EP3103101A1 - Method for creating a 3d model of an object and corresponding model calculation device and model calculation device - Google Patents

Method for creating a 3d model of an object and corresponding model calculation device and model calculation device

Info

Publication number
EP3103101A1
EP3103101A1 EP14703270.0A EP14703270A EP3103101A1 EP 3103101 A1 EP3103101 A1 EP 3103101A1 EP 14703270 A EP14703270 A EP 14703270A EP 3103101 A1 EP3103101 A1 EP 3103101A1
Authority
EP
European Patent Office
Prior art keywords
video data
data stream
model
reduced
frames
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Withdrawn
Application number
EP14703270.0A
Other languages
German (de)
French (fr)
Inventor
Jan-Friso Evers-Senne
Martin Stratmann
Hellen ALTENDORF
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Testo SE and Co KGaA
Original Assignee
Testo SE and Co KGaA
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Testo SE and Co KGaA filed Critical Testo SE and Co KGaA
Priority to PCT/EP2014/000322 priority Critical patent/WO2015117622A1/en
Publication of EP3103101A1 publication Critical patent/EP3103101A1/en
Application status is Withdrawn legal-status Critical

Links

Classifications

    • GPHYSICS
    • G11INFORMATION STORAGE
    • G11BINFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
    • G11B27/00Editing; Indexing; Addressing; Timing or synchronising; Monitoring; Measuring tape travel
    • G11B27/36Monitoring, i.e. supervising the progress of recording or reproducing
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00Three dimensional [3D] modelling, e.g. data description of 3D objects
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/50Depth or shape recovery
    • G06T7/55Depth or shape recovery from multiple images
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/50Depth or shape recovery
    • G06T7/55Depth or shape recovery from multiple images
    • G06T7/564Depth or shape recovery from multiple images from contours
    • GPHYSICS
    • G11INFORMATION STORAGE
    • G11BINFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
    • G11B20/00Signal processing not specific to the method of recording or reproducing; Circuits therefor
    • G11B20/00007Time or data compression or expansion
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00Details of television systems
    • H04N5/76Television signal recording
    • H04N5/765Interface circuits between an apparatus for recording and another apparatus
    • H04N5/77Interface circuits between an apparatus for recording and another apparatus between a recording apparatus and a television camera
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00Indexing scheme for image data processing or generation, in general
    • G06T2200/08Indexing scheme for image data processing or generation, in general involving all processing steps from image acquisition to 3D model generation
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00Indexing scheme for image data processing or generation, in general
    • G06T2200/16Indexing scheme for image data processing or generation, in general involving adaptation to the client's capabilities
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00Indexing scheme for image data processing or generation, in general
    • G06T2200/24Indexing scheme for image data processing or generation, in general involving graphical user interfaces [GUIs]
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/10Image acquisition modality
    • G06T2207/10016Video; Image sequence
    • GPHYSICS
    • G11INFORMATION STORAGE
    • G11BINFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
    • G11B20/00Signal processing not specific to the method of recording or reproducing; Circuits therefor
    • G11B20/00007Time or data compression or expansion
    • G11B2020/00072Time or data compression or expansion the compressed signal including a video signal

Abstract

The invention relates to a model calculation system (1) for creating a detailed 3D model (20), comprising a receiving device (3) for producing a first video data stream (4), and to produce a reduced video data stream (13) from frames (26) of the first video data stream (4), and to create an approximate 3D model (30) which is to be processed further.

Description

A method for creating a 3D model of an object and corresponding model calculation means and a model computation system

The invention relates to a method of: creating a detailed 3D model of an object, comprising: a receiving device of the O j ect a first video data stream recorded with frames, and is transmitted to an external computing unit, and the detailed 3-D model in the external processing unit is created from the frames of the first video data stream.

The Invention further relates to a model calculating device with a receiving device which is adapted to receive a first video data stream comprising frames from an object with a Dätenschnittstelle which is adapted for establishing a data connection to an external computing unit and for transmitting the first video data stream over the data connection and with a local computing device.

Finally, the invention relates to a model calculation unit.

