensional workpiece size detection system and method |
| WO2020038277A1 (en) * | 2018-08-21 | 2020-02-27 | 先临三维科技股份有限公司 | Image acquisition and processing methods and apparatuses for three-dimensional scanning, and three-dimensional scanning device |
| CN113301297A (en) * | 2021-04-27 | 2021-08-24 | 北京工业大学 | Work information acquisition device for tunnel construction machine and tunnel boring machine |
-
2017
- 2017-06-05 CN CN201720646422.5U patent/CN207198919U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020038277A1 (en) * | 2018-08-21 | 2020-02-27 | 先临三维科技股份有限公司 | Image acquisition and processing methods and apparatuses for three-dimensional scanning, and three-dimensional scanning device |
| US11887321B2 (en) | 2018-08-21 | 2024-01-30 | Shining3D Tech Co., Ltd. | Three-dimensional scanning image acquisition and processing methods and apparatuses, and three-dimensional scanning device |
| CN110763136A (en) * | 2019-07-31 | 2020-02-07 | 武汉理工大学 | High-precision three-dimensional workpiece size detection system and method |
| CN110763136B (en) * | 2019-07-31 | 2021-06-22 | 武汉理工大学 | High-precision three-dimensional workpiece size detection system and method |
| CN113301297A (en) * | 2021-04-27 | 2021-08-24 | 北京工业大学 | Work information acquisition device for tunnel construction machine and tunnel boring machine |
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