WO2015174885A1 - Procédé de formation d'image couleur tridimensionnelle et dispositif de mise en œuvre - Google Patents

Procédé de formation d'image couleur tridimensionnelle et dispositif de mise en œuvre Download PDF

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Publication number
WO2015174885A1
WO2015174885A1 PCT/RU2014/000349 RU2014000349W WO2015174885A1 WO 2015174885 A1 WO2015174885 A1 WO 2015174885A1 RU 2014000349 W RU2014000349 W RU 2014000349W WO 2015174885 A1 WO2015174885 A1 WO 2015174885A1
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WO
WIPO (PCT)
Prior art keywords
scanners
cameras
dimensional
image
scanner
Prior art date
Application number
PCT/RU2014/000349
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English (en)
Russian (ru)
Inventor
Андрей Владимирович КЛИМОВ
Original Assignee
Андрей Владимирович КЛИМОВ
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Application filed by Андрей Владимирович КЛИМОВ filed Critical Андрей Владимирович КЛИМОВ
Priority to PCT/RU2014/000349 priority Critical patent/WO2015174885A1/fr
Publication of WO2015174885A1 publication Critical patent/WO2015174885A1/fr

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Classifications

    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B35/00—Stereoscopic photography
    • G03B35/02—Stereoscopic photography by sequential recording
    • G03B35/04—Stereoscopic photography by sequential recording with movement of beam-selecting members in a system defining two or more viewpoints
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T15/00—3D [Three Dimensional] image rendering
    • G06T15/04—Texture mapping

