KR20230100354A - A 3D Foot Scanning Apparatus and a Method for Obtaining a Foot Image with the Same - Google Patents

Abstract

The present invention relates to a 3D foot scanning device and a foot image acquisition method using the same. The 3D foot scan device includes a scan housing 11 having an accommodation space therein; A scan window 13 formed on the upper surface of the scan housing 11 and contacting the sole of the foot; a laser scanner 14 disposed inside the scan housing 11 and scanning the foot located in the scan window 13 in a downward direction; and a plurality of multi-view cameras 15a, 15b, and 15c disposed at different locations along the circumference of the scan window 13 to photograph the scan window 13 from an upward direction.

Description

3D Foot Scanning Apparatus and a Method for Obtaining a Foot Image with the Same}

The present invention relates to a 3D foot scanning device and a method for obtaining a foot image using the same, and more particularly, to a 3D foot scanning device capable of acquiring a foot image using a camera or a laser scanner and a method for obtaining a foot image using the same.

Foot images may be acquired for the purpose of manufacturing shoes or insoles, diagnosing foot diseases, or similar purposes. The foot image may be acquired by a vision device or a laser device, and the acquired image may be used for various purposes. Since the foot consists of various types of curved surfaces and has various morphological characteristics depending on the individual, it is necessary to have a measurement structure suitable for it. In this regard, Patent Publication No. 10-2018-0029831 discloses a foot scanning device and a foot scanning method using the device. In addition, Patent Registration No. 10-1381137 discloses a scanner capable of acquiring shape information including the size of a foot in two dimensions or three dimensions. When a foot image is acquired for the purpose of manufacturing insoles, diagnosing foot diseases, or similar purposes, the entire shape of the lower and upper parts of the foot needs to be acquired in a three-dimensional form. To this end, a scanning device in which a vision unit and a laser scanner are combined is required. However, the prior art does not disclose a scanner having such a structure.

The present invention is to solve the problems of the prior art and has the following object.

Prior Art 1: Patent Publication No. 10-2018-0029831 (Kyungpook National University Industry-University Cooperation Foundation, published on March 21, 2018) Foot scan neglect and its foot scan method Prior art 2: Patent Registration No. 10-1381137 (Winforsys Co., Ltd., 2014.04.10. Public notice) Foot scanner

An object of the present invention is to provide a 3D foot scanning device capable of obtaining a 3D foot image by using a multi-view camera module and a laser scanner, and a foot image acquisition method using the same.

According to a preferred embodiment of the present invention, a 3D foot scan device includes a scan housing having an accommodation space therein; a scan window formed on an upper surface of the scan housing and contacting the sole of the foot; a laser scanner that is disposed inside the scan housing and scans the foot located in the scan window in a downward direction; It includes a plurality of multi-view cameras disposed at different positions along the circumference of the scan window to photograph the scan window from an upward direction.

According to another preferred embodiment of the present invention, a laser scanner includes a laser module movable along a linear guide; and a camera module, wherein the laser module and the camera module move simultaneously from a relatively fixed position.

According to another preferred embodiment of the present invention, the number of multi-view cameras is three or four.

According to another preferred embodiment of the present invention, a method for obtaining a foot image by means of a multi-view camera and a laser scanner includes disposing a laser scanner below the foot and a multi-view camera above the foot; obtaining a relative position of a multi-view camera by means of a marker; correcting the position by rotating or moving the focal point of the multi-view camera based on the acquired relative position; acquiring an image by means of a laser scanner and a multi-view camera; performing a filling process on images acquired by different multi-view cameras; Acquiring a 3D point by acquiring a laser line of a laser scanner; Calculating the depth of the laser line; and obtaining a 3D foot image by applying filling and depth correction to an image obtained while the laser scanner is linearly moved.

The 3D foot scan device according to the present invention enables acquisition of a 3D foot image by using a multi-view camera module and a laser scanner. The scan device according to the present invention accurately diagnoses and predicts the condition of an individual's foot, enables modeling of a customized insole according to individual characteristics, and enables prevention or treatment of arthritis or foot disease. The scan device according to the present invention enables the establishment of a database management system according to the securing of a 3D model of the foot in the analysis and statistical process of the foot diagnosis data, while enabling the selection of data for each body type based on various data accumulated let it do According to the method according to the present invention, the accuracy of the acquired 3D model is ensured by performing error correction to match the actual shape in the image acquisition process. The apparatus or method according to the present invention can be applied to various uses related to a foot model, and the present invention is not limited thereby.

