KR101856073B1 - Three dimensional scanning method and apparatus thereof - Google Patents

Three dimensional scanning method and apparatus thereof Download PDF

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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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KR
South Korea
Prior art keywords
image
delay time
camera
pattern
projector
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KR1020160127673A
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Korean (ko)
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KR20180037476A (en
Inventor
정일호
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온스캔스주식회사
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Priority to KR1020160127673A priority Critical patent/KR101856073B1/en
Priority to PCT/KR2016/011098 priority patent/WO2018066725A1/en
Publication of KR20180037476A publication Critical patent/KR20180037476A/en
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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
    • 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
    • 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
    • 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
    • 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

[0001] THREE DIMENSIONAL SCANNING METHOD AND APPARATUS THEREOF [0002]

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.

Korean Patent No. 0910937 Korean Patent No. 0913508

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-dimensional scanning apparatus 100 includes a projector 101, a camera 103, a buffer 105, a memory 107, and a processor 109. The three-

The projector 101 is configured to project a specific pattern image onto a target object. For example, the projector 101 may be configured to project a structured light onto a target object. The projector 101 may be configured to project structured light to a target object using, for example, an LED (Light Emitting Diode) or a laser light source.

The camera 103 captures a pattern image formed on a target object and acquires the image data. The camera 103 is configured to capture an image of the structured light projected on a target object.

The buffer 105 temporarily stores an image captured by the camera 103.

The memory 107 is provided as an operation memory of the three-dimensional scanning apparatus 100. At this time, the buffered images are stored in a file form.

The processor 109 is configured to control all operations of the three-dimensional scanning apparatus 100. The processor 109 controls the projector 101 such that the pattern image is projected onto the object. The processor 109 controls the camera 103 to acquire a captured image of the projected pattern image.

The processor 109 obtains three-dimensional data of a target object from the captured image provided by the camera 103 and performs a scanning operation for three-dimensionally forming the three-dimensional data. The processor 109 calculates a three-dimensional shape measurement through a mathematical operation based on the captured image.

The processor 109 aligns the synchronization between the projector 101 and the camera 103 and captures the image of the projector 101 aligned with the frame of the camera 103 in order to minimize the scan time. For example, the time required to project and capture 10 fixed images may be 10/30 seconds.

The processor 109 allows the initially projected image of the projector 101 to be captured intact on the camera 103 through the initial image fitting. The processor 109 captures a desired quantity of all the pattern images, for example, 10 to 15 images, continuously in frame. The processor 109 can capture one color image without a pattern.

The processor 109 may store the captured images in memory 107 in an image file format, e.g., a 24-bit bmp file.

The processor 109 may selectively perform calibration to match the time of the projector 101 and the camera 103. [

The processor 109 executes a program stored in the memory 107 in cooperation with the projector 101 and the camera 103. [

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 projector 101 is captured through the camera, And performing instructions to perform a three-dimensional scanning process of capturing an image of an object of interest by applying a delay time determined to be valid.

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

Referring to FIG. 2, the processor 109 sets a delay time for capturing by the camera 103 for each image to be projected (S100).

The processor 109 determines whether the set delay time is correct (S200).

After outputting the pattern image through the projector 101, the processor 109 delays the image by the delay time determined in step S200, and then performs the capture operation of the camera 103 (S300). The operation of S300 is performed for all pattern images.

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 processor 109 sets the number M of images to be projected on a target object (S101). For example, it can be set to 15 specific pattern images (1 to 15, N = 1,? N = 15).

The processor 109 selects the N = 1 th image among the set images (S103). Then, the selected image is outputted (or projected) to the target object through the projector 101 (S105).

The processor 109 delays by an arbitrary delay time (N_Delay [1]) (S107). At this time, the delay time may be set differently for each image. According to one embodiment, the delay time for a total of 15 images, i.e., N_Delay [15] = 0.1 ms, can be set.

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 processor 109 drives the camera 103 to capture a projector output image (S109).

The processor 109 compares the pattern image output in step S105 with the image captured in step S109 (S111). Then, it is determined whether they are identical to each other (S113).

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 processor 109 selects (S201) the first pattern image (N = 1) among the images set in step S101 of FIG. 3 and outputs (or projects) the object to the object through the projector 101 (S203).

The processor 109 delays by a delay time (N_Delay [1]) determined through Fig. 3, i.e., the first image in Fig. 3 (S205). Then, the camera 103 is driven to capture a projector output image (S207).

The processor 109 compares the pattern image output in step S203 with the image captured in step S207 (S209). Then, it is determined whether they are identical to each other (S211).

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 processor 109 determines whether it has been performed for all the set number of images (S217). If projection has not been performed for all images, the next image number N is selected (S219), and then the process is started from step S203. On the other hand, if all images have been performed, the values set in step S215 are output (S221).

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 processor 109 selects a first pattern image (N = 1) among the images set in step S101 of FIG. 3 (S301) and outputs (or projects) the object to the object through the projector 101 (S303).

The processor 109 delays by a delay time (N_Delay [1]) determined through Figs. 3 and 4, i.e., the first image (S305). Then, the camera 103 is driven to capture the output image of the projector (S307).

The processor 109 stores the image captured in step S307 in the buffer 105 (S309).

The processor 109 determines whether capturing has been performed for all the images (S311). If all images have not been performed yet, the next image number is selected (S313), and then the process is started from step S303.

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 projector 101 and the image captured through the camera 103, and it is determined whether the delay time set through the process of FIG. 4 is valid , It is possible to eliminate the unnecessary delay time by capturing the measurement image accurately when the pattern image is irradiated onto the measurement object, as shown in FIG. 5, and it is possible to eliminate the unnecessary delay time, It is possible to eliminate the case where the failure to acquire the three-dimensional measurement data that may occur due to the mismatch or the degradation of the measurement accuracy is reduced.

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)

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,
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 . delete The method of claim 1,
The arbitrary delay time may be,
A three-dimensional scanning method adjusted or selected in a predetermined adjustment time unit. delete The method of claim 1,
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. Memory, processor and buffer,
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. delete delete delete
KR1020160127673A 2016-10-04 2016-10-04 Three dimensional scanning method and apparatus thereof KR101856073B1 (en)

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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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Publication number Priority date Publication date Assignee Title
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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