Definitions

  • the technical field to which the invention relates The invention relates to the field of imaging, in particular to the processing and generation of image data, as well as the visualization of 3D (three-dimensional) images and modeling of a three-dimensional object.
  • the inventive method and device of three-dimensional scanning for automatic shooting of a person to obtain a color three-dimensional model (volumetric copy) of a person in full growth.
  • a known method of non-contact measurement of the topography of the surface of an object is based on sequential measurement along the longitudinal vertical axis of the object of the contours of discrete transverse horizontal sections of its surface, the sequence of which is used to reconstruct the geometric surface of the object, forming a discrete linear frame - topography of the surface of the object.
  • each contour is measured in a negligible interval of the vertical layer of its surface by almost instantly determining the geometrical location of the points, which determine the measured contour, formed by the intersection of the set of received tangent rays to the object’s surface, covering it from both sides and lying in the horizontal plane of the circle surrounding the object, the position of which op for each successively shifting point of the source of wide-angle optical irradiation of an object with a diverging fan beam of rays with an angular width exceeding the angular transverse dimensions of the object and the corresponding position of the ends the shadow arcs behind the object on the circle, determined by the signals of the optical receivers located at given points on the same circle, from their group corresponding to the opposite source of the circular arc.
  • the discrete linear framework of the surface of the object is determined by the sequential repetition of these actions with a sliding displacement of the plane of the circle along the vertical longitudinal axis of the object.
  • a device for implementing this method provides an increase in the level of automation and accuracy of individual design of clothing templates (RU N ° 2208370).
  • the method includes the step of electronically protecting the digital image file from general access over the network, the step of generating a unique digital key for accessing the library of digital ZO image files and providing this digital key to a user with access to this library, the step of transmitting a copy of the digital image file over the network after the user has the right to access, after presenting them with a unique digital key, the stage of restricting access to the network only for users who are registered in this network, the stage recording a digital image file on an electronic card, the stage of changing the format of the digital image file by modifying or improving the geometric characteristics and textures of the file, the stage of generating data related to grid, color, texture and installation.
  • Scanning a person or an object involves the use of laser technology and / or technology for matching stereo images to obtain color data of the entire body of a person or object, scanning a person or object includes obtaining photographs of enlarged details of a face, scanning a person or object includes recording motion data corresponding to the person’s a certain time period, and further includes storing motion data in a digital image file.
  • Recording motion data includes storing ZO-arrays of points of each frame per second during human movement.
  • an image processing system comprising a plurality of devices for recording an image or image sequence of a target user or object; a plurality of computers electronically connected to a plurality of said devices for parallel processing of an image or sequence of images in order to obtain a three-dimensional model of a target user or object; a module for receiving scanning requests and controlling the operation of multiple computers; a plurality of built-in flashes for recording an image or a sequence of images of a target user or object, as well as a group of speakers distributed around the platform, each column being used to install at least one device from a plurality of devices; and an annular frame structure for connecting speakers and for additional installation of cameras and lighting fixtures.
  • At least one of the plurality of devices is configured to record the movement of a target user or object.
  • Many devices record an image or a sequence of images using a synchronization mechanism, or many devices contain at least one high-resolution digital camera.
  • the module is a parallel processing module for analyzing commands containing scan jobs and controlling the execution of scan jobs in accordance with these commands. Scan requests received from customer systems.
  • the module is a parallel processing module for reading one or more files corresponding to the three-dimensional model of the target user or object, and completing the coordination of the model.
  • Many computers control the recording sequence of many devices and turn on and off the light sources individually or in groups when recording an image or image sequence of a target user or object.
  • Many devices are many cameras.
  • a plurality of device comprises a plurality of spotlights arranged in a specific order with built-in flashes (RU -N ° 2012142114, prototype).
  • the disadvantages of the known analogues are the complexity and low accuracy of the image, which does not allow reproducing small details, for example, human hair, as well as the duration of the method.
  • the technical task of the group of inventions is to create an effective method for automatically building a full three-dimensional color image of a person and a device for its implementation, as well as expanding the arsenal of methods and devices for building a three-dimensional color image.
  • the technical result of the claimed group of inventions is to reduce the complexity and increase the resolution and accuracy of image construction, allowing you to reproduce small details, for example, human hair, as well as reducing the duration of the method. And the ability to obtain a color three-dimensional image of a person in automatic mode.
