KR102161452B1 - Motion effectiveness detection apparatus according to scanner motion and the method thereof - Google Patents

Abstract

The present invention relates to a motion validity detection apparatus for extracting and obtaining only valid image frames in a pattern image processing process in order to remove a 3D coordinate error due to a rapid movement of a scanner when using structured light, and a method thereof. The motion validity detection apparatus comprises: a pattern detection unit detecting a plurality of validation patterns from an object; a validity determination unit which determines whether the plurality of validation patterns are valid in a validation period; and a valid pattern detection unit configured to detect valid target patterns located between or around the plurality of validation patterns within the validation period according to a validity determination result.

Description

Motion effectiveness detection device according to scanner movement and its method {MOTION EFFECTIVENESS DETECTION APPARATUS ACCORDING TO SCANNER MOTION AND THE METHOD THEREOF}

The present invention relates to an apparatus and method for detecting motion validity according to scanner movement, and more particularly, when using structured light, only valid image frames are used to remove 3D coordinate errors due to rapid movement of the scanner during pattern image processing. It relates to extraction and acquisition techniques.

Three-dimensional (3D) scanning is an optical device that acquires 3D shape and color information of an object (or object) and is used in a wide range of fields such as commerce, architecture, medicine, industry, science, and culture. 3D scanning can be implemented by various methods such as laser trigonometry, structured light projection, and time of flight (TOF), and the 3D shape information of the acquired object is saved in a 3D file format that can be used in a computer.

3D scanning technology acquires shape information of an object and stores it as a computer model, and its demands are met in the fields of robot driving, part defect inspection, reverse engineering, HCI (Human Computer Interaction), and cultural property restoration. It is gradually increasing.

In the conventional 3D scanning technology, a plurality of multi-patterns are projected on an object to be photographed, and the object is 3D scanned through image combination using depth information resulting from acquired images. However, in the case of an unfixed handheld scanner, there is a problem in that a 3D coordinate error occurs due to the rapid movement of the scanner.

Korean Patent Registration No. 10-1842141 (registered on March 20, 2018), “3D scanning apparatus and method”

An object of the present invention is to reduce a 3D coordinate error by detecting the validity of 3D point clouds according to the motion of a scanner.

In addition, an object of the present invention is to detect validity of at least two validation patterns for detecting validity, thereby verifying validity of target patterns located between or around validation patterns to reduce scan errors. We want to provide a pattern output procedure.

In the apparatus for detecting motion validity according to a scanner motion according to an embodiment of the present invention, a pattern detection unit that detects a plurality of validation patterns from an object, and whether the plurality of validation patterns are valid in a validation section And a validity determination unit that determines a validity determination unit and a validity pattern detection unit that detects valid target patterns located between or around the plurality of validity validation patterns within the validity validation section according to the validity determination result.

The pattern detection unit may detect the plurality of validation patterns irradiated from the projector to the object at specific time intervals.

The plurality of validation patterns may include at least two patterns of a normal validation pattern and an inverse validation pattern.

The validity determination unit may verify the validity of 3D point clouds according to the movement of the scanner by using a difference in pixel values at the same location of the normal validation pattern and the inverse validation pattern.

The validation section may represent a section including the target patterns located between or around the plurality of validation patterns.

The validity determination unit may determine whether the validity of the plurality of validation patterns is valid by sensing a continuous output time and a scanner motion of each of the plurality of validation patterns and the target patterns.

When the validity of the plurality of validation patterns is verified, the valid pattern detection unit detects the validity of the target patterns located between or around the plurality of validation patterns within the validity validation section. It is possible to create a large number of point clouds from target patterns.

In addition, the motion validity detection apparatus according to an embodiment of the present invention may further include a scanning unit that performs 3D scanning on the object using a large number of point clouds generated from the effective target patterns.

In the method of operating a motion validity detection apparatus according to a scanner motion according to an embodiment of the present invention, the step of detecting a plurality of validation patterns from an object, validity of the plurality of validation patterns in a validation section Determining whether or not, and detecting valid target patterns located between or around the plurality of validation patterns within the validation section according to a result of the validation.

