M441358 像美國 Vorum research corporation 所販售的M441358 is sold by the US Vorum research corporation
YetiTM3DFoot 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 型二維的形狀精度達到+/_.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，故並不適合一般的門市或 店面作為使用協助顧客選擇鞋子之用途，因此一 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 利’用來改善上述缺點，基本上利用使用者穿載 -只薄而富彈性的襪子’且該襪子印有特殊設計 的彩色條紋格或大小不同的點紋’再將腳底踩在 透明平板上，並由兩台平行的攝影機或數位相機 或數位掃描H來求取㈣的立體形狀，另外四台 ^影機或數位相_各別環繞足部的上方，並相 兩”成對做立體分析(stere〇s⑷組成四個曲 面再與腳底的曲面重建組成完整的足部立 3 M441358 狀。此專利改採數位設計的襪子，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’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。 由此可見，上述習用方式仍有諸多缺失，實非 一良善之設計者，而亟待加以改良。YetiTM3DFoot Scanner' uses eight high-resolution cameras and four laser projectors, so you can get the shape of the three-dimensional shape of the foot. The advantage is that it can get the shape of the foot in two seconds. /_.5mm, however, its main disadvantage is that the high price of the instrument is more suitable for use in research and development laboratories. Because it is sold for millions of dollars, it is not suitable for general stores or storefronts. Therefore, a low cost and sufficient equipment for the customer to select shoes is the main feature of the present invention. The Republic of China patent TW259382 is a patent previously obtained by the inventors to improve the above-mentioned shortcomings, basically using a user-loaded-thin, thin and elastic socks, and the socks are printed with specially designed colored stripes or different sizes. The pattern 'steps the foot on the transparent plate, and two parallel cameras or digital cameras or digital scanning H to obtain the (4) three-dimensional shape, and the other four ^ camera or digital phase _ each around the top of the foot And the two pairs are paired for stereo analysis (stere〇s(4) consists of four curved surfaces and then reconstructed with the curved surface of the sole to form a complete foot 3 M441358 shape. This patent is modified to use digitally designed socks to effectively remove the use of laser emitters. Demand, however, because the sole is stepped on the transparent tempered glass, 'transparent tempered glass is poorly transmissive and because of multiple reflections', it is easy to make the camera below difficult to take pictures. It can be seen that there are still many shortcomings in the above-mentioned methods of use, which is not a good design. And need to be improved.
【新型内容】[New content]
本創作的目的在於提供一種結合RGB-D攝影機來量測足 部二維尺寸的系統，該系統利用複數台可以量測物體三維尺 寸的RGB-D攝影機放置於透明平台周圍和下方，並與足部相 距約二十到々十公分處的適當位置與方向，使S台RGB-D攝 影機可以同時轉踩在透明平台的受測者足部全貌；使用 刚’猎由雙面黑白相間的棋盤格進行各·_D攝影機的座標 系轉換校正，·之後，實施足料_，赌各卩獅攝影^ 測=的三維座標_，進行定位(registrati〇n)運算，藉由 2的座«碰校正值’將全㈣B_D攝韻原點座標平 2換朗-健標Ή，再進行錄轉疊合成足部三維 :，因此本曰創作可成為利於後期選擇或製造合適 土之快速1測足部三維尺寸的裝置。 度資=Γ ’ Γ韻影機6是一種取得影像色彩與深 貝也的裝置，，言，是結合，攝影機2與一紅外 M441358 * 機3及-紅外線投光器！。該紅外線攝影機3及执 外線投光器i的整合運算可以快速取得影像深度資訊。、 本創作將廳-D攝職6結合於三轉描系統特別是 提供一透日胖台5輔助人體足·域力於其上，以模擬人 體實際站立時，人體重量施壓於足部所造成的變形。