  • the essence of the invention in terms of the method lies in the fact that the method of constructing a three-dimensional color image provides for the placement and rotation of the scan object on the podium, the illumination of the object using the screen and obtaining multiple images using mounted on a rack diametrically opposite to the screen at least at two levels light sources and scanners whose cameras form 3D and 2D color frames for processing by building a polygonal mesh and forming a silhouette by combining images of scanner cameras, building a three-dimensional color image and storing it electronically, while the stand and podium are made with the possibility of mutual angular movement, and the scanners are placed on the stand so that the field of view of each pair is 3D and 2D cameras of neighboring scanners form an overlap area of 1/3 -1/8 of the frame area of each camera from the corresponding pair of cameras.
  • a rotation is performed in which scanners or an object rotates 360 ° -450 ° degrees in 5-30 seconds to obtain from 50 to 500 frames, while scanning is performed at a frequency of 5 to 25 frames per second.
  • each frame of the scanner is a three-dimensional image, which contains from 10 to 50 thousand three-dimensional point measurements, each of which represents the distance from the scanner to the object.
  • the 2D image is projected onto the obtained 3D object and all the 3D measurements that fall in the area where the corresponding pixel of the 2D image was projected adds information about the brightness of this pixel in one of monochromatic components of visible light and obtaining the actual color by averaging the brightness of pixels from different 2D images, and for texturing the resulting model and floor cheniya all three-dimensional color images of each three-dimensional scanner with each position of the scanner or the angle are placed in a coordinate system associated with the object, or to a coordinate system associated with the first scan acquisition from the first position the three-dimensional scanner using ICP algorithms.
  • the device for constructing a three-dimensional color image contains a cabin in which the podium for the scanning object and the rack on which at least two light sources and scanners are installed on the levels, having 3D cameras combined in a common case and 2D color cameras connected to processing computing tools that are capable of combining scanner camera images, constructing a three-dimensional color image and storing it electronically, as well as a LED-backlit screen located diametrically opposite to the mentioned rack with scanners, while the scanners are placed on the rack so that the field of view of each pair of 3D and 2D cameras of adjacent scanners image dissolved overlapping area is 1 / 3-1 / 8 of the frame area of each chamber of the corresponding pair of cameras
  • the cabin is made with a pedestal rotating around its axis for mutual angular rotation of the podium and the stand, or in other cases the cabin is made with a stand rotating around the pedestal with scanners for the mutual angular rotation of the podium and the stand.
  • the 3D cameras of the scanners are made with accuracy and resolution not worse than 2mm.
  • the 3D cameras of the scanners are configured to receive 5 - 25 frames per second, 50 - 500 frames per revolution 360 ° - 450 °, containing (10 - 50) 10 3 points for measuring the distance from the camera to the surface of the object.
  • the device contains 4 scanners, two of which are located on the stand in the middle horizontally, one on top and one on the bottom vertically, and the 3D cameras of the scanners are made with a resolution of at least 1.25 megapixels of 1296x964 pixels, or in other cases it contains 3 scanners one on top, one in the middle and one below, moreover, the 3D cameras of the scanners are made with a resolution of at least 2 megapixels, or in other cases it contains 2 scanners one above and one from the bottom, and the 3D cameras of the scanners are made with a resolution of at least 4 megapixels th.
  • FIG. 1 shows a three-dimensional cabin for constructing a three-dimensional color image with a fixed pedestal
  • Fig. 2 - a three-dimensional cabin for constructing a three-dimensional color image with a rotating pedestal
  • Fig. 3 field of view of scanners and their overlapping area, front view
  • figure 4 the silhouettes of a person observed by a two-dimensional camera
  • figure 5 is a 3D diagram of the measurement ⁇ .,. ⁇ of the surface that falls into the field of view of the scanner from this position
  • 6 is a diagram of the addition of the first three-dimensional scan with additional 3D measurements obtained from another position
  • Rack (block) of 6 three-dimensional (3D) scanners 1, means 2 of the backlight (backlight 2), rotating part 3 and monophonic (white) screen 4 with backlight 9 diode lamps, which is located behind the object opposite the block 6 of scanners 1.
  • Backlight 2 or 9 can be made using household diode lamps.
  • a variant is possible when a person rotates on a podium 5 (Fig. 2), and a variant when a person is stationary, and the block 3 of the three-dimensional scanners 1 and the backlight rotates around the object.
  • the fields of view 7 of the scanners 1 and their overlapping areas 8 points and lines 10 of the silhouette (contour), silhouette (contour) 11, many borders of the object 12, position 13 of the scanners 1.
  • the backlight 2 and 9 may have diffusers or reflectors (not shown )
  • 3D measurements have an overlap region 14, three-dimensional scans 15, two-dimensional image 16, two-dimensional image pixel 17, the obtained three-dimensional object 18.
  • a three-dimensional cabin Fig 1,2. It consists of a block 6 of three-dimensional scanners 1 with 3D and 2D cameras and means 2 of the backlight, a rotating part 3 and a screen 4, which is located behind the person opposite the block 6 of three-dimensional scanners 1. It is possible that a person rotates on a pedestal (identical to the podium, turntable ) 5 - FIG. 2, and the option when the person is stationary, and the block 6 of three-dimensional scanners 1 and the backlight 2.9 revolves around the person - Fig 1.
