KR100366297B1 - A Method for Constructing a Solid Object from Multiple Profiles of Range Image Using Cylindrical Projection - Google Patents

Abstract

The present invention relates to a method for generating three-dimensional solids having three-dimensionally spaced three-dimensional data from three-dimensional data on a cross section obtained through a three-dimensional scanner.

Conventionally, since the method of finding and connecting the overlapping portions of the cross sections obtained from the three-dimensional scanner has been used, there is a problem that it takes a long time and the overlapping portions have denser distance information values compared to other portions. Color discrepancies occurred in the losing and uninjured areas.

Accordingly, the present invention, by obtaining the position information of the cross-sections obtained by the three-dimensional scanner on the cylinder wall surface having an infinite radius to obtain a cylinder coordinate value (height, angle), and storing the cylinder coordinate values of the cross sections in a two-dimensional array, The overlapped part is stored by adding all coordinate values, and obtaining and storing the average value of each matrix factor of the two-dimensional array to generate three-dimensional solids, and applying color information to the cylinder projection method to generate one cylinder color image. The conventional problem is solved by applying this cylinder color image to the three-dimensional solid.

Description

A method for constructing a solid object from multiple profiles of range image using Cylindrical Projection}

The present invention relates to a method of constructing a three-dimensional stereoscopic having a three-dimensional data of a predetermined interval from the three-dimensional data for the cross section obtained through the three-dimensional scanner, in more detail using the distance information of the cross-section in the three-dimensional scanner using moire It relates to a method of constructing a three-dimensional solid.

Conventionally, in order to obtain three-dimensional solids, a method of finding overlapping portions of two cross sections and connecting two wires to each other has been used. This conventional method takes a long time since a search for finding a common part of two sections is required, and denser distance information values appear in areas where two sections are not overlapped. In addition, when coloring the color information of the cross-section of the object to the generated three-dimensional, since the common part of the two cross-section is painted twice in the overlapping portion, color mismatch occurs in the overlapping portion and the non-overlapping portion.

As described above, the three-dimensional solid-state generating method using the cross-sectional matching method currently used takes a long calculation time because of the similarity of the cross-sections, and dense data is generated at the portion where the two cross-sections merge. In addition, in the process of coating the color information of the cross section on the synthesized three-dimensional, it takes a lot of time because the various cross-section is painted on the three-dimensional, there is a problem that color mismatch occurs in the portion where the two cross-section is combined.

Accordingly, the present invention has been made to solve the problems of the prior art as described above, the conventional section matching method solves the problem of spending most of the time to search for the common part between the two sections, the synthesis in the cross section It is to provide a three-dimensional stereoscopic generation method using a cylinder projection method to equalize the dense distance information seen in the matched stereoscopic plane.

In addition, the present invention is to provide a three-dimensional stereoscopic generation method using a cylinder projection method to improve the speed and solve the color mismatch problem of the overlapping portion by applying the color information of the cross-section to the generated stereoscopic image as a single image.

1 is a configuration diagram of a three-dimensional object automatic matching system using a cylinder projection method to which the present invention is applied,

2 is an operation flowchart illustrating a three-dimensional stereoscopic generation method according to an embodiment of the present invention.

In order to achieve the above object, the three-dimensional stereoscopic generation method according to the present invention includes a first step of obtaining a cylinder coordinate value (height, angle) by projecting the position information of the cross sections obtained by the three-dimensional scanner to the cylinder wall surface of infinite radius; A second step of storing cylinder coordinate values of the cross sections in a two-dimensional array, wherein overlapping portions between the cross sections are added and stored together; And a third step of obtaining and storing an average value of each matrix factor of the two-dimensional array to generate a three-dimensional solid.

In addition, when color information is provided along with the cross-sectional distance information, the color information is created by using a cylinder projection method, and the cylinder color image is coated on the three-dimensional solid image generated above to map the texture to a uniform color. do.

According to the present invention, there is also provided a computer-readable recording medium having recorded thereon a program for causing a computer to execute the three-dimensional stereoscopic generation method using the above-described cylinder projection method.

Hereinafter, with reference to the accompanying drawings will be described in more detail the "three-dimensional stereoscopic generation method using a cylinder projection method" according to an embodiment of the present invention.

1 is a block diagram showing a three-dimensional object automatic matching system using a cylinder projection method to which the present invention is applied. This includes a three-dimensional scanner 11 using a moire, a rotating table 12 on which a three-dimensional object to be generated is mounted and rotated, and a computer 13 on which three-dimensional solids are generated.

FIG. 2 is an operation flowchart illustrating a process of removing overlapping portions and storing the distance information obtained by the three-dimensional scanner of FIG. 1 in a two-dimensional array by using a cylinder projection method.