In the detecting of the plurality of validation patterns, the plurality of validation patterns irradiated from the projector to the object according to a specific time interval may be detected.

The plurality of validation patterns may include at least two patterns of a normal validation pattern and an inverse validation pattern.

In determining whether the validity is valid, the validity of 3D point clouds according to the movement of the scanner may be verified by using the difference in pixel values at the same location of the normal validation pattern and the inverse validation pattern. have.

The determining whether the validity is valid may determine whether the validity of the plurality of validation patterns is valid by detecting a continuous output time and a scanner motion of each of the plurality of validation patterns and the target patterns.

In the detecting of the valid target patterns, when the validity of the plurality of validation patterns is verified, the validity of the target patterns located between or around the plurality of validation patterns in the validation section is determined. It is possible to detect and generate a large number of point clouds from the valid target patterns.

In addition, the motion validity detection method according to an embodiment of the present invention may further include performing 3D scanning on the object using a large number of point clouds generated from the effective target patterns.

According to an embodiment of the present invention, it is possible to reduce a 3D coordinate error by detecting the validity of 3D point clouds according to the movement of the scanner.

In addition, according to an embodiment of the present invention, by detecting at least two validation patterns to detect validity and determining whether they are valid, scan errors by verifying the validity of the target pattern located between or around the validation patterns. You can provide a pattern of output procedures that reduce

1 is a block diagram showing a detailed configuration of a motion validity detection apparatus according to an embodiment of the present invention.
2 and 3 are views for explaining a coordinate error caused by a scanner movement according to an embodiment of the present invention.
4 is a diagram illustrating an example of detecting the validity of a plurality of validation patterns according to an embodiment of the present invention.
5 is a diagram illustrating an example of detecting the validity of a plurality of validity verification patterns according to a continuous output time according to an embodiment of the present invention.
6 is a diagram illustrating an example of determining whether a scan is possible according to a scanner movement according to an embodiment of the present invention.
7 shows an evaluation result of the stability of the detection of effectiveness according to an embodiment of the present invention.
8 is a diagram illustrating a difference between a conventional technique and a scanner movement method according to the present invention.
9 is a flowchart illustrating an operation of a motion validity detection method according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited or limited by the embodiments. In addition, the same reference numerals shown in each drawing denote the same member.

In addition, terms used in the present specification are terms used to properly express preferred embodiments of the present invention, which may vary depending on the intention of viewers or operators, or customs in the field to which the present invention belongs. Accordingly, definitions of these terms should be made based on the contents throughout the present specification.

1 is a block diagram showing a detailed configuration of a motion validity detection apparatus according to an embodiment of the present invention.

Referring to FIG. 1, a motion validity detection apparatus according to an embodiment of the present invention extracts and acquires only valid image frames in order to remove a 3D coordinate error due to a rapid movement of a scanner in a pattern image processing process.

To this end, the motion validity detection apparatus 100 according to an embodiment of the present invention includes a pattern detection unit 110, a validity determination unit 120, and a valid pattern detection unit 130.

The pattern detection unit 110 detects a plurality of validation patterns from an object.

In the case of 3D scanning of an object, a pattern according to the use of structured light is irradiated on the object using a projector, and relationship information between the projector and the camera is obtained through the pattern, and 3D information preset in the projector or camera, that is, calibration information In combination with, 3D scanning may be performed by recognizing 3D coordinates for an object.

Accordingly, the pattern detection unit 110 may detect a plurality of validation patterns in the pattern image irradiated to the object. For example, the pattern detection unit 110 includes a plurality of patterns including at least two patterns of a normal validation pattern and an inverse validation pattern in a pattern image irradiated from the projector to the object according to a specific time interval. Validation patterns can be detected.

Depending on the embodiment, the normal validation pattern may be a grid pattern, and the inverse validation pattern may be an inverse grid pattern, but the validation pattern is not limited to the grid pattern, and the validity is verified. It is irrelevant as long as it is a pattern representing normal and inverse in a possible pattern form.