  • the cabin uses three-dimensional scanners 1 of structured illumination 2 of the Artec L type (backlight or flash lamp or LED, for example, blue LED, type of fastener - clothespin, gooseneck holder, power adapter with switch.)
  • Each scanner 1 contains a projector for projecting a structured image, a 3D camera that is located at an angle to the projector and which receives 3D coordinates, i.e. measures the distance to the object by observing at a certain angle the image projected by the projector reflected from the object. The distortion of a previously known projected image calculates the distance to the object.
  • the scanner 1 also contains a 2D camera for capturing information about the color of an object i.e. regular photo. Both (3D and 2D) cameras are synchronized and simultaneously capture a three-dimensional image from each position and two-dimensional and their position relative to each other is calibrated and known in advance.
  • the inventive method of constructing a three-dimensional color image is implemented by the claimed device in the scanning process, which is performed as follows.
  • the cab calibration process is preliminarily performed before shooting: Scanners 1 are arbitrarily located one above the other, and information about their relative position in the space of the other relative to each other is unknown. Before starting the shooting, it is necessary to calibrate the position of the scanners 1. For this, it is necessary, for example, to place a person in the center of the cabin, as the field of view of the scanners 1 are located with overlaps of FIG. 3., then we can observe the same part of the object from different scanners 1, this allows you to use the ICP algorithm to combine 3D images from different scanners and allows you to arrange these images in one coordinate system and, thus, determine the relative position of 3D scanners 1.
  • a person enters the cabin, gets up (or sets another three-dimensional object), on a rotating or fixed podium 5, which is located in the center of the cabin, does not move and freezes in the selected position, a rotation occurs in which the block 6 of three-dimensional scanners 1 or a person makes a little more than a full revolution of 360-450 degrees, for 10 -30 seconds. This is necessary in order to make the three-dimensional model more accurate. Then there is a processing of all received images from all three-dimensional scanners 1 from all positions.
  • the scanner 1 receives a frame - a three-dimensional image, which contains from 10 - 50 thousand three-dimensional measurements, i.e. points in the coordinate system of the 3D camera of the scanner 1 i.e. each point contains the distance from the 3D camera of the scanner 1 to the object.
  • All three-dimensional images from each three-dimensional scanner 1 (3D camera) from each position of the scanner or angle are placed in one coordinate system associated with the object, or in the coordinate system associated with the first received scan from the first position of the three-dimensional scanner, using ICP algorithms, then texturing occurs models i.e. getting color.
  • all 2D images obtained from each position using. 2D cameras of scanners 1 are projected onto the 3D model in the coordinate system of the 3D model and a single picture of all mixed images is obtained. All calculations can occur both on the local computer with which the cabin is equipped, and processing can take place on a remote computing device (not shown) and data exchange can take place via the Internet.
  • 3D and 2D scanning of a person occurs with accuracy and resolution not worse than 2mm.
  • the 3D scanners 1 used to implement this method use a 3D camera 1.25 megapixels of 1296x964 pixels, which does not allow to get a 3D model of a person at full height with the required accuracy, using only one scanner 1, therefore it is proposed to use, for example, 4 scanners 1 located in block 6 one above the other.
  • 4 scanners 1 located in block 6 one above the other.
  • two in the middle of the scanner 1 are located horizontally in order to scan the area of the body and arm, and two scanners 1 are located vertically above and below.
  • FIG. 1 and FIG. 3 field of view 7 of scanners 1. It is possible to use in 3D scanners 4 megapixel cameras and more, in this case, 2 3D scanners will be enough.
  • the fields of view of 3D scanners 1 are selected so as to cover 3D measurements of a person 2 meters tall.
  • the fields of view of the scanners 1 have an overlap area 8, which is approximately 1/3 -1/8 of the frame area, this is necessary for the high-quality operation of ICP algorithms and for calibrating the cabin.
  • the number of vertical pixels on four scanners 1 is approximately 3,500 pixels, it turns out that there are 3.5 pixels on a 2mm surface, which is enough to confidently obtain 3D measurements in any area of 2 square millimeters on the surface of a 3D human model.
  • the backlight 2 is used.
  • the backlight 2 is located evenly next to the scanners 1 over the entire area of the front panel of the scanner unit 6, so as to uniformly illuminate a person to their full height, FIG. 1,2.
  • the backlight 2 and 9 can also have diffusers located in front of the lamps or reflectors to obtain uniform illumination of the object.
  • a single-color screen 4 is provided, which is uniformly illuminated with using diode backlight 9 on the top and bottom right and left, which is located on the diametrically opposite side from the block 6 of the scanners 1 and is always behind the person with respect to the block 6 of the scanners 1, Fig 1,2, so that you can observe the silhouettes 1 1 or contours 10 people against its background, Fig 4.
  • the measurements obtained from the 10 human contour are added to the coordinate system associated with the 3D human model. This algorithm does not allow you to obtain accurate information about the 3D model, but allows you to get an approximate shape of the hairstyle.
  • These data are also used in the construction of a human model and allow you to supplement the information on the shape of the human hairstyle in FIG. 4.
