TW200939053A - Apparatus and method for rapidly measuring 3-dimensional foot sizes from multi-images - Google Patents
Apparatus and method for rapidly measuring 3-dimensional foot sizes from multi-images Download PDFInfo
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200939053 請揭不最能顯示發明特徵的化 八、本案若有化學式時， 學式： 九、發明說明： 【發明所屬之技術領域】 $發明係關於一種影像快 響f方法與裝置，特別是指一種以使用its 為依據’經由多台攝影機戎赵 邰卜i 相鄰之影像，經由立體分析重 建曲面方式，以重建足部外型模型與尺寸， 3 2於後期選擇或製造合適鞋子之影像快速』測 足°卩二維尺寸方法與裝置。 【先前技術】 像美國 Vorum research corporation 所販售的 Yeti Μ3〇 Foot Scanner，使用八台高解析度攝影機 以及四台雷射投光器，因此可得到足部外型三維 的形狀’其優點是快速，可在四秒内得到足部外 型三維的形狀精度達到+/_.5mm，然而，其主要缺 點是儀器價格高昂較適合於研發實驗室使用，因 為其售價達數百萬元，故並不適合/般的門市或 店面作為使用協助顧客選擇鞋子之用途，因此/ 5 200939053 種低成本又足敷顧客選鞋需要的設備，即是本發 明主要的特徵所在。 中華民國專利TW259382是發明人之前取得的專 J用來改善上述缺點，基本上利用使用者穿載 一只薄而富彈性的襪子，且該襪子印有特殊設計 Φ200939053 Please not reveal the characteristics of the invention. 8. If there is a chemical formula in this case, the formula: IX. Invention: [Technical field of invention] $Invention relates to a method and device for image fast response, especially A method of reconstructing a curved surface through stereoscopic analysis to reconstruct a model of the foot shape and size by using a plurality of cameras based on the image of the camera, and to select or manufacture a suitable shoe image in the later stage. 』Measure the foot 卩 two-dimensional size method and device. [Prior Art] Like the US-based Vorum research corporation, the Yeti Μ3〇Foot Scanner uses eight high-resolution cameras and four laser projectors, so that the three-dimensional shape of the foot can be obtained. The advantage is fast. In three seconds, the three-dimensional shape accuracy of the foot is +/_.5mm. However, the main disadvantage is that the instrument is expensive and suitable for use in research and development laboratories. Because it sells for millions of dollars, it is not suitable. The general store or storefront is used to assist customers in selecting shoes, so the equipment that is required for the cost of the customer's shoes is the main feature of the present invention. The Republic of China patent TW259382 was originally developed by the inventor to improve the above-mentioned shortcomings. Basically, the user wears a thin and elastic socks, and the socks are printed with a special design.
Q 的彩色條紋格或大小不同的點紋，再將腳底踩在 、平板上並由兩台平行的攝影機或數位相機 或數位掃描器來求取腳底的立體形狀，另外四台 攝影機或數位相機則各別環繞足部的上方，並相 鄰兩只成對做立體分析（stWQsis)組成四個曲 面，再與腳底的曲面重建組成完整的足部立體形 狀。此專利改採數位設計的機子，有效去除使用 雷射投光器的需求’然則因為足底踩在透明強化 玻璃上，足底受壓容易變形，加上透明強化玻璃 透光性差以及因為多重反射，容易造成下方攝影 機取像困難，另外，需要足底下方的攝影機，增 加成本。 良善之設計者， 由此可見，上述習用方式仍有諸多缺失，實非 而亟待加以改良 6 200939053 【發明内容】 本發明之目的即在於提供一種以使用者穿著 印有特殊設計編碼的襪子，讓相鄰的攝影機容易 取得多個影像中對應點或特徵點，得以重建足部 外型一維模型之影像快速量測足部三維尺寸方法 與裝置。 'Q's color stripes or different dot patterns, then step on the sole, flat and two parallel cameras or digital cameras or digital scanners to obtain the three-dimensional shape of the sole, and four cameras or digital cameras Each of them surrounds the top of the foot, and two adjacent pairs of stereo analysis (stWQsis) form four curved surfaces, and then reconstructed with the curved surface of the sole to form a complete three-dimensional shape of the foot. This patent changed the digital design of the machine to effectively remove the need to use the laser projector. However, because the sole is stepped on the transparent tempered glass, the sole is easily deformed under pressure, and the transparency of the transparent tempered glass is poor and because of multiple reflections. It is easy to cause difficulty in taking images from the camera below. In addition, the camera below the sole is needed to increase the cost. The designer of goodness, it can be seen that there are still many shortcomings in the above-mentioned conventional methods, which are urgent and need to be improved. 