The validity determination unit 120 determines whether or not a plurality of validation patterns are valid in the validation period.

For example, the validity determination unit 120 may verify the validity of 3D point clouds according to the movement of the scanner by using the difference in pixel values at the same position of the normal validation pattern and the inverse validation pattern. I can. The validation section may represent a section including target patterns located between or around a plurality of validation patterns.

For example, the validation section may represent a section including a plurality of target patterns positioned between a plurality of validation patterns based on a normal validation pattern and an inverse validation pattern positioned on both sides. As another example, the validation section may represent a section including a plurality of target patterns positioned around a plurality of validation patterns based on a normal validation pattern and an inverse validation pattern. That is, the validation section includes a plurality of target patterns based on a plurality of validation patterns, and the validation section may also be repeated according to the repetition of the pattern.

The validity determination unit 120 detects the normal validation pattern and the inverse validation pattern in the validation section, and uses the difference in pixel values at the same location of the normal validation pattern and the inverse validation pattern to 3D according to the movement of the scanner. It is characterized by verifying the validity of Point Clouds.

In addition, the validity determination unit 120 detects a plurality of patterns forming a validity validation section, that is, a sequence output time and a scanner movement of each of the plurality of validation patterns and target patterns, It is possible to determine whether the verification patterns are valid. For example, if the sequence output time of each of the patterns for 5 patterns or 4 patterns is 25 ms to 33 ms, the validity determination unit 120 automatically detects when the scanner moves rapidly within the continuous output time. It can be judged as invalid.

When the validity determination unit 120 determines whether it is valid or not, the valid pattern detection unit 130 generates a point cloud using target patterns located between or around a plurality of validation patterns, and determines the validity. When the unit 120 determines whether it is valid or not, the valid pattern detection unit 130 may not generate a point cloud with target patterns located between or around a plurality of validation patterns.

The valid pattern detection unit 130 detects valid target patterns located between or around a plurality of validity validation patterns within the validity validation section according to the validity determination result.

When the validity of the plurality of validation patterns is verified, the valid pattern detection unit 130 detects the validity of the target patterns located between or around the plurality of validation patterns in the validation section to be a valid target pattern. You can create a large number of Point Clouds from them. For example, when the validity of a plurality of validation patterns is verified within the validation section, the validity of the target patterns located between or around the plurality of validation patterns has also been validated, so the valid pattern detection unit 130 ) Can generate a mass point cloud of up to 1 million points/frame using valid target patterns.

The motion validity detection apparatus 100 according to an embodiment of the present invention further includes a scanning unit (not shown) that performs 3D scanning on an object using a large number of point clouds generated from valid target patterns. can do.

2 and 3 are views for explaining a coordinate error caused by a scanner movement according to an embodiment of the present invention.

The present invention uses a plurality of validation patterns including a normal validation pattern 211 and an inverse validation pattern 212 to prevent movement of a handheld scanner during pattern image processing. To minimize the 3D coordinate error.

In the conventional handheld scanner, when using structured light, an error in 3D coordinates occurred during image processing due to fast movement. The present invention may extract and acquire only valid image frames (or patterns) in a pattern image processing process by using a plurality of validation patterns 211 and 212 in order to remove such a 3D coordinate error.

The normal validation pattern 211 of the present invention may be a grid pattern, and the inverse validation pattern 212 may be an inverse grid pattern.

For example, when the scanner does not move, the normal validation pattern (pat, 211) and the inverse validation pattern (inv, 212) are constant as shown in Figs. 2(a) and 3(a). It represents the pixel value, and it can be seen that the pixel value difference (pat-inv) is uniformly generated.

As another example, when a minute movement of the scanner occurs, pixel values of the normal validation pattern (pat, 211) and the inverse validation pattern (inv, 212) as shown in FIGS. 2(b) and 3(b) It can be seen that this fine overlapping but pixel value difference (pat-inv) is generated similarly to FIGS. 2(a) and 3(a).