1 illustrates an embodiment of a 3D foot scanning device according to the present invention.
2 shows an embodiment of a laser scanner forming a 3D foot scan device according to the present invention.
3 illustrates another embodiment of a 3D foot scanning device according to the present invention.
4 to 7 illustrate an embodiment of a process for acquiring an image in the 3D foot scanning device according to the present invention.
8 illustrates an embodiment of a foot image acquired by the scanning device according to the present invention.

Below, the present invention will be described in detail with reference to the embodiments presented in the accompanying drawings, but the embodiments are for a clear understanding of the present invention, and the present invention is not limited thereto. In the following description, components having the same reference numerals in different drawings have similar functions, so repeated descriptions are not made unless necessary for understanding the invention, and well-known components are briefly described or omitted, but the present invention It should not be understood as being excluded from the embodiment of.

1 illustrates an embodiment of a 3D foot scanning device according to the present invention.

Referring to FIG. 1 , the 3D foot scan device includes a scan housing 11 having an accommodation space therein; A scan window 13 formed on the upper surface of the scan housing 11 and contacting the sole of the foot; a laser scanner 14 disposed inside the scan housing 11 and scanning the foot located in the scan window 13 in a downward direction; and a plurality of multi-view cameras 15a, 15b, and 15c disposed at different locations along the circumference of the scan window 13 to photograph the scan window 13 from an upward direction.

3D data and 3D models of entire foot parts including soles, insteps, toes, and ankles may be acquired by the 3D foot scanning device. The 3D foot scanning device includes a laser scanner 14 disposed below the foot with respect to the scan housing 11 and a plurality of multi-view cameras 15a, 15b, and 15c disposed above the foot. The scan housing 11 may have a hexahedral shape with an accommodation space formed therein as a whole, but is not limited thereto. For example, the scan housing 11 may have various shapes such as a cylinder shape, a polyhedral shape, or an elliptical shape. The upper surface of the scan housing 11 may be flat, and may be made of various structures in which one foot or both feet may be placed. Specifically, a fixing plane 12 on which feet are located may be formed on the upper surface of the scan housing 11, and a scan window 13 is formed while being made of a light-transmitting material having a rectangular or similar shape of the fixing plane 12. It can be. The scan window 12 may be separated from the fixed plane 12 by the window frame 111 , and a scan window may be formed by combining a light transmission window with the window frame 111 . The sole of one foot or the sole of both feet may be located in the scan window 11 . Optionally, a contact point indicating a contact position of the sole of the foot may be formed in the scan window 13 . A plurality of contact points may be formed based on the toe and sole contact parts based on the point where the sole comes into contact with the ground. A laser scanner 14 may be disposed inside the scan housing 11, and the laser scanner 14 may include an image camera and a laser module. The laser scanner 14 can scan the foot below the sole, whereby the lower part of the foot or the shape of the foot viewed from below can be obtained. In addition, the shape of the foot viewed from the top of the foot may be acquired by the multi-view cameras 15a, 15b, and 15c. The multi-view cameras 15a, 15b, and 15c may be disposed along the circumference of the scan window 13, and may be disposed to be located, for example, at the center of three sides of the scan window 13, which has a rectangular shape. . The number of multi-view cameras 15a, 15b, and 15c may be, for example, 3 or 4, but is not limited thereto. Each of the multi-view cameras 15a, 15b, and 15c may be fixed to the upper end portion of each of the vertically extending members 16a, 16b, and 16c having the same or similar shape. The plurality of vertically extending members 16a, 16b, and 16c may have the same or similar height, and each multi-view camera 15a, 15b, and 15c may have the same or similar height of each vertically extending member 16a, 16b, and 16c. It can be fixed in a similar position. Images of the foot are obtained based on different directions by the plurality of multi-view cameras 15a, 15b, and 15c, and the acquired image is combined with the scan data of the laser scanner 14 to obtain a 3D foot shape. can Below, the structure of the laser scanner 14 is specifically explained.

2 shows an embodiment of a laser scanner forming a 3D foot scan device according to the present invention.