本創作 包括至少一 RGB-D攝影機6例如KiNECT、m〇N，一透明平The purpose of this creation is to provide a system for measuring the two-dimensional size of a foot by combining an RGB-D camera. The system uses a plurality of RGB-D cameras capable of measuring the three-dimensional size of an object to be placed around and below the transparent platform, and with the foot. The appropriate position and orientation of the parts are about 20 to 10 cm apart, so that the S-picture RGB-D camera can simultaneously turn on the whole part of the test subject's foot on the transparent platform; use the just-hunting double-sided black and white checkerboard Perform the coordinate conversion correction of each _D camera, and then implement the full-size _, bet on the three-dimensional coordinate _ of each lion photography ^, and perform the positioning (registrati〇n) operation, with the seat of the 2 touch correction value 'The whole (four) B_D rhyme origin coordinates flat 2 for the lang-jianjian Ή, and then the recording and recombination of the foot three-dimensional:, therefore, the creation of this 可 can be a good choice for the later selection or manufacture of suitable soil 1 measured foot three-dimensional size s installation. Degree = Γ ’ Γ 影 影 6 is a device that achieves image color and deep shell, also, in combination, camera 2 and an infrared M441358 * machine 3 and - infrared light projector! . The integrated operation of the infrared camera 3 and the external light projector i can quickly obtain image depth information. This creation combines the hall-D camera 6 in the three-turn system, especially to provide a day-to-day fat platform 5 to assist the human foot and the field force on it to simulate the body's actual standing, the body weight is applied to the foot. The deformation caused. The creation includes at least one RGB-D camera 6 such as KiNECT, m〇N, a transparent flat
口 5’以及一電腦7,另外加一棋盤格校正板4。其中該RGB-D 攝影機6與該電腦7相聯。RGB-D攝影機6可放置於透明平 σ 5周圍與下方的適當方向與位置，以擷取受測者足部8和 校正板4即時影像與三維資訊，彩色攝影機擷取到的校正板 4衫像可以偵測出特徵點，利用多台攝影機6同時掏 取到技正板4上的特徵點，進行座標平移轉換使多台RGB-D 攝影機6可&在同—個座標系上。 其中透明平台5可輔助人體足底施加壓力於其上， 使足部曲面變形，因此得知足部施加壓力於平面 時’足底的曲面三維尺寸，利用此資訊能設計出 更&適於人體足部大小的鞋子。對於日後欲選擇 適合之鞋形或製造完全符合使用者足部之鞋子， 利用此方式，將可快速達到量測使用者足部之目 5 【實施方式】 將至少-台RGB_D攝影機放置在與受拍攝人體足部或物 體間固㈣轉’ RGB-D攝影機的紅外線測距而得到深 度衫像，藉此深度影像轉換成三維雲點儲存，拍攝人體足部 或物體多角㈣曲面儲存三維雲點，讀疊合人體足部或物 體的三維尺·t。而為了拍攝多角度的面使用—透明平台5 如圖3 ’其令透明平台3可辅助人體足底施加壓力於口透 明平台5上，使足部曲面變形，因此得知足部施 加壓力於平面時’足底的曲面三維尺寸，再藉由 千。的透明性質’可將至少—台_娜影機 明平台下方拍攝得到足底曲面三維尺寸。 如圖2所TF，為棋舰校正板4可 案。將棋盤格校正板4放置透明平台3 j ’ “測圖 口 ’其中棋盤袼桉 板之衫像是雙面黑白相間的棋盤格，對上面六 標記進行觸，同時也對標記點作編號定位之= 腳—D攝影機操取雙面黑白相間棋盤格上之六夕: 記’使得多台職-D攝影機利用影像中相同標 M441358 位（registration) ’讓相同標記點在多台RGB_D攝影 機的三維座標平移轉換成相同座標系。 如圖3所示，為四台RGB-D攝影機6拍攝受測者足 部8示意圖。整個系統若是利用四台RGB_D攝影機6與一 台電月a 7連結來取得影像，四台RGB_D攝影機6的取像能完 王同步’可以大幅增加解析度，也可縮短攝影機與受測者足 部8的拍攝距離，讓四台以上kinect:(rgb_d攝影機分別 設置於透日胖台·與下核，减受測者足部上半部與下 半部的曲面。量測的方法包括下列步驟·· 4 步驟―，系統啟動時，先進行校正，再置棋盤格校正板 旦透月平口 5上’在取得四台抓㈣攝影機6的影像，對 T像之重疊部分進行偵測特徵點驗，將四台·-D攝影 公機/ M相同的特伽’作座標平移轉換讓四台RGB~D攝 衫機6的特微：；：姐& …得到二二重疊吻合，•四 在透-台5上保持不動，讓 步驟三，電·㈣至墙張影像，該複數張影 7Port 5' and a computer 7, plus a checkerboard 4. The RGB-D camera 6 is associated with the computer 7. The RGB-D camera 6 can be placed in an appropriate direction and position around the transparent flat σ 5 to capture the instant image and three-dimensional information of the subject's foot 8 and the calibration plate 4, and the correction plate 4 of the color camera. For example, the feature points can be detected, and the plurality of cameras 6 are simultaneously captured to the feature points on the technical board 4, and the coordinate translation conversion is performed so that the plurality of RGB-D cameras 6 can be & on the same coordinate system. The transparent