KR101856073B1 - Three dimensional scanning method and apparatus thereof - Google Patents
Three dimensional scanning method and apparatus thereof Download PDFInfo
- Publication number
- KR101856073B1 KR101856073B1 KR1020160127673A KR20160127673A KR101856073B1 KR 101856073 B1 KR101856073 B1 KR 101856073B1 KR 1020160127673 A KR1020160127673 A KR 1020160127673A KR 20160127673 A KR20160127673 A KR 20160127673A KR 101856073 B1 KR101856073 B1 KR 101856073B1
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- South Korea
- Prior art keywords
- image
- delay time
- camera
- pattern
- projector
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Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
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- 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
-
- 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
- G01B11/2518—Projection by scanning of the object
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- 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
- G01B11/254—Projection of a pattern, viewing through a pattern, e.g. moiré
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N1/00—Scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission; Details thereof
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- 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
- H04N13/271—Image signal generators wherein the generated image signals comprise depth maps or disparity maps
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Optics & Photonics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
A three-dimensional scanning method and apparatus therefor according to the present invention are provided. The present invention relates to a three-dimensional scanning method for a three-dimensional scanning apparatus having a projector and a camera and being operated by at least one processor, the method comprising the steps of: Determining whether a set delay time is effective, capturing an image of the object by applying a delay time determined to be valid, setting a delay time from capturing an image of the object through the camera, And performing a scanning process.
Description
The present invention relates to a three-dimensional scanning method and apparatus therefor.
As the image processing technology is developed, a three-dimensional scanning device for acquiring a three-dimensional shape of an object from an image of the object is being developed. The three-dimensional scanning device provides the user with a three-dimensional shape of the object. Therefore, the three-dimensional shape obtained through the three-dimensional scanning device has the same effect as the user directly viewing the object.
The three-dimensional scanning device irradiates a specific pattern image (structural light source) to a measurement object through a projector, processes the image obtained by photographing the image expressed by the irradiated image on the surface of the measurement object with a camera, Thereby obtaining three-dimensional shape information of the measurement object.
According to the technical principle of the three-dimensional scanning device, when a specific pattern image (structural light source) is irradiated to an object accurately through the projector, the object is photographed with a camera. If the video signal irradiated through the projector and the camera shot are not synchronized properly, accurate three-dimensional shape information can not be obtained.
SUMMARY OF THE INVENTION It is an object of the present invention to provide a three-dimensional scanning method and apparatus for synchronizing a projector and a camera in order to minimize a scanning time and capturing an image of a projector aligned with a camera frame.
There is provided a three-dimensional scanning method for a three-dimensional scanning apparatus having a projector and a camera according to an embodiment of the present invention and operated by at least one processor, Setting a delay time from when the image of the object is captured through the camera to the image of the object to be captured, checking whether the set delay time is valid, and applying the delay time determined to be effective, And performing a three-dimensional scanning process of capturing an image of the object.
According to another aspect of the present invention, there is provided a three-dimensional scanning apparatus including a projector for outputting a pattern image to an object to be measured, a camera for capturing a pattern image output to the object, a controller for synchronizing the projector and the camera, And a processor for executing the program in cooperation with the projector and the camera, wherein the program causes the projector to capture an image output from the projector,
Wherein the program sets a delay time until an image of an object on which the pattern image is projected is captured by the camera for each of a plurality of pattern images to be output to the measurement object through the projector, And performing instructions for performing a three-dimensional scanning process of capturing an image of the object by applying a delay time determined to be valid.
According to the present invention, it is possible to eliminate an unnecessary delay time by capturing a measurement image accurately when the measurement structural light is irradiated on the measurement object, and to prevent the unnecessary delay time from occurring when the measurement structural light is irradiated on the measurement object, It is possible to eliminate the case in which the measurement data acquisition failure or the measurement accuracy is degraded.
1 is a block diagram showing a configuration of a three-dimensional scanning apparatus according to an embodiment of the present invention.
2 is a flowchart illustrating a three-dimensional scanning method according to an embodiment of the present invention.
FIG. 3 is a detailed flowchart of step S100 of FIG.
4 is a detailed flowchart of step S200 of FIG.
FIG. 5 is a detailed flowchart of step S300 of FIG.
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.
Throughout the specification, when an element is referred to as "comprising ", it means that it can include other elements as well, without excluding other elements unless specifically stated otherwise.
Also, the terms " part, "" module," and " module ", etc. in the specification mean a unit for processing at least one function or operation and may be implemented by hardware or software or a combination of hardware and software have.
Now, a three-dimensional scanning method and apparatus according to an embodiment of the present invention will be described in detail with reference to the drawings.
1 is a block diagram showing a configuration of a three-dimensional scanning apparatus according to an embodiment of the present invention.
1, a three-
The
The
The
The
The
The
The
The
The
The
The
Here, the program sets the delay time until the image of the target object projected by the pattern image for each of the plurality of pattern images to be output to the measurement object via the
2 is a flowchart illustrating a three-dimensional scanning method according to an embodiment of the present invention.
Referring to FIG. 2, the
The
After outputting the pattern image through the
The operation of each step (S100, S200, S300) will be described in detail as follows.
3 is a detailed flowchart of step S100 of FIG.
Referring to FIG. 3, the
The
The
Here, the arbitrary delay time can be adjusted or selected in a predetermined adjustment time unit. For example, after outputting an image, it can be delayed by a time set to 0.1 ms.
At this time, the delay time may be set differently for each image.