6 200939053 [Invention] The object of the present invention is to provide a sock with a special design code printed by a user. Adjacent cameras can easily obtain corresponding points or feature points in multiple images, and can reconstruct the image of the three-dimensional size of the foot by rapidly reconstructing the image of the one-dimensional model of the foot shape. '
本發明之次-目的係在於提供一種使用攝影 機搭配反射鏡子來取得足底影像，不但免除透明 強化玻璃的_，並且可以正確無誤取得不受麼 變形的^底曲® ’此外可以因不必制；I底下方 的攝影機，而降低成本。 本發明之-人—目的係在於提供一種乃是透過 撰寫㈣’並以如：加肌函式庫讀出足部三 維曲面，並可輸出到s〇lidw〇rks或pr〇—£ ^ CAD/CAM軟體中，以利於後期使用者選用或製造 合適的鞋子使用之影像快速量測足部三維尺寸方 法與裝置。 可達成上述發明目 維尺寸方法與裝置，其 的之衫像快逮量測足部二 主要係使用至少一台以上 7 200939053 之攝影機或數位相機來取 建足邻#-# & 疋邛知像，並據此重 :足侧形狀的方法與裝置，使用者穿載一印 有特殊設計的彩色條紋格或 子，使用者再將穿戴有機/ /點紋之祿 w., 之足部停留於空t， 並與底部的鏡子間隔— f奴距離’由多台攝影機或 數位相機各別環繞足部的 馬楊门士 取侍足部上方的 衫像，同時足底的影像 將相鄰至少兩只成對做知子的反射取得， '立體分析（stereosis)組 邛上方的多個曲面鱼 /、腳底的多個曲面，最後 將廷些曲面重建，即 于到使用者完整的足部立 體形狀，無須購置價格昂主 1貝裕叩貝之儀器以及高價位軟 體之費用支出，對於 设欲選擇適合之鞋形或製 迨完全符合使用者足部 疋丨之鞋子，利用此方式，將 可快速達到影像量測使用者足部之目的。 【實施方式】 括有：一電腦、 、、請參_-心，本發明所提供之影像快速量 J足4 一維尺寸方法與裝置，此裝置係採被動式 光源’係由機台所在位置環境提供照明，主要包 之攝 顯示裝置、至少一台以上 8 200939053 影機2(Π、2〇2、2〇3、2〇4架設於具有反射鏡子2〇7 之機口 206,若攝影機或數位相機或掃描器的解析 X越同將來重建的三維足部外型精確度越高； 該攝影機係可為一電荷轉合裝置（CCD)、互補金氧 半導體（CMOS)攝影機、數位相機或其他具有操取 影像之裝置。 β —般而言，要使用多台攝影機來重建立體影 像，要先對攝影機作校正的工作，也就是得到攝 影機内部參數如鏡頭焦距、像差、扭曲（dist〇rti〇n) 等，以及外部參數如攝影機座標對於絕對座標的 位移與轉角，之後經由多台攝影機或數位相機所 擷取到的景> 像，可利用兩兩相鄰之影像，經由立 〇 體分析重建曲面方式，重建足部外型模型與尺 寸。立體分析主要是利用兩相鄰之影像中找到相 同的特徵點（corresponding point)，再藉由三角幾 何運算（triangulati〇n)求出特徵點的絕對深度座標 (Z-軸），進一步求得特徵點的絕對X、γ座標。上 述的理論與方法，可輕易於一般電腦視覺的教科The second objective of the present invention is to provide a camera with a mirror to obtain a plantar image, which not only eliminates the transparent tempered glass, but also can correctly obtain the embossed ® 曲 ' ' The camera below the bottom of the I, while reducing costs. The human-purpose object of the present invention is to provide a method for reading a three-dimensional surface of a foot by writing (4)' and adding, for example, a muscle function library, and outputting to s〇lidw〇rks or pr〇-£ ^ CAD/ In the CAM software, the method and device for measuring the three-dimensional size of the foot are quickly measured by the image used by the later user to select or manufacture a suitable shoe. The method and device for achieving the above-mentioned invention can be achieved, and the second aspect of the invention is to use at least one camera or digital camera of 200939053 to take the foot of the building. ### & Like, and according to this: the method and device of the shape of the foot side, the user wears a color stripe or a child printed with a special design, and the user will wear the organic / / dot pattern w., the foot stays In the empty t, and the bottom of the mirror interval - f slave distance 'by multiple cameras or digital cameras around the foot of the Ma Yangmen to take the shirt above the foot, while the image of the sole will be adjacent to at least The reflection of two paired scorpions is obtained, 'a plurality of curved fishes above the stereosis group 、, and a plurality of curved surfaces on the sole of the foot, and finally the surface is reconstructed, that is, the user's complete foot three-dimensional