As another example, when a fast movement of the scanner occurs, pixels of the normal validation pattern (pat, 211) and the inverse validation pattern (inv, 212) as shown in FIGS. 2(c) and 3(c) It can be seen that the pixel value difference (pat-inv) is low, that is, indicates invalidity due to overlapping values.

That is, due to the rapid movement of the scanner, invalidity appears in the pattern image processing process, which may lead to a 3D coordinate error.

4 is a diagram illustrating an example of detecting the validity of a plurality of validation patterns according to an embodiment of the present invention.

The present invention verifies the validity using a plurality of validation patterns, and a validation section including target patterns located between or around a plurality of validation patterns and a plurality of validation patterns is shown in FIG. As shown, the first mode 400 and the second mode 500 will be described.

The first mode 400 includes a normal validation pattern 411 of a grid pattern and an inverse validation pattern 412 of an inverse grid pattern, and between the normal validation pattern 411 and the inverse validation pattern 412 A white image 413, a high resolution coded pattern (HRCP) 414, and target patterns 413, 414, and 415 of a black image 415 are included.

The motion validity detection apparatus and method according to the embodiment of the present invention use a normal validation pattern 411 and an inverse validation pattern 412, which are a plurality of validation patterns located on both sides of the first mode 400. To detect the effectiveness. For example, the present invention is a phenomenon in which the contrast between the pixel values at the same position of the normal validation pattern 411 and the inverse validation pattern 412 falls (for example, the pixel value difference (pat) in FIG. 3(c)). (meaning that the intensity of -inv) falls below '0'), the validity of the 3D point clouds according to the rapid position movement of the scanner can be detected.

When the validity of the normal validation pattern 411 and the inverse validation pattern 412 is verified in the first mode 400, a target pattern positioned between the normal validation pattern 411 and the inverse validation pattern 412 The validity of s 413, 414, 415 is also verified. Accordingly, the present invention is based on the validation of a plurality of validation patterns (411, 412), within a validity validation section (ie, the first mode 400) using the target patterns 413, 414, 415 It is possible to create a mass point cloud of up to 1 million points/frame.

On the other hand, when the validity of the normal validation pattern 411 and the inverse validation pattern 412 is not verified in the first mode 400, that is, when the invalidity is verified, the present invention provides a normal validation pattern. The point cloud may not be generated by using the target patterns 413, 414, and 415 positioned between the 411 and the inverse validation pattern 412.

The second mode 500 includes a normal validation pattern 511 of a grid pattern and an inverse validation pattern 512 of an inverse grid pattern, and between the normal validation pattern 511 and the inverse validation pattern 512 Target patterns 514 and 516 of a High Resolution Coded Pattern (HRCP) 514 and an Inverse HRCP 516 are included.

The second mode 500 is also the same as the first mode 400, the motion validity detection apparatus and method according to an embodiment of the present invention is a plurality of validation patterns located on both sides of the second mode 500 Validity is detected using the normal validation pattern 511 and the inverse validation pattern 512. For example, the present invention is a phenomenon in which the contrast between the pixel values at the same position of the normal validation pattern 511 and the inverse validation pattern 512 decreases (for example, the pixel value difference ( (meaning that the intensity of pat-inv) falls below '0'), the validity of 3D point clouds according to the rapid movement of the scanner can be detected.

When the validity of the normal validation pattern 511 and the inverse validation pattern 512 is verified in the second mode 500, a target pattern positioned between the normal validation pattern 511 and the inverse validation pattern 512 The validity of s 514 and 516 is also verified. Accordingly, according to the validity of the plurality of validation patterns 511 and 512, the present invention uses the target patterns 514 and 516 to determine a maximum of 100 within a validity validation period (ie, the second mode 500). It is possible to create a mass point cloud of 10,000 points/frame.

On the other hand, when the validity of the normal validation pattern 511 and the inverse validation pattern 512 is not verified in the second mode 500, that is, when the invalidity is verified, the present invention provides a normal validation pattern. A point cloud may not be generated using target patterns 514 and 516 positioned between 511 and the inverse validation pattern 512.

