EP2852814A1 - Farbkodierung für 3d-messung insbesondere bei transparenten streuenden oberflächen - Google Patents
Farbkodierung für 3d-messung insbesondere bei transparenten streuenden oberflächenInfo
- Publication number
- EP2852814A1 EP2852814A1 EP13720338.6A EP13720338A EP2852814A1 EP 2852814 A1 EP2852814 A1 EP 2852814A1 EP 13720338 A EP13720338 A EP 13720338A EP 2852814 A1 EP2852814 A1 EP 2852814A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- line
- color
- contrast
- lines
- spectral components
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2509—Color coding
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
- G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
Definitions
- Field of the present invention are devices for determining three-dimensional surface coordinates of an object by means of optical color triangulation and corresponding methods.
- the measurement of the third dimension of a surface is becoming increasingly important in many areas of medical technology. For example, in minimally invasive surgery, the lack of size and distance estimation must be replaced by direct vision through measuring techniques.
- surface data obtained, for example, within the abdomen during surgery can be matched with data collected by other diagnostic methods, such as magnetic resonance, computerized tomography, or ultrasound techniques, to organs or diseased tissue better to recognize or locate.
- changes due to a "new" position of the patient during an operation or due to periodic changes in position caused, for example, by respiration should be taken into account.
- 3D measurement methods such as phase-coded active triangulation or laser scanning, which are in principle suitable for the application described.
- a method more suitable for medical 3D applications is disclosed in WO 01/48438.
- This disclosure suggests that the design of a two-dimensional color pattern consisting of colored pattern elements to provide a particularly compact and therefore interference-proof color pattern for coding.
- the aim is to determine a displacement position for a pattern element in the image recording of the two-dimensional color pattern projected onto an object. By subsequent triangulation with a known position of the projector in a camera, the three-dimensional data of an object point can be calculated.
- Color Coded Triangulation was also developed for medical applications and has significant advantages in the measurement of semi-transparent diffuse scattering media.
- Applications may be a three-dimensional measurement of the human face for biometric use in the cosmetic industry, a three-dimensional earcuff scan to produce optimally adapted hearing aids using this data, or a direct scan of the surface of the ear canal with a specially designed CCT. Scanner.
- the advantage of this measurement method is that it has many advantages of 3D measurement by means of active triangulation and is also very fast and comparatively robust. Fast means that it is able to measure in real time since only one image capture is needed to reconstruct the three-dimensional datasets.
- Robust means that by using the color coding of the projected pattern, a relatively good data reconstruction is possible even for biological surfaces, since it searches for color transitions or color edges during decoding and dispenses with the purely intensity-based data reconstruction.
- color stripe patterns with identical stripe widths for all colors have hitherto been selected. This is a useful approach for objects that have no or very little depth of penetration into the object medium and the value of the modulation transfer function is almost the same for all colors (wavelengths of light).
- the modulation transfer function breaks down with the degree of volume scattering, especially at high spatial frequencies. The volume spread tends to increase with wavelength. In fact, the effect also depends on the layer structure of, for example, the human skin. For the design of conventional color samples, corresponding variations are not considered.
- wavelength-dependent penetrating power into the surface-forming materials and resulting volume scattering should be taken into account.
- the object is achieved by a device according to the main claim and a method according to the independent claim.
- an apparatus for determining three-dimensional surface coordinates of an object by means of optical color triangulation comprising a projector device for illuminating the object with a set color stripe pattern, wherein the color stripe pattern extends along an axis and perpendicular to each with one to neighboring lines there is a different selection of spectral components of the projected light; a detecting means arranged in known relative position to the projector means for taking an image of the object onto which the color stripe pattern has been projected once; a computer device for calculating the three-dimensional surface coordinates by detecting the selection of the spectral components of a respective line and detecting a respective transition between two adjoining lines, wherein for all lines, by means of the projector device, the width of a respective projected line corresponding to the volume scattering effects of the spectral components selected for the line is set in the recorded image of the line all contrast maxima of all spectral components of this line are equal to a contrast minimum value.
- a method for determining three-dimensional surface coordinates of an object by means of optical color triangulation is claimed with the following steps. Illumination of the object with a set color stripe pattern carried out by means of a projector device, wherein the color stripe pattern extends along an axis and consists of perpendicular lines with a different selection of spectral portions of the projected light relative to adjacent lines; by means of a detection device arranged in a known relative position to the projector device, picking up an image of the object onto which the color strip pattern was projected once; calculating the three-dimensional surface coordinates by means of computer means by recognizing the selected spectral components of a respective line and detecting a respective transition of two adjacent lines and adjusting for all lines, by means of the projector means the width of a respective projected line corresponding to the volume scattering effects of the ones selected for the line Spectral components such that in the recorded image of the line all contrast maxima of all spectral components of this line are equal to a contrast minimum value.
