JP6198857B2 - 3次元の画像形成を行うための方法及びシステム - Google Patents
3次元の画像形成を行うための方法及びシステム Download PDFInfo
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- JP6198857B2 JP6198857B2 JP2015561884A JP2015561884A JP6198857B2 JP 6198857 B2 JP6198857 B2 JP 6198857B2 JP 2015561884 A JP2015561884 A JP 2015561884A JP 2015561884 A JP2015561884 A JP 2015561884A JP 6198857 B2 JP6198857 B2 JP 6198857B2
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- Prior art keywords
- image
- dimensional image
- feature points
- scanning device
- dimensional
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- 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.)
- Expired - Fee Related
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Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/296—Synchronisation thereof; Control thereof
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00045—Display arrangement
- A61B1/0005—Display arrangement combining images e.g. side-by-side, superimposed or tiled
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00055—Operational features of endoscopes provided with output arrangements for alerting the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/24—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the mouth, i.e. stomatoscopes, e.g. with tongue depressors; Instruments for opening or keeping open the mouth
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C19/00—Dental auxiliary appliances
- A61C19/04—Measuring instruments specially adapted for dentistry
- A61C19/05—Measuring instruments specially adapted for dentistry for determining occlusion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C9/00—Impression cups, i.e. impression trays; Impression methods
- A61C9/004—Means or methods for taking digitized impressions
- A61C9/0046—Data acquisition means or methods
- A61C9/0053—Optical means or methods, e.g. scanning the teeth by a laser or light beam
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/60—Editing figures and text; Combining figures or text
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformation in the plane of the image
- G06T3/60—Rotation of a whole image or part thereof
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/04—Indexing scheme for image data processing or generation, in general involving 3D image data
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/24—Indexing scheme for image data processing or generation, in general involving graphical user interfaces [GUIs]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
- G06T2207/30036—Dental; Teeth
Description
trace(R)=1+2cos(θ)
第2の画像からの情報を含む中間画像内の画素の割合により、2つの画像間における重複部の推定値が提供される。
Claims (3)
- 3次元の画像形成方法であって、
ユーザにより自由に操作される手持ち式スキャニング装置により、被写体の第1の3次元図が取り込まれた位置である第1の位置における、前記スキャニング装置の視域の第1の2次元画像を記憶し、
前記スキャニング装置が前記第1の位置から第2の位置に移動する間に、前記第1の2次元画像から複数の第1特徴点を抽出し、前記第2の位置での前記スキャニング装置の視域の第2の2次元画像から複数の第2特徴点を抽出し、前記複数の第1の特徴点と前記複数の第2の特徴点との間の対応関係を生成し、複数の特徴点間の前記対応関係を用いて位置関係を生成し、前記複数の第1特徴点と、対応する前記複数の第2特徴点との前記位置関係に基づいて、前記第2の2次元画像の位置測定値を推定し、
推定された前記位置測定値に基づいて、前記ユーザにフィードバックを提供するための命令を生成し、
前記フィードバックが、第2の3次元図を取り込むために前記第2の位置が適しているかどうかを示すために提供される、
ことを特徴とする方法。 - 前記第1の2次元画像に対する前記第2の2次元画像の位置測定値の推定では、
a)前記第1の2次元画像に対する基準画像の変換行列H1が有効であると判定された場合に、2次元画像のシーケンスが前記第1の位置から前記第2の位置に移動する間に取り込まれる前記2次元画像のシーケンスから基準画像を選択し、
b)前記第2の2次元画像を前記基準画像にスティッチングして、変換行列H2を取得し、
c)H1とH2とを乗算して、変換行列H3を取得し、
d)変換行列H3の有効性を評価し、
e)変換行列H3が有効であると判定された場合、変換行列H3から前記第1の2次元画像に対する前記第2の2次元画像の前記位置測定値を推定する、
ことを特徴とする、請求項1に記載の方法。 - 3次元の画像形成を行うためのシステムであって、
ユーザにより自由に操作されて、被写体の3次元図を取り込む手持ち式スキャニング装置と、
処理ユニットと、
前記処理ユニットからの命令に従って、前記ユーザにフィードバックを提供するよう構成されるフィードバックユニットと、
を備え、
前記処理ユニットは、
前記被写体の第1の3次元図が取り込まれる第1の位置での前記スキャニング装置の視域の第1の2次元画像を記憶し、
前記スキャニング装置が前記第1の位置から第2の位置に移動する間に、第2の位置での前記スキャニング装置の視域の第2の2次元画像を記憶し、前記第1の2次元画像から複数の第1特徴点を抽出し、前記第2の2次元画像から複数の第2特徴点を抽出し、前記複数の第1の特徴点と前記複数の第2の特徴点との間の対応関係を生成し、複数の特徴点間の前記対応関係を用いて位置関係を生成し、前記複数の第1特徴点と、対応する前記複数の第2特徴点との位置関係に基づいて、前記第2の2次元画像の位置測定値を推定し、
推定された前記位置測定値に基づいて、前記ユーザにフィードバックを提供するための命令を生成するよう構成され、
前記フィードバックが、第2の3次元図を取り込むために前記第2の位置が適しているかどうかを示すために提供される、
ことを特徴とするシステム。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/CN2013/072424 WO2014139079A1 (en) | 2013-03-11 | 2013-03-11 | A method and system for three-dimensional imaging |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2016514984A JP2016514984A (ja) | 2016-05-26 |
JP6198857B2 true JP6198857B2 (ja) | 2017-09-20 |
Family
ID=51535780
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015561884A Expired - Fee Related JP6198857B2 (ja) | 2013-03-11 | 2013-03-11 | 3次元の画像形成を行うための方法及びシステム |
Country Status (5)
Country | Link |
---|---|
US (1) | US9838670B2 (ja) |