However, in FIG. 4, the target patterns 413, 414, 415 or 514, 516 are shown to be positioned between the normal validation patterns 411 and 511 and the inverse validation patterns 412 and 512. Since the patterns 413, 414, 415 or 514, 516 may be located around the normal validation patterns 411 and 511 and the inverse validation patterns 412 and 512, the first mode 400 and the second The positions, arrangements, and types of patterns configured in the mode 500 are not limited thereto.

5 is a diagram illustrating an example of detecting the validity of a plurality of validity verification patterns according to a continuous output time according to an embodiment of the present invention.

The motion validity detection apparatus and method according to an embodiment of the present invention detects the continuous output time and scanner motion of each of a plurality of patterns forming a validity validation section, that is, a plurality of validation patterns and target patterns. It is possible to determine whether or not the validation patterns are valid.

Referring to FIG. 5, the specific time interval of each of the patterns 411, 412, 413, 414, and 415 of the first mode 400 is 8.3 ms, and the continuous output time of the first mode 400 (Sequence Output Time) is 33ms, the present invention can detect the movement of the scanner within 33ms. Accordingly, in the present invention, if the scanner moves faster than the 33 ms continuous output time of the pattern, it can be automatically detected and determined as invalid.

Similarly, when the specific time interval of each pattern 511, 512, 514, 516 of the second mode 500 is 8.3 ms, and the sequence output time of the second mode 500 is 22 ms , The present invention can detect the movement of the scanner within 22ms. Accordingly, according to the present invention, if the scanner moves faster than the 22 ms continuous output time of the pattern, it can be automatically detected and determined as invalid.

That is, the present invention can verify validity by detecting a scanner motion within the continuous output time of patterns.

6 is a diagram illustrating an example of determining whether a scan is possible according to a scanner movement according to an embodiment of the present invention.

FIG. 6(a) shows a 1-pixel width line grid pattern, and FIG. 6(b) shows a 2-pixel width line grid pattern. Show.

The motion validity detection apparatus and method according to an embodiment of the present invention can calculate different effective scan determination speeds for the patterns of FIGS. 6A and 6B. In this case, it is assumed that the distance between the object and the projector is 300 mm, the resolution is 912×1140, 0.388 mm/pixel, and 0.5 pixel overlap.

As an example, the 1-pixel width line of FIG. 6(a) is 0.194mm/33ms = 5.88mm/sec, so if the movement of the scanner is limited to within 5.88mm/sec, scanning is possible. I can judge.

As another example, the 2-pixel width line of FIG. 6(b) is 0.388mm/33ms = 11.76mm/sec, so if the movement of the scanner is restricted within 11.76mm/sec, it is possible to scan. I can judge.

7 shows an evaluation result of the stability of the detection of effectiveness according to an embodiment of the present invention.

FIG. 7(a) shows a 1-pixel width line grid pattern, and FIG. 7(b) shows a 2-pixel width line grid pattern. Show.

In the experiment of FIG. 7, a handheld desktop scanner was held in hand and the validity of the pattern was detected.

As shown in FIG. 7, when the validity detection pattern is projected while holding the scanner in hand, it can be confirmed that the 100% frame represents a validity determination, and through this, the validity detection technology according to the embodiment of the present invention is When applied to a handheld scanner, it can be seen that more stable scanning is possible.

8 is a diagram illustrating a difference between a conventional technique and a scanner movement method according to the present invention.

In the conventional 3D handheld scanning technology shown in FIG. 8(a), there is an inconvenience in that the scanner must be gradually and precisely moved. However, if the motion validity detection apparatus and method according to the embodiment of the present invention shown in FIG. 8(b) are applied, the scanner can be easily moved in a Stop & Move method to scan an object.

9 is a flowchart illustrating an operation of a motion validity detection method according to an embodiment of the present invention.

The method of FIG. 9 is performed by the motion validity detection apparatus according to the embodiment of the present invention shown in FIG.