shape There is no need to purchase the price of the instrument of the high-priced software and the high-priced software. For the shoes that are suitable for the shoe shape or the system, the shoes can be quickly matched with the user's foot. Amount of image The purpose of measuring the user's foot. [Embodiment] includes: a computer, and, please refer to the heart, the image of the present invention provides a rapid amount of J foot 4 one-dimensional size method and device, the device adopts a passive light source 'by the location environment of the machine Provide lighting, the main package of the display device, at least one or more 8 200939053 camera 2 (Π, 2〇2, 2〇3, 2〇4 set up in the mirror with the mirror 2〇7 206, if the camera or digital The resolution of the camera or scanner X is higher with the future reconstruction of the three-dimensional foot shape; the camera can be a charge transfer device (CCD), a complementary metal oxide semiconductor (CMOS) camera, a digital camera or other In general, to use multiple cameras to reconstruct stereoscopic images, you must first correct the camera, that is, get camera internal parameters such as lens focal length, aberration, distortion (dist〇rti〇 n) etc., as well as external parameters such as the displacement and rotation of the camera coordinates for the absolute coordinates, and then the images captured by multiple cameras or digital cameras can be used with two adjacent images. The stereoscopic analysis reconstructs the surface method and reconstructs the shape and size of the foot. The stereo analysis mainly uses the two adjacent images to find the same characteristic point and then seeks the triangle geometry operation (triangulati〇n). The absolute depth coordinate (Z-axis) of the feature point is obtained, and the absolute X and γ coordinates of the feature point are further obtained. The above theory and method can be easily applied to general computer vision teaching.
窃找到’例如 Forsyth,& Ponce，computer vision A 9Stealing finds, for example, Forsyth, & Ponce, computer vision A 9
200939053 modern approach，prentice HalI，2〇〇3，在此不加 以夤述，這裡所要說明的是達成立體分析的首要 工作疋旎提供足夠的特徵於足部上，讓相鄰的攝 衫機可以辨識出相同的特徵點，並且為了讓重建 足。卩外型杈型與尺寸有足夠的精確度，特徵點的 數目要夠乡’為此本發明提出一簡單而低成本的 方法，就疋4使用者穿著印有特殊設計編碼的機 子’使相鄰的攝影機容易取得多個影像中對應點 或特徵點，重建足部外型三維模型。 …請參閱圖二所示’係本發明之系統流程圖，當 弋開始3 1執行時，先做攝影機校正32，當誤差 是否在容許值内33時，若是，使用者穿著設計的 機子以單足停留於在反射鏡子上；若不是，則持 :做攝影機校正32。當使用者單足停留於在反射 鏡子上適當距離後，即進㈣取多視角影像35處 理:程序’科，程式會㈣攝频，分別掏取 目則影像到電腦端’之後並進行程式影像處理 3且7,處理完成後’便可重建足部三維模型 且。亥程式結束3 8。 200939053 °月參閱圖三所示，為該影像快速量測足部三維 尺寸方法與褒置之影像處理流程圖，該三維物件 41即為使用者205的足邱么# 疋°卩’會稭由從攝影機或數 位相機拮員取多視角寻:ί後1Λ 〜像42取得攝影機2(Π、202、 ❹200939053 modern approach, prentice HalI, 2〇〇3, will not be described here, the main work to achieve stereo analysis is to provide enough features on the foot to allow adjacent cameras to recognize The same feature points are made, and in order to rebuild the foot. The outer shape and size are sufficiently accurate, and the number of feature points is sufficient. For this reason, the present invention proposes a simple and low-cost method, so that the user wears a machine with a special design code. Adjacent cameras can easily acquire corresponding points or feature points in multiple images to reconstruct a three-dimensional model of the foot shape. ...Please refer to the flow chart of the system of the present invention as shown in FIG. 2. When the start of the execution of the 3 1 is performed, the camera calibration 32 is first performed, and when