It is known to create 3D models from video streams of frames. For this striking image points can be identified, for example, in the captured frame and corresponding pixels are set in different frames are related. For each set related image points is now a system of equations can be set up, soft describing interrelated set pixels as projections or images of an object from different recording poses. This- system of equations can be solved computer implemented, as a result, three-dimensional position information: to the identified pixels and information on the recording poses were: the individual frames of the video stream recorded sawn riding are.

The known processes have the disadvantage that they are computationally intensive 0. therefore, it is difficult to implement the necessary routines in hand-held devices to allow an immediate visual check of the result in the recording. the task 5 of the invention is of providing technical support to the creation of 3D models.

To achieve this object the features of claim 1 are provided according to the invention. In particular, the 0-mentioned object is thus to the solution proposed according to the invention in a method of the aforementioned type that connected from the frames of the first video data stream to a recording device, local computing device, a reduced video stream is generated and that from the reduced video data stream 5 an approximate 3D model of the object is created. Which he-

·; · ■ invention offers the advantage that with the reduced video stream complexity of a mathematical problem to create a 3D model is drastically be reduced. Thus, the approximate 3D model of the invention is manageable even with the typical 0 cally limited computing capacity of a portable computer unit. The invention thus makes it possible to provide initial information about the resulting 3D model in the form of an approximate 3D model at hand a user without recourse to an external processing unit. This allows users to control on the ground in the vicinity of the object, whether the first video stream to generate the ■ detailed 3D model is sufficient, or whether a new or additional video stream to be recorded. The computing power of a stationary computer unit is not required. The method can also be executed with the limited resources of a hand-held meter. In one embodiment of the invention it can be provided that the approximate 3D model created during the continued recording of the first video data stream and / or is updated. , Is that during the recording process is already a visual inspection of the expected working beitsergebnis feasible in the form of a detailed 3D model of advantage. Because based on the approximate 3D model the user can easily recognize whether, for example, details of the object is still detected insufficient. In one embodiment of the invention that the approximate 3D model is displayed can be provided. is when the approximate 3D model is displayed on the local computing device is particularly favorable. , Is that the user gets a first impression of how the detailed 3D model will look expected from the object due to the recorded first video data stream is advantageous. It is particularly favorable when the approximate 3D model is displayed during the continuous recording of the first video data stream. Thus, a visual inspection of the recording process in real time can be performed. Improvements of the first video data stream by, for example, additional shots are executed immediately on the spot. In one embodiment of the invention that the reduced video data stream is generated by reducing an image resolution of the frames of the first video data stream can be provided. , Is that the complexity of the image processing of the frames can be reduced an advantage. This provides a computing effort is significantly reduced.

Alternatively or additionally, it may be provided that the reduced video data stream generated by a selection of a subset of the frames of the first video data stream. This may provide that an alternative way to reduce the amount of data is executable beneficial.

it when the two ways to re- duce be combined is particularly favorable.

A third option to reduce the video data stream is that the reduced video data stream generated by an extraction of prominent structures of the frames of the first video data stream. , Is that unimportant Dateninha-lte be suppressed in the reduced video stream beneficial. These unimportant data contents would otherwise be the lo cal computer unit ^ unnecessarily burden in calculating the approximate 3D model. For example, DIE se prominent structures by planes and / or edges can! be given in ^ the frames that are automatically discoverable by methods of image processing. , Is that an automated reduction of the video stream is executable beneficial. It is particularly favorable here if this variant of the reduction-the video data stream with one or both of the previously described reduction of the video stream is combined.

In contrast to the lossless data compression to reduce the invention of the video stream causes a real reduction of the data content. In contrast, a compression of the data content usually remains the same, while only the representation of the data content is optimized to allow a whole is sufficient less space.

The inventive reduction of the video stream can be reduced complexity to be solved mathematical systems of equations.

In one embodiment of the invention that the reduced video data stream is composed of reduced and / or selected frames can be provided, wherein the reduced and / or selected frames tested for suitability for the Erstel- development of the approximate 3D model and in the absence of utility from the reduced video data stream are removed. This may provide that the amount of data in the reduced video data stream is again reduced beneficial. Thereby creating the approximate 3D is Odell again accelerated. The test for usability may include :: example, the identification of outliers or the elimination of frames that can be brought content with others frames in correspondence.