Referring to FIG. 9, in step 910, a plurality of validation patterns are detected from an object.

In the case of 3D scanning of an object, a pattern according to the use of structured light is irradiated on the object using a projector, and relationship information between the projector and the camera is obtained through the pattern, and 3D information preset in the projector or camera, that is, calibration information In combination with, 3D scanning may be performed by recognizing 3D coordinates for an object.

Accordingly, in operation 910, a plurality of validation patterns irradiated from the projector to the object according to a specific time interval may be detected. For example, in step 910, a plurality of validation patterns including at least two patterns of a normal validation pattern and an inverse validation pattern in a pattern image irradiated from the projector to the object according to a specific time interval. Can be detected.

Depending on the embodiment, the normal validation pattern may be a grid pattern, and the inverse validation pattern may be an inverse grid pattern, but the validation pattern is not limited to the grid pattern, and the validity is verified. It is irrelevant as long as it is a pattern representing normal and inverse in a possible pattern form.

In step 920, it is determined whether or not the plurality of validation patterns are valid in the validation section.

For example, in operation 920, the validity of 3D point clouds according to the movement of the scanner may be verified by using the difference in pixel values at the same location of the normal validation pattern and the inverse validation pattern. The validation section may represent a section including target patterns located between or around a plurality of validation patterns.

Accordingly, in step 920, the normal validation pattern and the inverse validation pattern are detected in the validation section, and the 3D point group according to the movement of the scanner ( It is characterized by verifying the validity of Point Clouds).

In addition, step 920 detects a plurality of patterns forming a validation section, that is, a sequence output time and a scanner movement of each of the plurality of validation patterns and target patterns, It is possible to determine whether or not it is valid. For example, if the sequence output time of each of the patterns for 5 patterns or 4 patterns is 25 ms to 33 ms, if the scanner moves rapidly within the continuous output time, step 920 is automatically detected and invalid. It can be judged as.

In step 930, valid target patterns located between or around a plurality of validation patterns within the validation section are detected according to the validation determination result.

In step 930, when the validity of the plurality of validation patterns is verified, the validity of the target patterns located between or around the plurality of validation patterns in the validation section is detected, You can create Point Clouds. For example, if the validity of a plurality of validation patterns is verified within the validation section, the validity of target patterns located between or around the plurality of validation patterns has also been validated. A mass point cloud of up to 1 million points/frame can be created using verified and valid target patterns.

The motion validity detection method according to an embodiment of the present invention may further include performing 3D scanning on an object using a large number of point clouds generated from valid target patterns (not shown).

The apparatus described above may be implemented as a hardware component, a software component, and/or a combination of a hardware component and a software component. For example, the devices and components described in the embodiments are, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a Field Programmable Gate Array (FPGA). , A programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions, such as one or more general purpose computers or special purpose computers. The processing device may execute an operating system (OS) and one or more software applications executed on the operating system. In addition, the processing device may access, store, manipulate, process, and generate data in response to the execution of software. For the convenience of understanding, although it is sometimes described that one processing device is used, one of ordinary skill in the art, the processing device is a plurality of processing elements and/or a plurality of types of processing elements. It can be seen that it may include. For example, the processing device may include a plurality of processors or one processor and one controller. In addition, other processing configurations are possible, such as a parallel processor.

The software may include a computer program, code, instructions, or a combination of one or more of these, configuring the processing unit to behave as desired or processed independently or collectively. You can command the device. Software and/or data may be interpreted by a processing device or to provide instructions or data to a processing device, of any type of machine, component, physical device, virtual equipment, computer storage medium or device. , Or may be permanently or temporarily embodyed in a transmitted signal wave. The software may be distributed over networked computer systems and stored or executed in a distributed manner. Software and data may be stored on one or more computer-readable recording media.