the error is within the allowable value of 33, if the user wears the designed machine, One foot stays on the mirror; if not, it holds: Camera correction 32. When the user stays at the appropriate distance on the mirror, he or she enters (4) to take multi-view image 35 processing: program 'section, program will (four) camera, respectively, capture the target image to the computer' and then program the image After processing 3 and 7, after the processing is completed, the 3D model of the foot can be reconstructed. The end of the program is 3 8 . 200939053 ° month, as shown in Figure 3, for the image to quickly measure the three-dimensional method of the foot and the image processing flow chart of the device, the three-dimensional object 41 is the user 205's foot Qiu ##°°卩' From the camera or digital camera, take multiple perspectives: ί后1Λ ~ like 42 to get the camera 2 (Π, 202, ❹
203、204相鄰兩張梅取的影像，先做特徵點之解 碼43後’得到相鄰兩影像對應點關係在相鄰視角 影像中抽取出相對應的特徵點44,再將影像進行 點貝料的重整45、點資料的平滑化46、點資料的 重組47、點資料的濾除⑼等步驟，最後再以點資 料群建立三角網格49 ’以利便於重建足部三維模 型37 ’最後程式結束38。 請參閱圖四所示，為該影像快速量測足部三維 尺寸方法與裝置之編碼示意圖，係一以不同粗細 的紅、綠、藍三色條紋與數個黃、黑色點方式編 碼，先抓取黑、黃色點中心座標，再以黑色點為 圓心，兩者距離為半徑，順時針旋轉三百六十度， 以每一度為基本單位，旋轉一個基本單位時抓取 該所在位置的RGB，紅色RGB值為（255,〇,〇)，綠 色 RGB 值為（0,255,0)，藍色 rgb 值為（〇,〇,255) 200939053 藉此邦斷該像素的顏色，之後便可計算出以黑點 尹心座標為圓心’黃點中心座標為起始點，兩點 距離為半徑之360格RGB條石馬，利用RGB條碼 51、52來做三維重建的特徵點編碼方式；基本上 的概念是數位化的編碼較不易受足部外型變化， ❹ 以及攝影機視角不同而有類比的變化，如此一 來，可使程式演算法較容易有明確的門禮值 (eshold)，使相鄰的攝影機得到相同的特徵點。 特別強調此特徵點編碼方式不此一種，特徵點編 碼方式可以為線條數、顏色、點紋數、大小、或 者其他具有數位變化性足以提供三維立體影像辨 識之編碼方式皆可，圖四僅為實施例之—而已。 先前技術方面都是以雷射投光器投射特徵點，此 方式價格並不冑宜且不適合於一般市面上所應 故本發明採用穿著一特殊襪子為此發明的特 徵所在。另請參203, 204 adjacent two images taken, first decode the feature points 43 and then get the corresponding feature points of the adjacent two images to extract the corresponding feature points 44 in the adjacent view image, and then click on the image Material reforming 45, smoothing of point data 46, reorganization of point data 47, filtering of point data (9), etc., and finally creating a triangular mesh 49 ' with a point data group to facilitate reconstruction of the three-dimensional model of the foot 37 ' The final program ends 38. Please refer to FIG. 4, which is a schematic diagram of the method for quickly measuring the three-dimensional size of the foot and the coding scheme of the device, which is coded by red, green and blue stripes with different thicknesses and several yellow and black dots. Take the black and yellow point center coordinates, and then use the black point as the center. The distance between the two is the radius. Rotate clockwise by 360 degrees. With each degree as the basic unit, grab the RGB of the position when rotating a basic unit. The red RGB value is (255, 〇, 〇), the green RGB value is (0, 255, 0), and the blue rgb value is (〇, 〇, 255). 200939053 By this, the color of the pixel is broken, and then the calculation can be calculated. The black point Yin Xin coordinates are the center point of the center of the yellow dot, and the two points are 360 RGB stone horses with a radius. The RGB bar codes 51 and 52 are used for the feature point coding mode of the three-dimensional reconstruction; the basic concept It is the digital coding that is less susceptible to changes in the shape of the foot, and the analogy of the camera and the angle of view of the camera, so that the program algorithm can easily have a clear eshold value, so that adjacent The camera gets the same special Point. Special emphasis is placed on this feature point coding method. The feature point coding method can be line number, color, dot number, size, or other coding method with digital variability sufficient to provide three-dimensional image recognition. Figure 4 is only The embodiment - only. In the prior art, the feature points are projected by the laser projector, and the price is not suitable and is not suitable for the general market. The invention is characterized by wearing a special sock. Please also refer to