- Contrast value it is advantageous that the number of measured values which can be recognized as valid increases for biological objects. Hole areas in the 3D image are avoided. This applies to pixels along a critical line that is only weakly detectable.
- the width of the respective line can be adjusted correspondingly to the volume scattering effects of the spectral components selected for the line in such a way that regions of maximum gradient of the contrast profiles of these spectral components coincide in the recorded image of the line.
- the contrast minimum value may be the value of the contrast transfer function of a pattern line with a fixed minimum width and a single spectral component consisting of a short-wave color which produces a relatively smallest volume scattering effect.
- the widths of the other lines may have remained unchanged or enlarged starting from this smallest width.
- the color causing a relatively small volume scattering effect can be blue.
- At least one spectral component can correspond to a single color. According to a further advantageous embodiment, the
- Projector device produce the selected spectral components by mixing the individual colors red, green, blue.
- the detection device can have a red-green-blue filter.
- the invariable smallest width can be at least -mm.
- Figure 1 shows an embodiment of a conventional color stripe pattern
- FIG. 3a shows another embodiment of a conventional color stripe pattern
- FIG. 3b shows an exemplary embodiment of a color stripe pattern according to the invention
- FIG. 4 shows modulation transfer functions of various individual colors
- FIG. 5a shows contrast profiles of a conventional line consisting of mixed colors
- FIG. 5b shows an illustration (color-dependent broadening) of FIG
- FIG. 5c contrast profiles of the invention set
- FIG. 1 shows an embodiment of a conventional color stripe pattern 1.
- the prerequisite for triangulation is that a pattern projected onto a surface is only deformed by the surface shape, since the information about the three-dimensional shape lies only in this deformation and not in addition due to penetration is changed in materials in its structure and its contrast. This causes increased measurement uncertainty, missing pixels and increased susceptibility to external light.
- Figure 1 shows a conventionally used color-coded pattern for the CCT.
- the color stripe pattern 1 extends along an axis x.
- the color pattern 1 consists of lines 3 perpendicular to this axis x with a selection of spectral components of the projected light which is different in each case to adjacent lines.
- Three-dimensional surface coordinates can be determined by detecting the selection of the spectral components of a respective line and detecting a respective transition 5 of two adjacent lines 3.
- color stripe patterns with identical fringe patches have been chosen for all colors. If one were to project such a color stripe pattern 1, each with identical line widths, onto a surface, which diffuses the color neutral in all spatial directions, then the contrast would be equally good for all wavelengths and colors in an image taken with a detector or camera, the color transitions 5 could be easily detected.
- color-selective different penetration of light into a body as well as different scattering ability change the pattern to be imaged in sharpness and contrast.
- Figure 2 shows these influences.
- FIG. 2 shows, on the right side, two modulation transfer functions which, once for a good system 15 and for a degraded system 17, represent contrast profiles as a function of the spatial frequency.
- the spatial frequency is defined by the number of line pairs per mm.
- a modulation transfer function MTF can also be named as a contrast transfer function.
- FIG. 2 shows as functions on the right the modulation transfer function 15 of a good system and on the left a modulation transfer function 17 which is degraded as a result of volume dispersion compared to the modulation transfer function 15.
- the optical parameters of Tissues are wavelength dependent and include an absorption coefficient, a scattering coefficient, an angular distribution of scattering and a refractive index.
- the angular distribution of the scattering is characterized for example by a g-factor and a phase function.
- a g-factor and a phase function.
- Figure 3a shows another embodiment of a conventional color stripe pattern.
- Each of the lines 3 each has a uniform width Br which is the same for all lines 3.
- contrast curves for each of the lines 3 after scattering on a volume spreader can be detected by means of a detection device of the device according to the invention.
- Each of these contrast gradients C shows an increase in contrast up to a contrast maximum CMax and a subsequent fall in a respective contrast curve.
- the contrast curves are axisymmetric.
- FIG. 3 a clearly shows that a volume scattering effect for the color blue B is smaller than the volume scattering effect of the color red
- the contrast curve 19 of the color blue B has a greater contrast maximum CMax than the contrast curve 19 of the color red R.
- FIG. 3 now shows a procedure according to the present invention.
- the width of the projected lines 3 is adapted to the respective volume scattering effect of the respective color.
- the width of a line 3 with red color R is increased in such a way that the contrast maximum CMax of the contrast course 19 of the red line 3 is increased. This widening can be carried out until the contrast maximum CMax of the red line corresponds to the contrast maximum CMax of the blue line.
- the width of each blue line remains unchanged.
- FIG. 4 shows a representation of the modulation transfer functions of lines of the color blue B and the color red R.