Referring to FIG. 2 , the laser scanner 14 includes a laser module 23 movable along a linear guide 211; and a camera module 24, wherein the laser module 23 and the camera module 24 move simultaneously from a relatively fixed position. The scan housing includes a frame module F having a hexahedron box shape as a whole, and a scan window may be formed in the window frame 111 as described above. In addition, the laser scanner 14 may be installed on the square lower frame 113 and the bottom surface 112 . The laser scanner 14 may include a laser module 23 that emits laser in an upward direction and a camera module 24 that forms an image viewed in an upward direction. The laser module 23 and the camera module 24 may be linearly moved together along the linear guide 211 fixed at both ends to lower frame members of the lower frame 113 facing each other while forming a focus in the same direction. . The linear screw member 23 may extend in parallel with the linear guide 211, and the laser module 23 and the camera module 24 are driven by a driving means 22 such as a stepper motor. ) may be moved along the linear guide 211 in units of a predetermined movement distance while being rotated. Referring to the right side of FIG. 2 , the linear guide 211 may be integrally formed with the bottom frame 113 and fixed in contact with the bottom surface 112, and a sliding path may be formed in the linear guide 211. . The laser module 23 may be fixed to a movable bracket 231 capable of moving a sliding path along the linear guide 211 in a sliding manner, and the movable bracket 231 may be a horizontal plate structure. The reference block 27 may be formed in a direction perpendicular to the extension direction of the movable bracket 231 or the linear guide 211 . The reference block 27 may have a rectangular plate shape, and the movement inducing blocks 28a and 28b may be disposed so as to be L-shaped as a whole from positions symmetrical to each other from one plane of the reference block 27. Separate compartments may be formed to face each other by the respective movement induction blocks 28a and 28b, and the camera module 24 and the operation block 26 may be disposed in each separate compartment. The camera module 24 may be fixed to the horizontal plate-shaped camera bracket 241 and may be fixed to face upward or in the Z-axis direction. The linear screw member 21 may extend along the linear guide 211 while penetrating one side of the second motion guide block 28b and the operation block 26 . In this structure, the reference block 27 forms a plane parallel to the X axis, the screw member 21 extends along the Y axis direction, and the camera module 24 and the laser module 23 may face the Z axis. there is. The motor 22 is formed behind the balance block 251 formed in parallel with the reference block 27, and the rotation guide bearing 25 may be disposed between the reference block 27 and the balance block 251. , and the movement direction or movement speed of the reference block 27 can be measured and controlled by the operation block 26 . By driving the motor 22, the reference block 27 can be moved along the linear guide 211 in units of a predetermined pitch, and accordingly, the linear guide 121 is driven by the laser module 23 and the camera module 24. ), foot data may be obtained as the foot is scanned at different positions. The camera module 24 and the laser module 23 may be linearly moved by various structures, and thereby the present invention is not limited.

3 illustrates another embodiment of a 3D foot scanning device according to the present invention.

Referring to FIG. 3 , there are three or four multi-view cameras 15a, 15b, and 15c. The multi-view camera may be installed in the upper scan frame 30, and the upper scan frame 30 includes a disk-shaped central block 31; Horizontal extension blocks (32a to 32d) extending along the radial direction in a planar shape based on the central block (31); and vertical extension members 16a to 16d extending in a vertical direction with respect to the horizontal extension blocks 32a to 32d. The upper scan frame 30 may be made integrally, and the horizontal extension blocks 32a to 32d may extend from the circular center block 31 to have a plus (+) shape or to have a T shape. The upper scan frame 30 having such a structure may be coupled to the scan housing 11 to form a frame for a scan device. Specifically, while the central block 31 is positioned in a central groove (not shown) formed at the center of the outer bottom surface of the scan housing 11, the horizontal extension blocks 32a to 32d are fixed along the rim. The upper scan frame 30 may be coupled to the scan housing 11 by inserting and fixing each of the horizontal extension blocks 32a to 32d into (115). In the presented embodiment, the upper scan frame 30 in which four multi-view cameras can be installed is presented, but the horizontal extension blocks 32a to 32d formed in the upper scan frame 30 according to the number of installed multi-view cameras The number can be appropriately adjusted. The multi-view camera may be installed in various upper scan frames 30, and the present invention is not limited thereby.

4 to 7 illustrate an embodiment of a process for acquiring an image in the 3D foot scanning device according to the present invention.

A method of acquiring a foot image by a multi-view camera and a laser scanner includes disposing a laser scanner below the foot and a multi-view camera above the foot; obtaining a relative position of a multi-view camera by means of a marker; correcting the position by rotating or moving the focal point of the multi-view camera based on the acquired relative position; acquiring an image by means of a laser scanner and a multi-view camera; performing a filling process on images acquired by different multi-view cameras; Acquiring a 3D point by acquiring a laser line of a laser scanner; Calculating the depth of the laser line; and obtaining a 3D foot image by applying filling and depth correction to an image obtained while the laser scanner is linearly moved.