_ 閲圖五A、B、c所示，為RGB 條碼示意圖’圖五A表示未抓取任何顏色之綱 條碼，圖五Bp、 C i別代表在5 1、52處所抓取之 RGB條竭。 12 200939053 另’使用者以雙足或單足置於量測平台上，量 =台之構造請見「量測設備」部分，：電觸端 。取四個攝影機之影像後，並將影像自動載入系 統程式中，解碼本發明設計的特徵點，取得娜 條紋編碼，利用三角測量法可計算出相鄰兩攝影 機取得影像中之對應點之空間座標，取得空間座 標點群後，再來必須做點資料的後處理，其 如下： i點資料的重整：使得點資料的分佈更平均， 以利於後續進行曲面重建的工作； 貝料的平滑化·尤其在特殊幾何形狀處，_ Read Figure 5 A, B, c, for the RGB bar code diagram 'Figure 5 A shows the bar code without grabbing any color, Figure 5 Bp, C i do not represent the RGB exhaustion at 5 1 , 52 . 12 200939053 Another user placed on the measuring platform with two feet or one foot. The quantity = the structure of the table can be found in the "Measuring Equipment" section: Electrical contact. After taking the images of the four cameras, the images are automatically loaded into the system program, the feature points of the design of the present invention are decoded, and the nano-strip coding is obtained. The space of the corresponding points in the images obtained by the two adjacent cameras can be calculated by the triangulation method. Coordinates, after obtaining the space coordinate point group, we must do some post-processing of the data, as follows: i point data reorganization: make the distribution of point data more even, to facilitate the subsequent surface reconstruction work; Especially in special geometric shapes,
點貪料的雜訊較大，點資料的平滑化有利於雜訊 的去除； •點資料的重組：依邊界的方向做資料重組以 利於曲面重建； 4·點資料的濾除：去除額外的亂點，以避免重 建曲面的錯誤經由上述點資料後處理步驟後，再 建立三角網格，最後即可重建出三維足部模型。 量測設備： 13 200939053 各攝影機201、202、203、204或與機台206 架設方式，在平台底部放置並固定反射鏡子2〇7， 使用者205穿著特殊編碼的機子21 〇後，懸空單 足或雙足在平台上，介於反射鏡子2〇7與環繞腳 部上面四周的四台攝影機2〇1、2〇2、2〇3、2〇4之 間。使用者可藉由放置於機台2〇6旁邊座椅（未 〇 顯示於圖中）以坐姿形式使其單足或雙足垂下懸 空於機台206之上。另外，機台也可以旋轉9〇度， 使反射鏡子207直立，使用者仍可藉由放置於機 台206旁邊座椅（未顯示於圖中）以坐姿形式使 其單足或雙足以支標$ (未顯示於圖中）水平懸 空於機台206之上。 ❹ 特被點編碼方式說明： "月，閱圖，、所不，為本發明實施例之軟體程式 介面，影像71、72、73、 74分別為攝影機2〇 1、 2〇2、2〇3、2()4中所擷取的影像，經過前述圖二與 圖三之流程後’便可先建立出三維網格圖75,並 利用三維網格重繪出最後的三維模型76;另，若 軟體程式於影像“料巾發生錯誤時，程式將 14 200939053 會以警告視窗顯示。 請參閱圖七所示，由本發明所建立的三維足部 模型，可以量測出以下的數據，並作為後期製造 適合使用者的鞋子之參數’為足部幾何外型量測 圖，在圍度量測方面可以量測到趾圍、腰圍、短 踵圍、長踵圍與踝圍。The noise of the greedy material is large, and the smoothing of the data is beneficial to the removal of the noise; • The reorganization of the point data: the data is reconstructed according to the direction of the boundary to facilitate the surface reconstruction; 4. The filtering of the point data: removing the extra In order to avoid the error of reconstructing the surface, after the above-mentioned point data post-processing steps, a triangular mesh is established, and finally the three-dimensional foot model can be reconstructed. Measuring equipment: 13 200939053 Each camera 201, 202, 203, 204 or with the machine 206 is erected, the reflecting mirror 2〇7 is placed and fixed at the bottom of the platform, and the user 205 is wearing a special coded machine 21 The foot or the biped is on the platform between the mirror 2〇7 and the four cameras 2〇1, 2〇2, 2〇3, 2〇4 around the foot. The user can hang down on the machine table 206 by sitting on the side of the machine 2〇6 (not