- a specific contrast value is achieved for this width assigned to the color blue B. This is now set as contrast minimum value CMin.
- CMin contrast minimum value
- the widths of the red lines 3 have been doubled.
- the legal value axis of the coordinate system according to FIG. 4 designates the number of line pairs per mm. Line pairs are labeled with the letter P.
- FIGS. 5a to 5c show a solution according to the invention for the case that a respective color of a line 3 is generated by means of a projector device as a mixed color.
- the image acquisition at the CCT takes place for example by means of single-chip cameras or three-chip cameras. That is, a color pattern is formed only by mixing the colors red, green and blue (RGB mixture) through the RGB filter of the detector or camera the color pattern again unmixed.
- RGB mixture red, green and blue
- FIGS. 5a to 5c now show a second exemplary embodiment of a color pattern according to the invention.
- the color pattern has here only one illumination spot, which can also be referred to as line 3.
- FIG. 5a shows the contrast profile in the recorded image after the volume scattering, wherein the illumination spot or the line 3 was produced by mixing the color red R and blue B.
- the volume scattering effect can spatially separate the participating RGB components in the biological medium. This means that edge transitions each have a chromatic aberration (formation of a dyeing area).
- FIG. 5b shows how the very small violet spot 3, which according to FIG. 5a was produced by mixing red and blue and projected onto an object to be measured, is recognized by an eye.
- the corresponding observation with the eye according to FIG. 5b shows that the eye changes the violet spot 3 in its hue and produces a red color fringe on the left and on the right.
- the mixed color is violet-segregated and would be detected as a blue and a dark red spot, with the red spot having a larger diameter.
- FIG. 5c now shows an adaptation according to the invention of the original line according to FIG. 5a.
- the width of the strip or line 3 produced with mixed colors is chosen such that the modulation transfer functions MTF for both colors - which are red and blue - is almost the same, exceeds a minimum value and additionally the areas of maximum slope the contrast curves 19 in the recorded image coincide.
- the areas of maximum slope are marked with SMax.
- a device and a method for determining three-dimensional surface coordinates of an object by means of optical color triangulation are proposed, wherein all lines of a color stripe pattern each have a width adjusted such that in a recorded image of the line all contrast maxima CMax of all spectral components of a line 3 equal one Contrast minimum value CMin are. Starting from an invariable smallest width of a pattern line 3a with a spectral component of greatest contrast, further lines 3 can be correspondingly widened.
- the invention is particularly advantageous for a 3D measurement of biological tissue, which may be transparent and scattering.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102012213084 | 2012-07-25 | ||
PCT/EP2013/058748 WO2014016001A1 (de) | 2012-07-25 | 2013-04-26 | Farbkodierung für 3d-messung insbesondere bei transparenten streuenden oberflächen |
Publications (1)
Publication Number | Publication Date |
---|---|
EP2852814A1 true EP2852814A1 (de) | 2015-04-01 |
Family
ID=48289125
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP13720338.6A Withdrawn EP2852814A1 (de) | 2012-07-25 | 2013-04-26 | Farbkodierung für 3d-messung insbesondere bei transparenten streuenden oberflächen |
Country Status (6)
Country | Link |
---|---|
US (1) | US9404741B2 (de) |
EP (1) | EP2852814A1 (de) |
JP (1) | JP6005278B2 (de) |
KR (1) | KR101651174B1 (de) |
CN (1) | CN104583714B (de) |
WO (1) | WO2014016001A1 (de) |
Families Citing this family (8)
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EP2823252A1 (de) * | 2012-03-09 | 2015-01-14 | Galil Soft Ltd | System und verfahren zur berührungslosen messung einer 3d-geometrie |
US9389067B2 (en) * | 2012-09-05 | 2016-07-12 | Canon Kabushiki Kaisha | Three-dimensional shape measuring apparatus, three-dimensional shape measuring method, program, and storage medium |
