KR19990003333A - Distance information acquisition device in 3D shape restoration system - Google Patents

Abstract

The present invention relates to a distance information acquisition device that obtains distance information on a distance image obtained by using two lasers to scan an object in a three-dimensional shape reconstruction system. To this end, the apparatus comprises a first laser for scanning at regular intervals from the leftmost surface of a predetermined object in the center direction; A second laser synchronously with the first laser at a position different from the first laser to perform a scanning process at regular intervals from the rightmost surface of the target object toward the center; A first camera photographing the object in a fixed position corresponding to the first laser; A second camera for photographing the object at a fixed position corresponding to the second laser; A control unit controlling mechanical rotation of the first laser and the second laser to perform a scan process; A grabber for transmitting a distance image obtained by digitizing the distance image respectively transmitted through the first and second cameras; Controlling the operation of the controller, obtaining only the distance information of the laser scan point from the two distance images transmitted through the grabber, and the first laser at the current shooting point when the distance information obtained from the two distance images is the same And a processor that controls the controller to stop the scan operation of the second laser and acquires a corresponding distance image by using all the distance information at the current photographing point acquired until the scan operation is stopped.

Description

Distance information acquisition device in 3D shape restoration system

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a distance data acquisition apparatus in a three-dimensional shape restoration system, and more particularly, to a distance information acquisition apparatus for acquiring accurate distance information using two lasers.

3D shape reconstruction system is one of the most active researches in the field of computer vision, and the depth data of the 2D range image of the target object acquired from various directions through the range finder. The 3D shape of the target object is restored through a registration process for obtaining transformation parameters and correlation points and an integration process that is synthesized into a complete model.

However, in this 3D shape restoration system, registration is numerically calculated and always includes a certain amount of error, so that the correspondence point between the distance images cannot be accurately detected. In order to solve this problem, a vertical stripe is formed on a target object using one laser or a projector, and a corresponding point between the distance images is obtained by obtaining a plurality of distance images including the formed vertical stripes. The method has been proposed.

However, this method is mainly performed by forming the stripe near the center of the object, so the reliability tends to decrease toward the left or right edge of the object.

Accordingly, the present invention has been made to improve the above-described drawbacks, and in the three-dimensional shape restoration system, two lasers obtain distance information by using information scanned from an object, as well as near or to the center of the object. It is an object of the present invention to provide a distance information acquisition device that can improve the reliability of the distance information of the edge.

A distance information acquisition apparatus according to the present invention for achieving the above object, in the system for restoring a three-dimensional shape by obtaining a distance image for a predetermined object (Object), from the leftmost side of the predetermined object to the center direction A first laser for scanning at regular intervals; A second laser synchronously with the first laser at a position different from the first laser to perform a scanning process at regular intervals from the rightmost surface of the target object toward the center; A first camera photographing the object in a fixed position corresponding to the first laser; A second camera for photographing the object at a fixed position corresponding to the second laser; A control unit controlling mechanical rotation of the first laser and the second laser to perform a scan process; A grabber for transmitting a distance image obtained by digitizing the distance image respectively transmitted through the first and second cameras; Controlling the operation of the controller, obtaining only the distance information of the laser scan point from the two distance images transmitted through the grabber, and the first laser at the current shooting point when the distance information obtained from the two distance images is the same And a processor which controls the controller to stop the scan operation of the second laser and acquires the corresponding distance image by using all the distance information at the current photographing point acquired until the scan operation is stopped.

1 is a schematic block diagram of a three-dimensional shape restoration system having a distance information acquisition device according to the present invention;

2 is an exemplary view when the scanning positions of two lasers coincide.

Explanation of symbols for main parts of the drawings

100: processor 110: object

120: the first laser 121: the first camera

130: second laser 131: second camera

140: control unit 150: grabber (Grabber)

The above and other objects and various advantages of the present invention will become more apparent from the preferred embodiments of the invention described below with reference to the accompanying drawings by those skilled in the art.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram of a three-dimensional shape restoration system having a distance information acquisition device according to the present invention, the processor 100 for the overall control so that the distance information can be obtained according to the present invention, to restore the three-dimensional shape The first object corresponding to the first and second lasers 120 and 130 and the first and second lasers 120 and 130 respectively scanning the target object 110 in different positions. And a control unit 140 that is controlled by the second cameras 121 and 131 and the processor 100 to mechanically control the scan points of the first and second lasers 120 and 130. It consists of a grabber (Grabber 150) for converting the images captured by the 121, 131 to the data that can be processed by the processor 100, respectively.