shown in the figure) in a sitting position. In addition, the machine can also be rotated 9 degrees to make the mirror 207 stand upright, and the user can still make the foot or the double enough to be in a sitting position by being placed on the side of the machine 206 (not shown). $ (not shown) is horizontally suspended above the machine 206. ❹Specially coded mode description: "month, read, and not, is the software program interface of the embodiment of the present invention, images 71, 72, 73, 74 are cameras 2, 1, 2, 2, 2, respectively The images captured in 3, 2, and 4, after the process of Figure 2 and Figure 3, can be used to create a three-dimensional grid map 75 and redraw the final three-dimensional model 76 using the three-dimensional grid; If the software program is in the image "When the towel is wrong, the program will display 14 200939053 in the warning window. Please refer to Figure 7. The three-dimensional foot model established by the present invention can measure the following data and The parameters for the later manufacture of shoes suitable for the user's are the geometrical shape measurement of the foot. In the measurement of the circumference, the toe circumference, the waist circumference, the short circumference circumference, the long circumference circumference and the circumference circumference can be measured.
請參閱圖八所示，為足型距離量測，可量測足 寬，為跛骨區内側凸點與外側凸點的寬度；踵寬， 為後足寬度’取距離最小的位置;内側折線距：， 為内侧凸點至足跟的距離；外側折線距離，為外 側凸點至足跟的距離；足長，為足部長度最長的 料，對於病足如姆外翻、扁平足、糖尿 病等造成足部變異料型，亦可因三維量測點的 建立而取得其變異的尺寸距㈣，作為定製鞋的 製鞋依據。 點 綜上所論，本發明能提供使用者，利用多視角 影像，與使用者穿上Ί而富彈性㈣子’機 子印有特殊設計的彩色或大小不同的條紋格6 紋方式，重建使用者足部外型三維模型愈尺寸 200939053 不僅可有效地加快門市為使用者找鞋的速度，並 可輸出到CAD/CAM軟體，提供病足或鞋子需額 外訂做的使用者的尺寸。此外，這些足部外型三 維模型與尺寸也作為個人化足部身分證的基準， ，個人隨時間演進其足部外型三維尺二改 變’甚至可以作為來曰網路郵購鞋子的基礎，為 此特提出專利申請。 … 本毛明所提供之影像快速量測足部三維尺寸 方法與裝置，與其他習用技術相互比較時，更具 有下列之優點： 、 I本發明係在於提供一種以使用者穿著印有 特殊設計編碼的藉、I 讀 Ο 咸子讓相鄰的攝影機容易取得 多個影像中對應點或特徵點，得以快速重建足部 外型三維模型之目的。 2.本發明係在於提供-種使用攝影機搭配反 射鏡子來取得足底影像，以正石崔無誤取得不受壓 變形的足底曲面，计 亚且可以因不必使用足底下方 的攝影機，而降低成本。 —種乃是透過撰寫程 3，本發明係在於提供 16 200939053 式，並以如.^ 、 penGL函式庫重繪出足部三維曲Please refer to Figure 8. For the foot distance measurement, the width of the foot can be measured, which is the width of the inner and outer convex points of the temporal bone region; the width of the foot is the position with the smallest distance for the width of the hindfoot; the inner fold line Distance: from the inside of the bump to the heel; the outer fold distance is the distance from the outer bump to the heel; the foot length is the longest length of the foot, for the diseased foot such as valgus, flat foot, diabetes, etc. It causes the variation of the foot shape, and can also obtain the variation of the dimensional distance (4) due to the establishment of the three-dimensional measuring point, as the basis for the shoemaking of the customized shoes. In summary, the present invention can provide a user to reconstruct a user by using a multi-view image and a user to wear a sturdy and flexible (four) sub-machine with a specially designed color or size stripe pattern 6 The 3D model of the foot shape is more than 200939053. It not only speeds up the speed of finding shoes for users, but also can be exported to CAD/CAM software, providing the size of the user who needs extra orders for sick or shoes. In addition, these three-dimensional models and dimensions of the foot are also used as the benchmark for personalized foot ID cards. Individuals have evolved over time to change their foot shape by three-dimensional ruler. 