In one embodiment of the invention it can be provided that for the approximate 3D model; Plausibility and / or integrity check is performed. , Is that the user can be displayed automatically when the detailed video stream sufficient to produce a complete detailed 3D model of advantage. Another advantage is further that the user areas of the object can be displayed for which the recording of the video data stream must be repeated. Thus can already spot the object an initial check of the quality of the captured video stream. This has the advantage that faulty video streams are easily correctable, by complementing the recording and / or is repeated.

In one embodiment of the invention can be provided that for creating the approximate 3D model of: the reduced video data stream at least one point sequence and / or. is / are calculated at least one edge and / or surface model. With the point sequence an approximate 3D model is thus providable easily. The use of edge and / or mathematical models has the advantage that the visual impression of the created approximate 3D model can be improved, so that a user can identify simply connected structural elements.

In one embodiment of the invention that is calculated from the reduced data stream at least one envelope and / or at least one envelope surface / are can be provided. , Is that external boundaries and contours of the 3D model are easily predictable, identifiable or viewable advantage. it when the envelope and / or the envelope to create the approximate 3D model is calculated net / are particularly favorable. is of advantage that said at least one envelope and / or at least one envelope in a simple; che, an exterior view of the 3D model can be generated.

By using envelope or envelope surfaces are artifacts that may arise due to the data reduction in video stream in approximate 3D models easily compensated or suppressed.

In one embodiment of the invention that the receiving device is calculated during the recording of the first video data stream from the reduced video data stream an entrance Epics, motion and / or pose change can be provided. This may provide that: ready additional information that facilitate or support the mathematical resolution of the aforementioned com- plex equation system :: for calculating the detailed SD model. The: computational effort to calculate the detailed 3D model is also reduced so as calculation results arising in the already manner described by solving the system of equations for the full data content, at least approximately, are in advance providable as input variables. This makes it especially with optimization methods to reduce the computational effort for the creation of detailed 3D model significantly.

It may be provided that the calculated Shoo Epics, motion or pose change of the receiving device is transmitted to the first video data stream to the external processing unit. It is of advantage here that the Shoo epic, movement or poses change the recording device as an additional in- put for the calculation of detailed 3D model is providable ... it when the transfer is made with the first video data stream is particularly favorable. Thus, a further use of the calculated Shoo Epics, motion or alteration Posenän- executed in real time in the processing of the full video stream.

In one embodiment of the invention that is an object-independent constraint, by which a complexity of the object is reduced at least used to create the approximate 3D model may be provided. , Is the data content that is irrelevant to the creation of an approximate 3Q model are removable in an automated or computer-implemented manner beneficial. For example, such an object-independent Ne ¬ benbedingung state that the object .. a specific geometric shape! has, that the object of surfaces of a certain shape and / or size is composed (and therefore may have no "holes" below the size of these areas) or that other geometrical and / or algebraic properties of the object to reduce the amount of data can be used. in one embodiment of the invention that the detailed 3D model is created in an optimization routine for an energy functional can be provided. the advantage is that an accurate calculation of the 3D model is made possible from the full data content of the first video data stream.

In one embodiment of the invention it can be provided that the arithmetic unit with the external detailliere created 3D model is transmitted to the local computing device. This may provide that a display and / or further processing of the full, detailed 3D model on the local computing device after the compute-intensive calculation steps have been completed for the creation of detailed 3D model is executable beneficial. As an external computer unit each compute and / or storage unit can be used, such as an external PC, a Speicherbzw. Computing space on the Internet (so-called "cloud"), and the like.

To achieve the above object, the features of the independent directed to a model calculation apparatus claim are provided in a model calculation means. In particular, the-called object is thus according to the invention, the invention proposes for a model calculation device of the type described in the introduction to the solution, that the local processing unit for generating a reduced digital video data stream from the frames of the first video data stream and for creating an approximate 3D model of the object from the reduced video data stream is set up. :, is advantageous that: model calculation device is provided, with which the inventive method is executable. Preferably, the model calculation device is designed as a hand-held device which can be connected via the data interface set with a preferably stationary external processing unit.