After the delay, the
The
At this time, if they are not the same, the delay time is adjusted (S115), and then the process starts again from the step S105. On the other hand, if they are the same, it is determined whether projection has been performed by the number of images set in the step S101 (S117). If the projection has been performed for all images, the process ends. On the other hand, if projection has not been performed for all images, the next image number N is selected (S199), and then the process is executed from S105.
After the steps S105 to S119 are performed, the delay time for each image is determined.
Next, FIG. 4 is a detailed flowchart of step S200 of FIG. 2, and shows a process of checking whether the delay time determined in FIG. 3 is correct.
4, the
The
The
At this time, if they are not the same, a delay time check result (N_Err [N] = 0) is output (S213). That is, if the value is 0, it can be confirmed that there is an error in the delay time. In this case, the delay time can be reset by re-executing the procedure of FIG. 3 for the image number.
On the other hand, if it is determined to be the same in step S211, a delay time confirmation result (N_Err [N] = 1) is output (S215). That is, if the value is 1, it can be confirmed that the delay time is valid.
The
FIG. 5 is a detailed flowchart of step S300 of FIG. 2. FIG. 5 illustrates a sequence of operations for performing a 3D scanning operation using the finally confirmed delay time in FIG.
5, the
The
The
The
On the other hand, if all images have been performed, the buffer image files stored in step S309 are stored in the memory 107 (S315).
3, the same delay time is set for the pattern image output through the
While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, It belongs to the scope of right.
Claims (9)
Setting a delay time for capturing an image of a target object projected by the pattern image through the camera for each of a plurality of pattern images to be output to the target object through the projector,
Confirming that the set delay time is valid, and
Performing a three-dimensional scanning process of capturing an image of the object by applying a delay time determined to be valid
, ≪ / RTI &
Wherein the setting step comprises:
Setting an arbitrary delay time for each of the plurality of pattern images,
Outputting a first pattern image of the plurality of pattern images to the output object through the projector,
Capturing an image projected on the object using the camera after delaying an arbitrary delay time for the first pattern image;
Comparing the output first pattern image with the captured image and if not, adjusting the arbitrary delay time and re-executing the capturing step,
And setting the arbitrary delay time to the first pattern image if the output first pattern image and the captured image are the same,
Repeating the steps of outputting, capturing, re-executing, and setting to the first pattern image for all of the plurality of pattern images,
Wherein the verifying step comprises:
Outputting a first pattern image of the plurality of pattern images to the output object through the projector,
Capturing an image projected on the object using the camera after a delay time corresponding to the delay time set in the setting of the first pattern image;
Comparing the output first pattern image and the captured image to determine whether they are the same,
Outputting a first value indicating that the delay time is valid if it is the same,
And if not, outputting a second value indicating that the delay time is not valid,
Dimensional scanning method for repeating the steps of outputting all of the plurality of pattern images to the object, capturing, determining, outputting the first value, and outputting the second value .
The arbitrary delay time may be,
A three-dimensional scanning method adjusted or selected in a predetermined adjustment time unit.
Wherein performing the three-dimensional scanning process comprises:
Selecting a first pattern image among a plurality of pattern images and outputting the selected first pattern image to the object through the projector,
Delaying by a delay time determined as a valid value in the checking step,
Capturing a first pattern image output to the object through the camera;
Storing the captured image in a buffer, and
Storing the image file stored in the buffer after performing the outputting step, the delaying step, the capturing step and the storing step for the plurality of pattern images
Dimensional scanning method.
A projector for outputting a pattern image to an object to be measured; And a camera for capturing a pattern image output to the measurement object,
Wherein the memory stores a program for synchronizing the projector with the camera and capturing an image output by the projector according to a frame of the camera,
Wherein the processor executes the program in cooperation with the projector and the camera,
The buffer buffers an image captured by the camera,
The program includes:
A delay time for capturing an image of a target object projected by the pattern image through the camera for each of a plurality of pattern images to be output to the measurement target object through the projector is set, Instructions for performing a three-dimensional scanning process of capturing an image of the object by applying a delay time determined to be valid,
A first pattern image of the plurality of pattern images is selected and outputted to the object through the projector, and after delayed by a delay time set in the first pattern image identified as a valid value, 1 pattern image is captured through the camera and stored in the buffer, and the image file stored in the buffer is stored.
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KR1020160127673A KR101856073B1 (en) | 2016-10-04 | 2016-10-04 | Three dimensional scanning method and apparatus thereof |
PCT/KR2016/011098 WO2018066725A1 (en) | 2016-10-04 | 2016-10-05 | Three-dimensional scanning method and apparatus therefor |
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KR1020160127673A KR101856073B1 (en) | 2016-10-04 | 2016-10-04 | Three dimensional scanning method and apparatus thereof |
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KR101856073B1 true KR101856073B1 (en) | 2018-05-10 |
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KR100752758B1 (en) * | 2005-10-19 | 2007-08-29 | (주) 인텍플러스 | Apparatus and method for measuring image |
US8743195B2 (en) * | 2008-10-24 | 2014-06-03 | Leica Biosystems Imaging, Inc. | Whole slide fluorescence scanner |
KR101288030B1 (en) * | 2011-07-05 | 2013-07-22 | 김영원 | Hybrid 3D scanner |
KR101377566B1 (en) * | 2011-12-20 | 2014-03-26 | 한국과학기술원 | High speed Terahertz TDS image processing method using high speed scanning apparatus |
KR101302340B1 (en) * | 2012-07-17 | 2013-10-15 | 주식회사 디오에프연구소 | Machine vision camera trigger and optical measurement system with the trigger |
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