When the three-dimensional scanner measures the moire (S21), distance information (Xyz) and color information (RGB) for the cross section of the three-dimensional object are obtained (S22), and steps S23 to 24 are performed for the distance information of all the cross sections ( S23, S25). In step S23, the distance information of the cross section is converted into cylinder coordinate values using a cylinder projection method. That is, the angle and the height are obtained based on the vector perpendicular to the xz plane from the center of the y axis. Here, the reason for obtaining the height and angle is that the cylinder projection method used in the present invention among the elements necessary for defining the cylinder, that is, the angle, the height, the radius of the cylinder is a cylinder of which the radius of the cylinder is infinite, only the angle and height are necessary. The method of obtaining these cylinder coordinate values is as follows.

First, the method of calculating the angle is that when the vector up to the distance information placed in the space is r (x, y, z), the vector projected on the xz plane is r '(x, 0, z), and r' The angle formed by the vector and the reference vector (origin) is shown in Equation 1.

[Equation 1]

cos (angle) = ∥origin∥ R'∥

Angle = acos (cos)

In addition, the method of calculating the height is called r (x, y, z) as the vector up to the distance information located in the space, and the height is expressed as yMin when the lowest coordinate in the y axis direction from the center of the object is yMin. It can be obtained as shown in Equation 2.

[Equation 2]

Height = y-yMin

The cylinder coordinate values thus obtained are stored in a two-dimensional array (S24). The following describes how to store the angle and height obtained above in a two-dimensional array. When the maximum height of the object is yMax, the minimum value of the height is yMin, and the value to be sampled on the y-axis is samplingHeight, the height value of the two-dimensional array is expressed by Equation 3 below.

[Equation 3]

Height of array = ((yMax-yMin) / samplingHeight) + 1

In addition, when the angle to sample the cylinder is called samplingDegree, the width of the two-dimensional array is expressed by Equation 4.

[Equation 4]

The width of the array = 360 / samplingDegree

In the two-dimensional array formed by the above equations (3) and (4), the angle and height values obtained from the distance information r are respectively stored. If the array is empty, the values are stored immediately. If the other values are already stored, the two values are added. Save it.

After storing the angle and height values for all the distance information in the two-dimensional array (S23, S25), the average value is calculated for the matrix factor to which two or more values of the two-dimensional array are added, and the average value is stored. Thus, matched mesh data can be obtained (S27).

When three-dimensional solids are generated from the cross-sections in the above manner, uniform matching mesh data can be obtained since only one data is included in the grid defined by the sampled angle and height.

The color information can be obtained in the same way. The color information of each cross section is converted into cylinder coordinate values using a cylinder projection method, and the cylinder coordinate values are stored in a two-dimensional array. At this time, the average of the overlapping matrix factors is calculated and stored. In this way, the color information of the cross sections can be made into a single cylinder image, and texture mapping can be simplified.

While the invention has been described above based on the preferred embodiments thereof, these embodiments are intended to illustrate rather than limit the invention. It will be apparent to those skilled in the art that various changes, modifications, or adjustments to the above embodiments can be made without departing from the spirit of the invention. Therefore, the protection scope of the present invention will be limited only by the appended claims, and should be construed as including all such changes, modifications or adjustments.

According to the present invention as described above, it is possible to generate a three-dimensional solid, uniform, accurate and fast while solving the problems of the prior art. In addition, since the color information is made into a single cylinder image and coated on three-dimensional solids, texture mapping can be easily processed.

Claims (3)

A first step of obtaining cylinder coordinate values (height, angle) by projecting the position information of the cross sections obtained by the three-dimensional scanner onto the wall of the cylinder having an infinite radius; A second step of storing cylinder coordinate values of the cross sections in a two-dimensional array, wherein overlapping portions between the cross sections are added and stored together; And And a third step of obtaining and storing an average value of each matrix factor of the two-dimensional array to generate a three-dimensional solid. The cylinder projection method according to claim 1, further comprising a fourth step of projecting the color information of the cross-sections obtained by the three-dimensional scanner onto the wall of the cylinder having an infinite radius to make one color image and coating the three-dimensional solid. Three-dimensional stereoscopic generation method using. On your computer, A first step of obtaining cylinder coordinate values (height, angle) by projecting the position information of the cross sections obtained by the three-dimensional scanner onto the wall of the cylinder having an infinite radius; A second step of storing cylinder coordinate values of the cross sections in a two-dimensional array, wherein overlapping portions between the cross sections are added and stored together; And And a third step of obtaining and storing an average value of each matrix factor of the two-dimensional array to generate three-dimensional solids.