The three-dimensional shape recovery system configured as described above is driven as follows.

First, as shown in FIG. 1, the controller 140 mechanically rotates the first laser 120 to move a scan point with respect to the target object 110 from the leftmost side of the target object 110 to the central root. As shown in FIG. 1, the rotation of the second laser 130 is mechanically controlled to move the scan point from the rightmost side of the object object 110 to the center root. In this case, the rotation angles of the first and second lasers 120 and 130 are controlled to scan at a predetermined interval with respect to the target object 110. In addition, the scan point movement is controlled so that the first and second laser beams 120 and 130 are simultaneously made at regular time intervals. The operation of the controller 140 is controlled by the processor 100.

That is, the first laser 120 and the second laser 130 are based on the first scan point, the scan point movement interval, and the movement time information of the first laser 120 and the second laser 130 provided from the processor 100. Mechanically control the rotation of the

The processor 100 may be configured to provide the controller 140 with preset information according to the operator's start command, or may be configured to provide the controller 140 with scan information determined by analyzing a command authorized by the operator. have.

Meanwhile, the first and second cameras 121 and 131 transmit the distance images acquired from the fixed positions to the grabber 150 whenever the corresponding first and second lasers 120 and 130 are scanned. .

The processor 100 receives the two distance images acquired at the time when the scan is performed from the grabber 150 and obtains only the distance information on the points scanned by the first and second lasers 120 and 130. The distance information acquisition operation of the processor 100 is performed whenever the scan points of the first and second lasers 121 and 131 change. When the scan points of the first laser 120 and the second laser 130 coincide with each other as shown in FIG. 2, the distance information of the two distance images acquired by the processor 100 is coincident with each other. When the distance information obtained from the two distance images is matched as described above, the processor 100 controls the controller 140 to stop the scanning of the first and second lasers 120 and 130.

And all the information (in the set X _A of the distance information for the distance image obtained through the first camera 121 and the set X _B of the distance information for the distance image obtained through the second camera 131 on the current shooting surface X _A ∪ X _B ) to obtain one distance image.

The processor 100 controls the distance information to be obtained in the above-described manner when the photographing angle is manually changed in order to obtain the distance information for all the surfaces of the object object 110 in the above-described manner.

As described above, in the three-dimensional shape restoration system, the present invention uses two lasers to scan at a predetermined interval from the rightmost and leftmost points to the center point of the object on the photographing surface, and the distance of the scanned points. By acquiring the information, it is possible to obtain more accurate and reliable three-dimensional distance information on the left and right edges of the object.

Although the present invention has been described as the above-described embodiment, those skilled in the art will appreciate that various changes and modifications can be made without departing from the spirit of the present invention. For example, in the above-described embodiment, the case where the photographing angle of the object is manually controlled is illustrated, but the present invention is also applicable to the case where the photographing angle is adjusted by placing the object on the turntable. In addition, in the above-described embodiment, the first camera and the second camera exemplify a case where a picture is taken each time a scan point is changed. However, the first camera and the second camera may be implemented so that the picture is taken continuously. Therefore, the technical scope of the present invention should not be limited to the contents described in the detailed description of the specification but should be defined by the claims.

Claims (1)

In a system for restoring a three-dimensional shape by obtaining a distance image for a predetermined object, A first laser for scanning at predetermined intervals from the leftmost side of the predetermined object in a center direction; A second laser synchronously with the first laser at a position different from the first laser to scan at a predetermined interval in the center direction from the rightmost side of the predetermined object; A first camera photographing the object at a fixed position corresponding to the first laser; A second camera for photographing the object at a fixed position corresponding to the second laser; A control unit controlling mechanical rotation of the first laser and the second laser to perform the scan process; A grabber for transmitting a distance image obtained by digitizing the distance image respectively transmitted through the first and second cameras; Control the operation of the control unit, obtain only the distance information of the laser scan point from the two distance images transmitted through the grabber, and when the distance information obtained from each of the two distance images are the same, The processor controls the control unit to stop the scanning operation of the first laser and the second laser, and acquires a corresponding distance image by using all distance information at the current photographing point acquired before the scanning operation is stopped. Distance information acquisition device comprising a.