'It can even serve as the basis for online mail-order shoes. This special patent application. The method and device for quickly measuring the three-dimensional size of the foot provided by Ben Maoming have the following advantages when compared with other conventional techniques: 1. The invention provides a special design code printed by the user wearing the design. Borrowing, I reading 咸 Xianzi allows adjacent cameras to easily obtain corresponding points or feature points in multiple images, which can quickly reconstruct the three-dimensional model of the foot shape. 2. The invention provides a method for obtaining a plantar image by using a camera with a reflecting mirror, and obtaining a plantar surface which is deformed without pressure by Orthodox Cui, and can be reduced by not having to use a camera below the sole of the foot. cost. - The kind is through the writing process 3, the invention is to provide 16 200939053, and redraw the foot three-dimensional song with the .^, penGL library
面’並可輸出到 S〇ndworks 或 Pr〇—EfCAD/CAM 軟體中W利於後期使用者選用或製造合適的鞋 子使用之目的。The face can be exported to S〇ndworks or Pr〇—EfCAD/CAM software for the benefit of later users to select or manufacture suitable shoes.
上列詳細說明係針對本 _^ A ❹ ❹ 之具體說明，惟今眚之一可仃貫施例 專利笳門 准邊貫轭例並非用以限制本發明之 圍，凡未脫離本發明技藝 吏均應包含於本案之專利範圍中。 【圖式簡單說明】 圖一為本發明影像快速量測足部三維尺寸方 法與裝置之機台實施示意圖； 圖t為該影像快速量測足部三維尺寸方法與 裝置之系統流程圖； 圖三為該影像快速量測足部三維尺寸方法與 裝置之影像處理流程圖； /、 圖四為該影像快速量测足 I —維尺寸方法盥 裝置之編碼示意圖； η 圓五A、Β、C為該影像俠 1豕陕迷置測足部三維 寸方法與裝置之RGB條碼示意圖，· 圖六為該影像快速量測足 疋。卩二維尺寸方法與 200939053 裝置之軟體程式介面視圖； 圖七為該影像快速量測足部三維尺寸方法與 裝置之足部幾何外型量測視圖；以及 圖八為該影像快速量測足部三維尺寸方法鱼 裝置之足型距離量測視圖。 /、 【主要元件符號說明】The detailed description above is for the specific description of the present invention, but one of the examples can not be used to limit the scope of the present invention. Both should be included in the scope of the patent in this case. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic diagram of a machine platform for a method and a device for quickly measuring a three-dimensional size of a foot according to the present invention; FIG. 12 is a system flow chart of a method and a device for quickly measuring a three-dimensional size of a foot; FIG. The image processing flow chart of the method and device for quickly measuring the three-dimensional size of the foot for the image; /, FIG. 4 is a schematic diagram of the coding method of the method for quickly measuring the size of the I-dimensional dimension of the image; η circle five A, Β, C is The RGB bar code diagram of the three-dimensional method and device for measuring the foot of the image is shown in Figure 1. The figure 6 is a fast measurement of the image.卩 2D size method and software program interface view of 200939053 device; Figure 7 is the foot geometry measurement view of the method for measuring the 3D size of the foot and the device; and Figure 8 shows the foot of the image quickly. A three-dimensional method of measuring the distance of the foot of the fish device. /, [Main component symbol description]