EP (1) | EP2973417B1 (ja) |
JP (1) | JP6198857B2 (ja) |
DK (1) | DK2973417T3 (ja) |
WO (1) | WO2014139079A1 (ja) |
Families Citing this family (20)
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DE102012214473B4 (de) * | 2012-08-14 | 2022-01-13 | Sirona Dental Systems Gmbh | Verfahren zur Vermessung eines dentalen Objekts mittels einer dentalen Kamera |
US10278584B2 (en) * | 2013-03-11 | 2019-05-07 | Carestream Dental Technology Topco Limited | Method and system for three-dimensional imaging |
US9724177B2 (en) | 2014-08-19 | 2017-08-08 | Align Technology, Inc. | Viewfinder with real-time tracking for intraoral scanning |
WO2016077057A2 (en) * | 2014-10-24 | 2016-05-19 | Bounce Imaging, Inc. | Imaging systems and methods |
JP6714019B2 (ja) * | 2015-05-07 | 2020-06-24 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 医療手順における動き補償のためのシステム及び方法 |
US20170215698A1 (en) * | 2016-01-28 | 2017-08-03 | Dental Wings Inc. | System and method for providing user feedback indications during intra-oral scanning process |
JP6707991B2 (ja) | 2016-05-30 | 2020-06-10 | 富士通株式会社 | 歯軸推定プログラム、歯軸推定装置及びその方法、並びに歯形データ生成プログラム、歯形データ生成装置及びその方法 |
US10631799B2 (en) | 2016-12-07 | 2020-04-28 | Harris Corporation | Dental image collection device providing optical alignment features and related system and methods |
CN106910210B (zh) * | 2017-03-03 | 2018-09-11 | 百度在线网络技术(北京)有限公司 | 用于生成图像信息的方法和装置 |
US10916053B1 (en) | 2019-11-26 | 2021-02-09 | Sdc U.S. Smilepay Spv | Systems and methods for constructing a three-dimensional model from two-dimensional images |
US11270523B2 (en) | 2017-11-29 | 2022-03-08 | Sdc U.S. Smilepay Spv | Systems and methods for constructing a three-dimensional model from two-dimensional images |
US11403813B2 (en) | 2019-11-26 | 2022-08-02 | Sdc U.S. Smilepay Spv | Systems and methods for constructing a three-dimensional model from two-dimensional images |
EP3960122A1 (en) | 2019-01-30 | 2022-03-02 | DENTSPLY SIRONA Inc. | Method and system for two-dimensional imaging |
WO2020167027A1 (ko) * | 2019-02-15 | 2020-08-20 | 주식회사 메디트 | 신뢰도를 포함하는 스캔 데이터 표시 방법 |
US11030801B2 (en) | 2019-05-17 | 2021-06-08 | Standard Cyborg, Inc. | Three-dimensional modeling toolkit |
US11620730B2 (en) * | 2020-03-23 | 2023-04-04 | Realsee (Beijing) Technology Co., Ltd. | Method for merging multiple images and post-processing of panorama |
CN111476235B (zh) * | 2020-03-31 | 2023-04-25 | 成都数之联科技股份有限公司 | 一种3d曲面文本图片的合成方法 |
KR102632337B1 (ko) * | 2020-04-21 | 2024-02-01 | 주식회사 메디트 | 얼라인 상태 표현 장치 및 방법 |
US11382727B1 (en) | 2021-05-19 | 2022-07-12 | Thamer Marghalani | Three-dimensional oral imaging system and method |
EP4169479A1 (en) | 2021-10-19 | 2023-04-26 | DENTSPLY SIRONA Inc. | Method and system for two dimensional imaging |
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US5578813A (en) * | 1995-03-02 | 1996-11-26 | Allen; Ross R. | Freehand image scanning device which compensates for non-linear movement |
US6094215A (en) | 1998-01-06 | 2000-07-25 | Intel Corporation | Method of determining relative camera orientation position to create 3-D visual images |
US7027642B2 (en) * | 2000-04-28 | 2006-04-11 | Orametrix, Inc. | Methods for registration of three-dimensional frames to create three-dimensional virtual models of objects |
JP2002027291A (ja) * | 2000-04-29 | 2002-01-25 | Hewlett Packard Co <Hp> | 視覚的フィードバックを有するマルチフレームパニング方法 |
JP4266736B2 (ja) * | 2003-07-31 | 2009-05-20 | キヤノン株式会社 | 画像処理方法および装置 |
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CN101706263B (zh) * | 2009-11-10 | 2012-06-13 | 倪友群 | 三维表面测量方法及测量系统 |
US20120062557A1 (en) * | 2010-09-10 | 2012-03-15 | Dimensional Photonics International, Inc. | Systems and methods for processing and displaying intra-oral measurement data |
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-
2013
- 2013-03-11 DK DK13877840.2T patent/DK2973417T3/da active
- 2013-03-11 JP JP2015561884A patent/JP6198857B2/ja not_active Expired - Fee Related
- 2013-03-11 US US14/767,299 patent/US9838670B2/en not_active Expired - Fee Related
- 2013-03-11 WO PCT/CN2013/072424 patent/WO2014139079A1/en active Application Filing
- 2013-03-11 EP EP13877840.2A patent/EP2973417B1/en active Active
Also Published As
Publication number | Publication date |
---|---|
EP2973417B1 (en) | 2020-07-15 |
EP2973417A1 (en) | 2016-01-20 |
JP2016514984A (ja) | 2016-05-26 |
DK2973417T3 (da) | 2020-09-07 |
US9838670B2 (en) | 2017-12-05 |
WO2014139079A1 (en) | 2014-09-18 |
US20160014396A1 (en) | 2016-01-14 |
EP2973417A4 (en) | 2017-03-01 |
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