The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like alone or in combination. The program instructions recorded on the medium may be specially designed and configured for the embodiment, or may be known and usable to those skilled in computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. -A hardware device specially configured to store and execute program instructions such as magneto-optical media, and ROM, RAM, flash memory, and the like. Examples of the program instructions include not only machine language codes such as those produced by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like. The hardware device described above may be configured to operate as one or more software modules to perform the operation of the embodiment, and vice versa.

As described above, although the embodiments have been described by the limited embodiments and drawings, various modifications and variations are possible from the above description by those of ordinary skill in the art. For example, the described techniques are performed in a different order from the described method, and/or components such as a system, structure, device, circuit, etc. described are combined or combined in a form different from the described method, or other components Alternatively, even if substituted or substituted by an equivalent, an appropriate result can be achieved.

Therefore, other implementations, other embodiments, and claims and equivalents fall within the scope of the claims to be described later.

Claims (16)

In the motion validity detection apparatus according to the scanner motion (motion),
A pattern detection unit detecting a plurality of validation patterns from an object;
A validity determination unit that determines whether the plurality of validation patterns are valid in a validity validation period; And
A valid pattern detection unit that detects valid target patterns located between or around the plurality of validation patterns within the validation section according to the validation determination result
Motion validity detection device comprising a. The method of claim 1,
The pattern detection unit
Motion validity detection apparatus for detecting the plurality of validation patterns irradiated from the projector to the object according to a specific time interval. The method of claim 2,
The plurality of validation patterns
A motion validity detection apparatus comprising at least two patterns of a normal validation pattern and an inverse validation pattern. The method of claim 3,
The validity determination unit
A motion validity detection apparatus for verifying the validity of 3D point clouds according to the movement of the scanner by using a difference in pixel values at the same position of the normal validity validation pattern and the inverse validation pattern. The method of claim 4,
The validation section is
A motion validity detection apparatus, characterized in that it represents a section including the target patterns positioned between or around the plurality of validation patterns. The method of claim 1,
The validity determination unit
A motion validity detection apparatus for determining whether the plurality of validation patterns are valid by detecting a continuous output time and a scanner motion of each of the plurality of validation patterns and the target patterns. The method of claim 1,
The effective pattern detection unit
When the validity of the plurality of validation patterns is verified, the validity of the target patterns located between or around the plurality of validation patterns in the validation section is detected, and a large amount from the valid target patterns is detected. A motion validity detection device that generates point clouds of. The method of claim 1,
A scanning unit that performs 3D scanning on the object using a large number of point clouds generated from the effective target patterns
Motion validity detection device further comprising a. In the method of operating a motion validity detection device according to a scanner motion (motion),
Detecting a plurality of validation patterns from an object;
Determining whether the plurality of validation patterns are valid in a validation period; And
Detecting valid target patterns located between or around the plurality of validation patterns within the validation section according to the validation determination result
Motion validity detection method comprising a. The method of claim 9,
The step of detecting the plurality of validation patterns
A motion validity detection method for detecting the plurality of validation patterns irradiated from a projector to the object according to a specific time interval. The method of claim 10,
The plurality of validation patterns
A method for detecting motion validity comprising at least two patterns of a normal validation pattern and an inverse validation pattern. The method of claim 11,
The step of determining whether the validity is
A motion validity detection method for verifying the validity of 3D point clouds according to the movement of the scanner by using a difference in pixel values at the same position of the normal validation pattern and the inverse validation pattern. The method of claim 9,
The step of determining whether the validity is
A motion validity detection method for determining whether the plurality of validation patterns are valid by detecting a continuous output time and a scanner motion of each of the plurality of validation patterns and the target patterns. The method of claim 9,
The step of detecting the effective target patterns
When the validity of the plurality of validation patterns is verified, the validity of the target patterns located between or around the plurality of validation patterns in the validation section is detected, and a large amount from the valid target patterns is detected. Motion validity detection method that generates point clouds of. The method of claim 9,
Performing 3D scanning of the object using a large number of point clouds generated from the effective target patterns
Motion validity detection method further comprising a. A computer program stored in a computer-readable recording medium to perform the method of any one of claims 9 to 15.

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