201攝影機 202攝影機 203攝影機 204攝影機 205使用者穿著設計襪子的單足 206機台 207反射鏡子 210設計襪子 31程式開始 内 襪子以單足懸空 32攝影機校正 33誤差是否在容許值 34使用者穿著設計的 足底朝向反射鏡 18 200939053 35擷取多視角影像 36程式影像處理 37重建足部三維模型 38程式結束 41三維物件 42擷取多視角影像 43特徵點之解碼 44在相鄰視角影像中抽取出相對應的 特徵點 45點資料的重整 46點資料的平滑化 47點資料的重組 48點資料的濾除 49以點資料群建立三角網格 51 RGB條碼 52 RGB條碼 19201 camera 202 camera 203 camera 204 camera 205 user wearing a design of a single foot 206 machine 207 reflective mirror 210 design socks 31 program start inside the socks with a single foot dangling 32 camera correction 33 error is allowed value 34 user wearing design Plantar facing mirror 18 200939053 35 multi-view image 36 program image processing 37 reconstruction of the foot 3D model 38 program end 41 three-dimensional object 42 capture multi-view image 43 feature point decoding 44 extract phase in adjacent view image Corresponding feature points 45 points of data reorganization 46 points of data smoothing 47 points of data reorganization 48 points of data filtering 49 to point data group to establish triangular grid 51 RGB barcode 52 RGB barcode 19
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| TWI423652B (en) * | 2010-01-11 | 2014-01-11 | Oriental Inst Technology | A 3d image display device capable of automatically correcting 3d images and the automatic correction method thereof |
| CN109754457A (en) * | 2017-11-02 | 2019-05-14 | 韩锋 | Reconstruct system, method and the electronic equipment of object threedimensional model |
| TWI710330B (en) * | 2011-11-18 | 2020-11-21 | 荷蘭商耐克創新有限合夥公司 | Method for manipulating shoe parts in an automated manner during a shoe-manufacturing process |
| US11266207B2 (en) | 2011-11-18 | 2022-03-08 | Nike, Inc. | Automated identification and assembly of shoe parts |
| US11341291B2 (en) | 2011-11-18 | 2022-05-24 | Nike, Inc. | Generation of tool paths for shoe assembly |
| US11346654B2 (en) | 2011-11-18 | 2022-05-31 | Nike, Inc. | Automated 3-D modeling of shoe parts |
| US11422526B2 (en) | 2011-11-18 | 2022-08-23 | Nike, Inc. | Automated manufacturing of shoe parts |
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| TWI503579B (en) | 2013-06-07 | 2015-10-11 | Young Optics Inc | Three-dimensional image apparatus, three-dimensional scanning base thereof, and operation methods thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI423652B (en) * | 2010-01-11 | 2014-01-11 | Oriental Inst Technology | A 3d image display device capable of automatically correcting 3d images and the automatic correction method thereof |
| TWI710330B (en) * | 2011-11-18 | 2020-11-21 | 荷蘭商耐克創新有限合夥公司 | Method for manipulating shoe parts in an automated manner during a shoe-manufacturing process |
| TWI732705B (en) * | 2011-11-18 | 2021-07-01 | 荷蘭商耐克創新有限合夥公司 | Method for manipulating shoe parts in an automated manner during a shoe-manufacturing process |
| US11266207B2 (en) | 2011-11-18 | 2022-03-08 | Nike, Inc. | Automated identification and assembly of shoe parts |
| US11317681B2 (en) | 2011-11-18 | 2022-05-03 | Nike, Inc. | Automated identification of shoe parts |
| US11341291B2 (en) | 2011-11-18 | 2022-05-24 | Nike, Inc. | Generation of tool paths for shoe assembly |
| US11346654B2 (en) | 2011-11-18 | 2022-05-31 | Nike, Inc. | Automated 3-D modeling of shoe parts |
| US11422526B2 (en) | 2011-11-18 | 2022-08-23 | Nike, Inc. | Automated manufacturing of shoe parts |
| US11641911B2 (en) | 2011-11-18 | 2023-05-09 | Nike, Inc. | Automated identification and assembly of shoe parts |
| US11763045B2 (en) | 2011-11-18 | 2023-09-19 | Nike, Inc. | Generation of tool paths for shoe assembly |
| US11879719B2 (en) | 2011-11-18 | 2024-01-23 | Nike, Inc. | Automated 3-D modeling of shoe parts |
| CN109754457A (en) * | 2017-11-02 | 2019-05-14 | 韩锋 | Reconstruct system, method and the electronic equipment of object threedimensional model |
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| TWI371699B (en) | 2012-09-01 |
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