  • the ICP algorithm is implemented as follows: From each position 13, the three-dimensional scanner receives 3D measurements (indicated in the drawing: ⁇ .,. ⁇ ) of the surface that falls into the field of view of the scanner 1 from this position of FIG. 5. Then, from the next position, scanner 1 again receives 3D measurements (ml ... m6 are indicated in the drawing) of the surface, these measurements contain both new information about the surface and information that is contained in 3D measurements obtained from the previous position. These 3D measurements have an overlap area 14, because in each of these 3D measurements we shot the same part of the object. Measurements n3 ... n6 and measurements ml ... m4 contain information about the same part of the object and form the overlap area of two three-dimensional scans 15 made from different positions.
  • the resulting image is textured using the following algorithm. After building a 3D model, for each point of 3D measurements, you need to determine its color. To do this, at each position we shoot a 2D image 16 of Fig.7. Then, from each position, this 2D image obtained from the 2D cameras of the scanners 1 is projected onto the obtained 3D object 18 and to all 3D measurements nl ⁇ 2 ⁇ that hit the area where the pixel 17 of the 2D image was projected, information about the brightness of this pixel in the red component of visible light is added, in blue and green, since the 2D camera has red, blue, and green pixels.
  • Fig 4. on the left shows the silhouette 1 1 of the object, on the right shows a top view of this object. From each position 13 of FIG. 4, camera 1 receives a two-dimensional image in which a silhouette of a person 11 is seen against a background of an illuminated white screen 4. Screen 4 may be of another uniform color, for example, blue or green.
  • the silhouette 11, observed from one position, by its contours 10 limits the object in the space of Fig 4. From each position we observe a lot of borders 12 of the object and, thus, we get the approximate shape of the object, i.e. approximate 3D model.
  • the sequence of processing three-dimensional and two-dimensional data obtained when shooting in the cabin of FIG. 8 is as follows.
  • the procedure for obtaining a three-dimensional color image includes the process of shooting an object (person) in the cabin and obtaining three-dimensional and two-dimensional data from different positions. Then, three-dimensional and two-dimensional data are processed to obtain a 3D model of the object (person). Using 2D data, a silhouette algorithm is generated, 2D and 3D data are used to implement the ICP algorithm for registering 3D data in one (single) coordinate system. 2D data and recorded 3D data using a texturing algorithm are pre-formed into a color 3D model of an object (person). After that, it is possible to download a color 3D model of an object (person) to a page on the Internet in the user's personal account, and then print a three-dimensional copy of the object (person) on a 3D printer
  • Processing of the obtained data can occur both on a computer located near the cab and on a remote computing device, while the exchange of scanned data can occur via the Internet.
  • the result of processing is a color three-dimensional model sent to the Internet site, and the user has the opportunity to access it in his personal account and send it to print on a three-dimensional printer, or allow access to his three-dimensional model to other persons.
  • the 3D model obtained in the cockpit can be used in various fields.
  • the 3D model can be used to analyze the volume of a person for medical purposes, dietetics, when planning a sports load and training in fitness. Also, this 3D model can be used for virtual fitting of clothes and tailoring according to individual standards, because we have a set of 3D measurements and each tailor has the opportunity to measure anywhere in the 3D model of a person in the absence of the person himself.
  • the claimed group of inventions As a result of using the claimed group of inventions, a decrease in complexity, an increase in resolution and accuracy of construction was achieved the resulting image, i.e. quality three-dimensional color image of the object, with the ability to reproduce small details, for example, human hair, as well as reducing the duration of the method. It is possible to obtain a color three-dimensional image of a person in automatic mode.
  • the present invention is implemented using universal equipment widely used in industry.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Graphics (AREA)
  • Theoretical Computer Science (AREA)
  • Image Processing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L'invention se rapporte au domaine de la formation d'images. La construction d'une image couleur tridimensionnelle consiste à placer et faire tourner un objet à numériser sur un piédestal, à illuminer l'objet à l'aide d'un écran, et à obtenir plusieurs images à l'aide de sources de lumière et de scanneurs sur au moins deux niveaux et disposés sur un montant diamétralement opposé à l'écran, et dont les chambres forment des trames 3D et 2D couleur. Le traitement se fait en réalisant un réseau polygonal et en générant une silhouette grâce à la conjonction des images des chambres des scanneurs. Le montant et le piédestal peuvent être déplacés réciproquement de manière angulaire, et les scanneurs sont disposés sur le montant de sorte que les champs de vision de chaque paire de chambres 2D et 3D de scanneurs adjacents forment une zone de recouvrement représentant 1/3-1/8 de la surface de la trame de chaque chambre depuis la paire de chambres correspondante. Le dispositif de mise en œuvre du procédé comprend : un montant (unité) (6) de scanneurs 3D tridimensionnels (1), des moyens d'éclairage (2), une partie rotative (3) et un écran monotone (blanc) (4) avec un éclairage (9) comprenant des lampes à diodes qui est disposé à côté de l'objet en face de l'unité (6) de scanneurs (1).
PCT/RU2014/000349 2014-05-16 2014-05-16 Procédé de formation d'image couleur tridimensionnelle et dispositif de mise en œuvre WO2015174885A1 (fr)