In one embodiment of the invention, can be provided that the local computing device to a calculation of a Shoo Epics, motion and / or pose change of the recording device during recording of the first video data stream from the reduced video data stream is set up. , Is of advantage that additional information is obtainable in the local computing device which can be used to reduce a complexity of the mathematical problem for the creation of detailed 3D model: is.

It may be provided that the local computing device to a link of the calculated Shoo Epics, motion and / or pose change of the recording device is adapted to the first video data stream. , Is advantageous that the detailed, originally recorded first video data stream is accumulative with additional information which .gestatten a reduction in the complexity of calculating mathematical problem. it if the link is made at the correct time is particularly favorable. In this case can be characterized a time-correct combination characterized in that the calculated Shoo Epics, movement and / or change poses the receiving device is allocated to those frame or frames to that which or to Shoo Epics or during the movement; or: Poznan change was recorded. :

In one embodiment of the invention, can be provided that is set up a display unit to display the created approximate 3D model and / or to display the calculated detailed 3D model. The indication of the approximate 3D model HAT the advantage that an immediate visual inspection during assembly is ahmevorgangs executable. The display of the detailed 3-D model has the advantage that a working result, immediately after the calculation, for example when the user is not locally on the object can be viewed. Thus, a user quickly decide whether additional images of the object to create an improved idetaillierten 3D model are needed or whether the work product for his purposes is sufficient. In one embodiment of the invention, it can be provided that the local computing unit is set to a reduction of image resolution. This may provide that a simple variant of the provision of reduced video data stream can be achieved an advantage: Alternatively or additionally it can be seen superiors that the local computing unit is set to a reduction of image content. The reduction of the image content may be in a reducing section and / or with a reducing agent, for example, identification and extraction of prominent structures such as layers and / or edges or suchlike, done. , Is that unimportant image contents can be removed before creating the approximate 3D model so that the total computational effort to create the approximate 3D model is clearly reduzierbär beneficial. According to a third variant, with the. aforementioned variant is combined, it may be provided that the local computing unit is set to a selection of a subset of the frames of the first video data stream. This may provide that the amount of data is simply reducible beneficial. For example, it may be provided that each is removable for transfer into the reduced video data stream provided frame from the reduced video data stream as it frame to approximate 3D model would not contribute or only insignificantly. In this way, the required computing capacity can be reduced again, as the effort to create the approximate 3D model is again reduced. In one embodiment of the invention, can be provided that the local computing device to create at least a point cloud is set up from the reduced video data stream. , Is that a three-dimensional representation of the captured object can be generated beneficial. The Erstel- development of point clouds by itself is known and can be applied with advantage.

:: Here, or in a further embodiment of the invention 'may be provided that the local computing device to a calculation of at least one envelope and / or at least one envelope surface is arranged from the reduced video data stream. it when calculating the envelope or envelope from the previously calculated approximate 3D model is derived is particularly favorable. The use of envelope curve or envelope surfaces has the advantage that calculation errors resulting from the reduced resolution or amount of data that can be compensated. Synergy effects can be achieved if such are in particular described above and / or according to one of directed to a method protection claims, formed and arranged in the inventive model calculation device comprises means for carrying out a method according to the invention. The decor: can here; for example, by suitable programming.

The above-mentioned object is achieved in a model calculation system of the type described at the outset in that a model calculation device of the invention is formed and that is formed with the model calculation means for data transfer connectable external computing unit, wherein the external processing unit to produce a detailed 3D model from the over the data link transmitted first video data stream is set up. , Is a division of labor between a fast, creating inaccurate an approximate 3D model on the one hand and an accurate, but expensive method for creating a detailed 3D model can be set up beneficial. Thus, it can be achieved according to the invention that an approximate representation of the 3D model is calculated in advance and is used to control the recording of the video stream for the preparation of the detailed 3D model.

The invention will now be described in detail based on an embodiment, but is not limited to this embodiment. Further embodiments result from the combination of features of one or more protection claims among each other and / or with one or more features of the embodiment.

It shows a highly simplified block diagram of position: Figure 1 is a model calculation system according to the invention with an inventive model calculation means for carrying out a method according to the invention and

2 shows steps of a method according to the invention.