platform 5 can assist the human foot to exert pressure on the foot, and deform the curved surface of the foot. Therefore, when the foot is applied with pressure on the plane, the three-dimensional size of the surface of the sole is used, and the information can be used to design a more & Foot-sized shoes. In the future, if you want to choose a suitable shoe shape or make a shoe that fully conforms to the user's foot, this method can quickly reach the target of the user's foot. 5 [Embodiment] Place at least one RGB_D camera in and out Shooting the human foot or the object between the solid (4) turn the 'RGB-D camera's infrared ranging to get the deep shirt image, thereby converting the depth image into a three-dimensional cloud point storage, shooting the human foot or the object multi-angle (four) curved surface to store the three-dimensional cloud point, Read the three-dimensional ruler t of a human foot or object. In order to take a multi-angle surface, the transparent platform 5 is as shown in Fig. 3, which allows the transparent platform 3 to assist the human foot to apply pressure on the transparent platform 5 to deform the surface of the foot, so that when the foot is applied with pressure on the plane, 'The three-dimensional size of the surface of the sole of the foot, and then by thousand. The transparent nature of the camera can be photographed at least under the platform of the camera. As shown in Figure 2, TF, the chessboard correction board 4 is available. Place the checkerboard correction plate 4 on the transparent platform 3 j 'the "measuring port" where the board of the checkerboard is a double-sided black and white checkerboard, touch the top six marks, and also number the marked points. = Foot-D camera operates on the double-sided black and white checkerboard. On the six-day eve of the double-sided black and white checkerboard: Remember that 'multiple duty-D cameras use the same mark M441358 registration in the image' to make the same mark on the three-dimensional coordinates of multiple RGB_D cameras. The translation is converted into the same coordinate system. As shown in Fig. 3, four RGB-D cameras 6 are taken to take a picture of the foot 8 of the subject. If the whole system uses four RGB_D cameras 6 and one electric moon a 7 to obtain images, Four RGB_D camera 6 can be used to capture the image of the king, which can greatly increase the resolution, and can also shorten the shooting distance between the camera and the foot 8 of the subject, so that more than four kinect: (rgb_d cameras are set in the day · With the lower core, reduce the surface of the upper and lower parts of the foot of the subject. The measurement method includes the following steps: · 4 steps - when the system starts, the calibration is performed first, and then the checkerboard correction plate is transparent. month On the flat mouth 5, the image of the four captured (four) cameras 6 is obtained, and the overlapping features of the T images are detected. The four sets of -D photography cameras/M are the same Tega's coordinates for four translations. RGB~D camera machine 6 special micro::: sister & ... get two or two overlapping anastomosis, • four on the transparent platform 5, do not move, let step three, electricity · (four) to wall image, the plural shadow 7