For foot scan, one or both feet may be placed in the scan window, and the lower and upper parts of the foot may be scanned by a laser module disposed below the scan housing and a multi-view camera module disposed above the scan window. there is. In this way, in order to obtain 3D foot image data, a multi-view camera and a laser scanner may be disposed above and below the scan window, respectively. Afterwards, position correction of the multi-view camera and the laser camera may be performed during image acquisition or prior to image acquisition.

Referring to FIGS. 4 and 5 , positions of a plurality of multi-view cameras may be corrected using, for example, Aruco markers. Specifically, the four markers 41a to 41k may be input through an input image, and the edge EP of each marker 41a to 41k may be detected by an edge detection function. As shown in FIG. 5 , corner position information 52a, 52b, and 52c of the marker images 51a, 51b, and 51c for each marker may be obtained from three multi-view cameras. Then, based on the corner position information 52b of the marker image 51b of the second camera, the corner position information 52a and 52c obtained from the marker images 51a and 51c of the first and third cameras are aligned. Combined position information 53 can be obtained. Then, rotation and movement information of the first and third multi-view cameras may be acquired and corrected based on the combined position information 53 . Such a position correction process may be performed with respect to a laser scanner. 6 and 7, contrast images 61a and 61b may be acquired using a reference board such as a chess board by a camera and a laser module installed in a laser scanner, and contrast images 61a and 61b A difference image is obtained from the difference image, and a laser pixel 62 may be obtained from the difference image. Then, the 3D point 63 of the laser line may be calculated based on the plane equation obtained from the chess board. This process may be performed for a plurality of camera-laser image pairs. As shown in FIG. 7 , camera-laser images 71 of the two feet may be obtained, and laser pixels 72 may be obtained. And, as described above, the difference-image for the reference board can be obtained so that the laser depth 73 based on the plane equation can be obtained respectively. The laser depth at different locations can be obtained in various ways and is not limited to the presented embodiment.

The multi-view camera may be an RGB digital camera, and color correction may be performed in a position calibration process of the multi-view camera. As such, when the position correction of the digital camera and the depth calculation of the laser module are performed, a foot image may be acquired or correction may be performed on the obtained image. Also, depth information of an occluded area may be refined with respect to the obtained image. Since the depth is estimated using the parallax between the digital cameras during the image acquisition process, depth information about the occlusion area may be lost (hole). Such loss may be restored through, for example, an onion filling process. Then, as shown in FIG. 8 , foot images 82a to 82d of both feet 81 may be obtained. The obtained foot images 82a to 82d may be used for various purposes such as drawing, diagnosing foot diseases, posture correction, or the like, and the present invention is not limited thereto.

Although the present invention has been described in detail with reference to the presented embodiments above, those skilled in the art will be able to make various modifications and variations without departing from the technical spirit of the present invention with reference to the presented embodiments. . The present invention is not limited by these variations and modifications, but is limited only by the claims appended below.

11: scan housing 13: scan window
14: laser scanner 15a, 15b, 15c: multi-view camera
23: laser module 24: camera module
211: linear guide

Claims (4)

a scan housing 11 having an accommodation space therein;
A scan window 13 formed on the upper surface of the scan housing 11 and contacting the sole of the foot;
a laser scanner 14 disposed inside the scan housing 11 and scanning the foot located in the scan window 13 in a downward direction; and
A 3D foot scanning device including a plurality of multi-view cameras 15a, 15b, and 15c disposed at different positions along the circumference of the scan window 13 to photograph the scan window 13 from an upward direction. The method according to claim 1, wherein the laser scanner 14 is a laser module 23 movable along the linear guide 211; and a camera module 24, wherein the laser module 23 and the camera module 24 move simultaneously from a relatively fixed position. The 3D foot scanning device according to claim 1, characterized in that the multi-view camera (15a, 15b, 15c) is three or four. A method for acquiring a foot image by a multi-view camera and a laser scanner,
placing a laser scanner on the underside of the foot and a multi-view camera on the top of the foot;
obtaining a relative position of a multi-view camera by means of a marker;
correcting the position by rotating or moving the focal point of the multi-view camera based on the acquired relative position;
acquiring an image by means of a laser scanner and a multi-view camera;
performing a filling process on images acquired by different multi-view cameras;
Acquiring a 3D point by acquiring a laser line of a laser scanner;
Calculating the depth of the laser line; and
A method of acquiring a 3D foot image, comprising the step of obtaining a 3D foot image by applying filling and depth correction to an image acquired while linearly moving a laser scanner.

Images