1 shows in a highly simplified schematic diagram in block diagram a designated as a whole with 1 model calculation system according to the invention.

The model calculation system 1 has a model calculating device 2, which is equipped with a receiving device. 3

The receiving device 3 is adapted for receiving a first video data stream 4 with frames by a non-illustrated object.

To this end, in an imaging step 5, the individual frames are recorded with the recording device. 3 The recorded frames are then compressed in an image compressing step 6 and added to the first video data stream 4, as long as a termination condition a; Loop 7 is not satisfied.

The model calculation system 1 has a data interface 8 through which a data link 9 to an external computing unit 10 can be built up.

The external processor unit 10 is formed separately from the model calculation means 2 and at a remote location up the data connection 9 is established between the data interface 8 and a counter data interface 11 of the external computing unit 10th This may be be a wired or a wireless data connection 9;

The model calculation means 2 has a local computing device 12, which in the model calculation device: is embodied integrated: 2nd

The local processing unit 12 is adapted to generate a reduced video data stream 13 from the frames of the first video data stream. 4

12 For this purpose, the local computing device, a reducing agent 14, with which in a known manner an image resolution of the frames 26 is reduced. In addition, the number of processed frames 26 of the first Videodatenströms 4 by a subset of these frames 26 is selected with the reducing agent 14 may also be reduced.

The data size of the reduced video data stream 13 is reduced in this way considerably compared to the amount of data of the first video data stream. 4

A modeling unit 15 is adapted for creating an approximate 3D model 16 of the object taken from the reduced video data stream. 13

For this purpose, a system of equations is generated from the frames of the reduced video data stream 13, which describe the absorption solution poses of the pickup 3 during the recording of the frames 26th The local processing unit 10 is thus to calculate a Shoo Epics, a movement and a change poses the pickup 3 during the recording of the: first video data stream 4, between: or in the recordings: the individual frames is established. this local computing device 12 processes the reduziertehiVideodatenstroms 13th

A link unit 16 receives the computed of information 10 ones 17 to an entrance Epics, a motion or pose change of the receiving device 3, for example in the form of individual recording poses and / or differences of recording poses of the model acquisition unit 15, and adds the information at the correct time to the first video data stream 4 ,

15

The first video data stream 4 is thus enriched by the Informatio 17 to an enriched video data stream 18 by the respectively associated information is linked 17 via an entrance Epics and / or a movement 20 or poses modification to the previous frame to the frames of the first video data stream. 4

On a display unit 19, the created approximate model 16 can be displayed.

· Unit 15 adapted to the reduced frames 28 from the reduced video data stream, a point cloud is at least buildable; ■■■:;: 25 To create the approximate 3D model is the Mode11er-. This point cloud is used as a base 5 for the calculation of the approximate 3D model 30th

30

By the already described reduction of the amount of data to create the reduced video data stream 13 resulting in the creation of approximate 3D model 30 voids and discontinuities and the like which make it difficult to comparison with the object to be picked.

The modeling unit 15 is therefore configured to create an envelope and / or an envelope to the point cloud. This envelope or envelope surface describes the external appearance of the object with sufficient accuracy. The user can thus directly compare the approximate 3D model 30 with the recorded object.

Instead of a point cloud or in addition to a point cloud model creation unit may create 15 an edge and / or surface model from the reduced frames 28 of the reduced video data stream. 13 To this end, the recording subject is approximated by elementary geometric shapes.

The external processing unit 10 is adapted to produce a detailed 3D model of the 20th 10 For this purpose, the external calculation unit to an optimization unit 21, wherein an optimization routine is executed for an energy functional to calculate the detailed 3D model 20 in a known manner.

The calculated detailed 3D model 20 is provided with a second data interface 22 via a second data link 23 to a second, transferable counter data interface 24 of the model calculation means. 2

The inventive method proceeds according to FIG. 2

After the start 25, a first video data stream 4 is created in the model calculation means 2 to the receiving device 3 in the manner already described. During the continued recording of the first video data stream 4 are each a reduced frame 28 is created from the copied frame 26 of the first video data stream 4 in a reduction step 27th

This is done by reducing the image resolution of the frames 26 and / or by selecting a subset of the frames 26 of the first video data stream 4. Alternatively or additionally, it may be provided in the reduction step 27 that distinctive structures, for example, planes and / or edges extracted from the frames 26 become.