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PCT/RU2014/000349 WO2015174885A1 (fr) 2014-05-16 2014-05-16 Procédé de formation d'image couleur tridimensionnelle et dispositif de mise en œuvre

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PCT/RU2014/000349 WO2015174885A1 (fr) 2014-05-16 2014-05-16 Procédé de formation d'image couleur tridimensionnelle et dispositif de mise en œuvre

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITUB20160784A1 (it) * 2016-02-16 2017-08-16 Tofit S R L Apparato fotogrammetrico di scansione tridimensionale
CN107438147A (zh) * 2016-05-26 2017-12-05 师嘉麟 一种用于人体三维扫描的多目相机装置
CN111095101A (zh) * 2017-06-09 2020-05-01 奥恩国际有限公司 一种摄影系统和方法
CN113706988A (zh) * 2021-09-02 2021-11-26 上海众茂医疗科技有限公司 人体断层解剖教具制作方法

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US5828908A (en) * 1997-09-18 1998-10-27 Mauchan; Donald E. Photo cabin
US20030081410A1 (en) * 2001-03-29 2003-05-01 Bailey Bendrix L. Continuation of lighting system
US20060227133A1 (en) * 2000-03-28 2006-10-12 Michael Petrov System and method of three-dimensional image capture and modeling
US20070127787A1 (en) * 2005-10-24 2007-06-07 Castleman Kenneth R Face recognition system and method
US20100277571A1 (en) * 2009-04-30 2010-11-04 Bugao Xu Body Surface Imaging

Patent Citations (5)

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Publication number Priority date Publication date Assignee Title
US5828908A (en) * 1997-09-18 1998-10-27 Mauchan; Donald E. Photo cabin
US20060227133A1 (en) * 2000-03-28 2006-10-12 Michael Petrov System and method of three-dimensional image capture and modeling
US20030081410A1 (en) * 2001-03-29 2003-05-01 Bailey Bendrix L. Continuation of lighting system
US20070127787A1 (en) * 2005-10-24 2007-06-07 Castleman Kenneth R Face recognition system and method
US20100277571A1 (en) * 2009-04-30 2010-11-04 Bugao Xu Body Surface Imaging

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITUB20160784A1 (it) * 2016-02-16 2017-08-16 Tofit S R L Apparato fotogrammetrico di scansione tridimensionale
CN107438147A (zh) * 2016-05-26 2017-12-05 师嘉麟 一种用于人体三维扫描的多目相机装置
CN111095101A (zh) * 2017-06-09 2020-05-01 奥恩国际有限公司 一种摄影系统和方法
EP3635486A4 (fr) * 2017-06-09 2021-04-07 Aeon International Limited Système et procédé de photographie
CN113706988A (zh) * 2021-09-02 2021-11-26 上海众茂医疗科技有限公司 人体断层解剖教具制作方法

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