US9860520B2 (en) * | 2013-07-23 | 2018-01-02 | Sirona Dental Systems Gmbh | Method, system, apparatus, and computer program for 3D acquisition and caries detection |
DE102014207022A1 (de) * | 2014-04-11 | 2015-10-29 | Siemens Aktiengesellschaft | Tiefenbestimmung einer Oberfläche eines Prüfobjektes |
US10753726B2 (en) * | 2017-03-26 | 2020-08-25 | Cognex Corporation | System and method for 3D profile determination using model-based peak selection |
CN112740666A (zh) | 2018-07-19 | 2021-04-30 | 艾科缇弗外科公司 | 自动手术机器人视觉系统中多模态感测深度的系统和方法 |
JP2022526626A (ja) | 2019-04-08 | 2022-05-25 | アクティブ サージカル, インコーポレイテッド | 医療撮像のためのシステムおよび方法 |
US20220341786A1 (en) * | 2021-04-21 | 2022-10-27 | Chiseki Yamaguchi | Color change identificaton method |
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CA2373284A1 (en) * | 1999-05-14 | 2000-11-23 | 3D Metrics, Incorporated | Color structured light 3d-imaging system |
DE19963333A1 (de) | 1999-12-27 | 2001-07-12 | Siemens Ag | Verfahren zur Ermittlung von dreidimensionalen Oberflächenkoordinaten |
US6937348B2 (en) | 2000-01-28 | 2005-08-30 | Genex Technologies, Inc. | Method and apparatus for generating structural pattern illumination |
JP2001338863A (ja) * | 2000-05-29 | 2001-12-07 | Nikon Corp | アライメント方法及びアライメント装置、露光方法及び露光装置 |
US7349104B2 (en) | 2003-10-23 | 2008-03-25 | Technest Holdings, Inc. | System and a method for three-dimensional imaging systems |
US7154613B2 (en) * | 2004-03-15 | 2006-12-26 | Northrop Grumman Corporation | Color coded light for automated shape measurement using photogrammetry |
US20060072122A1 (en) * | 2004-09-30 | 2006-04-06 | Qingying Hu | Method and apparatus for measuring shape of an object |
US20070115484A1 (en) * | 2005-10-24 | 2007-05-24 | Peisen Huang | 3d shape measurement system and method including fast three-step phase shifting, error compensation and calibration |
CA2528791A1 (en) * | 2005-12-01 | 2007-06-01 | Peirong Jia | Full-field three-dimensional measurement method |
KR100708352B1 (ko) * | 2006-03-07 | 2007-04-18 | 한국과학기술원 | 모아레 원리의 2π 모호성과 위상천이 수단이 없도록실시되는 3차원 형상 측정장치 및 그 방법 |
CN100408972C (zh) * | 2006-07-27 | 2008-08-06 | 西安交通大学 | 基于双频彩色条纹投影的三维物体轮廓相位测量方法 |
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CN101441066B (zh) * | 2008-12-23 | 2010-07-21 | 西安交通大学 | 彩色条纹编码的相位去包裹方法 |
TWI414748B (zh) * | 2009-01-23 | 2013-11-11 | Univ Nat Taipei Technology | 同步色相相移轉換方法以及其三維形貌量測系統 |
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DE102009017465B4 (de) * | 2009-04-03 | 2011-02-17 | Carl Zeiss Oim Gmbh | Verfahren und Vorrichtung zum optischen Inspizieren einer zumindest teilweise reflektierenden Oberfläche an einem Gegenstand |
US20100268069A1 (en) | 2009-04-16 | 2010-10-21 | Rongguang Liang | Dental surface imaging using polarized fringe projection |
US20110298891A1 (en) * | 2010-06-04 | 2011-12-08 | Iowa State University Research Foundation, Inc. | Composite phase-shifting algorithm for 3-d shape compression |
EP3669819B1 (de) * | 2010-07-12 | 2022-04-13 | 3Shape A/S | 3d-modellierung eines objekts unter verwendung von strukturmerkmalen |
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US9459094B2 (en) * | 2013-09-12 | 2016-10-04 | Hong Kong Applied Science and Technology Research Institute Company Limited | Color-encoded fringe pattern for three-dimensional shape measurement |
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2013
- 2013-04-26 JP JP2015523452A patent/JP6005278B2/ja not_active Expired - Fee Related
- 2013-04-26 KR KR1020157004883A patent/KR101651174B1/ko active IP Right Grant
- 2013-04-26 WO PCT/EP2013/058748 patent/WO2014016001A1/de active Application Filing
- 2013-04-26 US US14/415,803 patent/US9404741B2/en not_active Expired - Fee Related
- 2013-04-26 CN CN201380039536.8A patent/CN104583714B/zh not_active Expired - Fee Related
- 2013-04-26 EP EP13720338.6A patent/EP2852814A1/de not_active Withdrawn
Non-Patent Citations (2)
Title |
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See also references of WO2014016001A1 * |
Also Published As
Publication number | Publication date |
---|---|
WO2014016001A1 (de) | 2014-01-30 |
US20150176983A1 (en) | 2015-06-25 |
JP6005278B2 (ja) | 2016-10-12 |
KR101651174B1 (ko) | 2016-08-25 |
CN104583714B (zh) | 2017-07-04 |
JP2015522826A (ja) | 2015-08-06 |
US9404741B2 (en) | 2016-08-02 |
KR20150034289A (ko) | 2015-04-02 |
CN104583714A (zh) | 2015-04-29 |
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