In a test step 29, the reduced frames 28 are tested for usefulness for creating the approximate 3D Odell 30th

The discarded frames 31 are removed from the reduced video data stream. 13 In a Shoo Epics -Berechnungsschritt 32 recording poses are composed of the reduced frames 28 in a known manner; Pickup 3 is calculated during the recording of the respective frames 26th

The consequence of this recording poses provides information 17 about the movement or the like. Poses change in the recording device 3 currency rend recording the first video stream 4 ·. This information 17 is returned to the first video data stream 4 and combined in a combining step 33 with the frames of the first video data stream 4, wherein a temporal assignment is maintained. This results in the enriched video data stream 18, a model calculation step is from 34: to the reduced video data stream 13 in the local computing unit 12 calculates the approximate 3D model 30th

This approximated 3-D model 30 is then displayed in a display step 35 on the display unit 19th The ahmepose with the information 17 about an up, movement or Po senänderung of: capturing device 3 enriched first video data stream 4 is supplied via the data link 9 of the external computing unit 10th

In the external calculating unit 10 of the enriched video data stream 18 is first decompressed in a decompression 36th Step 37 calculates a detailed 3D model 20 - then in manner known per se from the frames 26 of the video data stream 4 and the associated information 17 in the enriched video data stream 18 in a Model lberechnungs is. For this, the decompressed enriched video stream is further processed in a conventional manner 18th

In the optimization unit 21 for this purpose an optimization runs - routinely from, which enables energy functional is optimized. The information Shoo epic, movement or poses change the recording device 3 contained in the enriched video stream 18, are used to select a computationally convenient base for the optimization routine.

In a transfer step 38, the calculated detailed 3D model 20 is transferred back to the local model calculation device 2 via the second data connection 23rd In a display step 39, the detailed 3D model is displayed on the display unit 19 of the model calculation device 20 2, whereupon the end 40 of the method is reached; The display step 35 in this case runs out during the preparation of the first video data stream. 4 The approximated 3-D model 30 is thus during recording is constantly improving of the first video data stream. 4

A user can easily check whether the object has already been completely captured to create the detailed 3D model 20 or whether more frames to be included 26 thus during the recording of the first video data stream. 4 For this, the modeling unit 15 is designed to carry out a plausibility or completeness check. In this test, flaws or inconsistencies in the reduced video data stream 30 can be determined automatically and displayed to the user on the display unit 19 or output in another way.

To reduce, the computation complexity in the calculation of the approximated 3-D model 30 in the modeling unit 15 independent object-side conditions can be used to reduce the complexity of the captured object. Such constraints can: ■ for example, describe that the object is approximately composed of elementary geometric shapes, such as regular or irregular lines, surfaces and / or bodies.

In the inventive model calculation system 1 is proposed to generate in a detailed 3-D model 20 with a pick-up device 3 is a first video data stream 4 and from frames 26 of the first video data stream: 4 to generate a reduced video data stream 13 and to generate an approximated 3-D model 30 further processing.

/Claims

Claims

claims
Recorded video data stream (4) with frames (26) and to an external computing unit (10): A process for the preparation of a detailed 3D model (20) of an object, having a receiving device (3) from the object, a first: is transmitted and wherein the detailed 3D model (30) is created in the external processing unit (10) from the frames (26) of the first video data stream (4), characterized in that the frames (26) of the first video data stream (4) in a with Aufnahmevorrich- the device (3) connected to the local computing unit (12), a reduced video data stream (13) is generated and that from the reduced video data stream (13) an approximate SD model (30) of the object is created.
A method according to claim 1, characterized in that the approximate 3D model (30) during the continued recording of the first video data stream (4) is created and / or updated and / or that the approximative SD model (30) preferably during the continued recording said first video data stream (4) is displayed.
A method according to claim 1 or 2, characterized in that the reduced video data stream (13) by reducing an image resolution of the frames (26) of the first video data stream (4) and / or (by selecting a subset of the frames (26) of the first video data stream 4 ) is produced and / or that the reduced video data stream (13) by an extraction of prominent structures, and in particular layers and / or edges of the frames (26) of the first video data stream (4) is generated. Method according to one of claims 1 to 3, characterized in that the reduced video data stream (13) is composed of reduced and / or selected frames (28), the reduced and / or selected frames (28) on usefulness for creating tested of approximate 3D model (30) and in the absence of utility from the reduced video data stream (13) are removed, and / or that for the SD approximative model (30) has a plausibility and / or integrity check is performed.
A method according to any one of claims 1 to 4, characterized in that for creating the approximate SD model (30), the:. Reduced video data stream (13) is calculated at least one point cloud, and / or at least one edge and / or surface model / and / or that of the reduced video data stream (13), in particular for creating the approximate 3D model (30), at least one envelope and / or at least one envelope surface is / are calculated.
Method according to one of claims 1 1 to 5, characterized in that from the reduced video data stream (13), an entrance Epics, motion and / or pose change of the Aufnahrr.evorriehtung (3) during the recording of the first video data stream (4) is calculated, in particular wherein on the calculated ahmepose, motion and / or pose change of the receiving device (3) preferably with the first video data stream (4) to the external processing unit (10) is transmitted.
Method according to one of claims 1 to 6, characterized at least indicates that the establishment of the approximate .SD- model (30) an object-independent constraint by: a complexity which: the object is reduced, is used.
A method according to any one: of claims 1 to: 7, characterized in that the detailed 3D model (20) is created in an optimization routine for an energy functional and / or that with the external processing unit (10) prepared detailed 3D model (20 ) is transferred to the local processing unit (12).
Model calculating means (2), with a receiving device (3) which is arranged with frames (26) from an object to a receiving a first video data stream (4), having a data interface (8) which for establishing a data connection (29) with a external computing unit (10) and for transmitting the first video data stream (4) via the data link (29) is arranged, and with a local computing unit (12), characterized in that the local processing unit (12) for generating a reduced digital video data stream (13) is set from the frames (26) of the first video data stream (4) and to create an approximate 3D model (30) of the object from the reduced video data stream (13).
Model calculation device (2) according to claim 9, characterized in that the local processing unit (12) to a calculation of a Shoo Epics, motion and / or pose change of the receiving device (3) during the recording of the first video data stream (4) from the reduced video data stream (13) is established, in particular wherein the local computing device (12) to a preferably time-correct combination of the calculated Shoo epics, motion and / or pose change of the receiving device (3) to the first video data stream (4) is established.
I ii Modellberechnungsvorrichtüng (2) according to claim 9 or 10, characterized in that a display unit (19) for displaying the created approximate 3D model (30) and / or the calculated detailed 3D model (20) is arranged.
Model calculation device (2) according to any one of claims 9 to 11, characterized in that the local processing unit (12) in a reduction of image resolution and / or image content, in particular by extraction of prominent structures, in particular layers and / or edges of the frames set (26) of the first video data stream (4) and / or to a selection of a subset of the frames (26) of the first video data stream (4)
Model calculating means (2) from 9 to 12, characterized in that the local processing unit (12) to a preparation of at least one point to one of the claims - Wölke and / or at least one edge and / or surface model from; the reduced video data stream (13); is set and / or that the .lokale computing unit (12) to a calculation of at least one envelope and / or at least one envelope from the reduced video data stream (13), in particular from the approximate 3D model (30) is arranged.
14. model calculation device (2) according to any one of claims 9 to 13, characterized in that means are provided for execution tion of a method according to any one of claims 1 to 8 is designed and set up.
Model calculation unit (1) with a model calculation - apparatus (2) .After one of claims 9 to 14 and a: connectable for data transfer with the ModelIberechnungsvörrichtung (2): external computing unit (10) wherein the external computing unit (10) for creating a detailed is 3D model (20) transmitted from the via the data connection (29) the first video data stream (4) is arranged.
/Summary
EP14703270.0A 2014-02-06 2014-02-06 Method for creating a 3d model of an object and corresponding model calculation device and model calculation device Withdrawn EP3103101A1 (en)

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