WO2018028216A1 - Panoramic three-dimensional modeling device, method and system - Google Patents

Panoramic three-dimensional modeling device, method and system Download PDF

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Publication number
WO2018028216A1
WO2018028216A1 PCT/CN2017/079100 CN2017079100W WO2018028216A1 WO 2018028216 A1 WO2018028216 A1 WO 2018028216A1 CN 2017079100 W CN2017079100 W CN 2017079100W WO 2018028216 A1 WO2018028216 A1 WO 2018028216A1
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WIPO (PCT)
Prior art keywords
module
panoramic
scene
structured light
dimensional
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PCT/CN2017/079100
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French (fr)
Chinese (zh)
Inventor
刘亚辉
沈靖程
王士博
王超
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深圳市圆周率软件科技有限责任公司
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Publication of WO2018028216A1 publication Critical patent/WO2018028216A1/en

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T15/00—3D [Three Dimensional] image rendering
    • G06T15/10—Geometric effects
    • G06T15/20—Perspective computation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T15/00—3D [Three Dimensional] image rendering
    • G06T15/10—Geometric effects
    • G06T15/20—Perspective computation
    • G06T15/205—Image-based rendering
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
    • G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/30—Image reproducers
    • H04N13/356—Image reproducers having separate monoscopic and stereoscopic modes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds

Definitions

  • the present invention belongs to the field of panoramic three-dimensional modeling technology, and in particular, to a panoramic three-dimensional modeling apparatus, method and system.
  • Panoramic shooting is a process of imaging an entire spatial scene using one or more image acquisition units.
  • the existing panoramic shooting method can only capture a two-dimensional color image of a spatial scene, but cannot accurately construct a three-dimensional space of the panoramic space.
  • the panoramic image lacking the spatial distance information limits the application range of the panoramic shooting. For example, in the real estate photographing application, if the three-dimensional modeling of the house can be performed, the floor plan reconstruction, VR indoor roaming, etc. can be conveniently realized; Without a 3D model, users can only view panoramic images and cannot implement more functions.
  • the present invention provides a panoramic three-dimensional modeling apparatus, method and system, which are convenient for accurately obtaining structural information of a scene space, and realizing panoramic three-dimensional reconstruction of the scene space.
  • the present invention provides a panoramic three-dimensional modeling apparatus, including:
  • a structured light projection module configured to project structured light of a specified feature into a scene at an angle
  • a shooting module configured to capture a scene image and collect scene image information and solve scene spatial structure information, which is connected to the structured light projection module;
  • a rotating platform module configured to drive the structured light projection module to rotate, and is coupled to the structured light projection module
  • a panoramic three-dimensional modeling module configured to process scene image information collected by the shooting module and the solved scene spatial structure information, to implement panoramic three-dimensional modeling, which is connected to the shooting module;
  • a power supply module configured to: the structured light projection module, the shooting module, the rotating platform module, and the panoramic three-dimensional
  • the modeling module provides a power source that is coupled to the structured light projection module, the imaging module, the rotating platform module, and the panoramic three-dimensional modeling module.
  • the structured light projection module includes:
  • a projection angle control module configured to adjust a light projection angle according to a distance requirement
  • the structured light feature control module is configured to control features of the structured light, including a projection form, a pattern shape, and the like, and is coupled to the projection angle control module.
  • the shooting module includes:
  • a lens adaptation module configured to select a lens with suitable parameters according to an actual shooting scene
  • an image information collection module configured to digitally image the scene captured by the lens in the lens adaptation module to obtain scene image information, and control a light projection angle of the module according to the projection angle and the structural light feature control module
  • the structured light feature solves the scene spatial structure information, and is connected to the lens adaptation module, the projection angle control module, and the structured light feature control module.
  • the rotating platform module includes:
  • a rotation control module configured to control a rotation angle, a rotation speed, and a rotation direction of the structural light projection module, and is coupled to the projection angle control module.
  • the panoramic three-dimensional modeling module includes:
  • a panoramic image splicing module configured to splicing a sequence of scene images acquired by the image information collecting module in the shooting module, to obtain a two-dimensional panoramic image, which is connected to the image information collecting module;
  • a three-dimensional point cloud solving module configured to solve a scene spatial structure information sequence collected by the image information collecting module in the shooting module, and obtain a three-dimensional point corresponding to the two-dimensional panoramic image in the panoramic image splicing module a cloud, which is connected to the image information collecting module and the panoramic image splicing module;
  • a texture rendering module configured to map a scene space according to a two-dimensional panoramic image in the panoramic image mosaic module and a three-dimensional point cloud corresponding to the two-dimensional panoramic image in the three-dimensional point cloud solving module Rendering, implementing panoramic three-dimensional modeling, which is connected to the panoramic image splicing module and the three-dimensional point cloud solving module.
  • the present invention provides a panoramic three-dimensional modeling method, which includes the following steps
  • Step A the lens adaptation module selects a lens according to a shooting scene requirement, and the projection angle control mode Block initialization structure light projection angle;
  • Step B the rotation control module drives the structural light projection module to rotate at a certain angle
  • Step D the structured light projection module projects the structured light of the specified feature into the scene at a certain angle
  • Step E the image information collecting module controls the light projection angle of the module according to the projection angle
  • the structural light feature of the structured light feature control module is used to solve the spatial structure information of the scene
  • Step F the structured light projection module stops projecting the structured light
  • Step G the image information collection module sequentially saves the scene image and the scene space structure information
  • Step H repeat steps B through G until the 360° acquisition is completed
  • Step I the panoramic image splicing module splices the sequence of scene images into a two-dimensional panoramic image
  • Step J the three-dimensional point cloud solving module solves a three-dimensional point cloud corresponding to the two-dimensional panoramic image according to the scene spatial structure information sequence;
  • Step K mapping and rendering the scene space according to the two-dimensional panoramic image and the three-dimensional point cloud to obtain a panoramic three-dimensional model.
  • the present invention provides a panoramic three-dimensional modeling system, the panoramic three-dimensional modeling system including a rotating platform, a structured light projector, and an image capturing unit, the structured light projector and the A little active connection on the rotating platform, the camera unit being movably connected to another point on the rotating platform.
  • the structured light projector and the image capturing unit rotate at an equal angle on the rotating platform.
  • the present invention also provides another panoramic three-dimensional modeling system, the panoramic three-dimensional modeling system includes a rotating platform, a structured light projector, and a plurality of imaging units, wherein ⁇ is a positive integer greater than or equal to 2.
  • the structural light projector is movably connected to a point on the rotating platform, and the image capturing unit is fixedly disposed and randomly distributed or equally spaced on a circumference of the same circle centered on another point on the rotating platform. .
  • the structured light projector rotates at an angle on the rotating platform, and the imaging unit does not rotate with the rotating platform during shooting.
  • the present invention can conveniently and accurately obtain the structural information of the scene space by using one or more camera units, and the structure light projector can realize the panoramic three-dimensional reconstruction of the scene space, so that the scene is captured. Space images are more realistic, greatly expanding the application of panoramic images.
  • FIG. 1 is a schematic structural diagram of a panoramic three-dimensional modeling apparatus according to a first embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a panoramic three-dimensional modeling apparatus according to a second embodiment of the present invention.
  • FIG. 3 is a schematic flowchart of a three-dimensional panoramic modeling method according to a third embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a panoramic three-dimensional modeling system according to a fourth embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of another panoramic three-dimensional modeling system according to a fifth embodiment of the present invention.
  • FIG. 6 is a structure of another panoramic three-dimensional modeling system according to a sixth embodiment of the present invention
  • FIG. 7 is a schematic structural diagram of another panoramic three-dimensional modeling system according to a seventh embodiment of the present invention.
  • FIG. 8 is another panoramic three-dimensional modeling system according to an eighth embodiment of the present invention; Schematic diagram of the structure.
  • FIG. 1 is a schematic structural diagram of a panoramic three-dimensional modeling apparatus according to a first embodiment of the present invention.
  • the panoramic three-dimensional modeling apparatus includes: a structured light projection module 1, and a photographing module 2 , rotating platform module 3, panoramic three-dimensional modeling module 4, power supply module 5.
  • the structured light projection module 1 is configured to project structured light into the scene at a certain angle and a fixed feature
  • the shooting module 2 is configured to capture a scene image and collect scene image information and solve scene spatial structure information, which is connected to the structured light projection module;
  • the rotating platform module 3 is configured to drive the structural light projection module to rotate, and is connected to the structured light projection module;
  • the panoramic three-dimensional modeling module 4 is configured to capture scene image information and a solution scene captured by the shooting module. Space The structural information is processed to realize panoramic three-dimensional modeling, which is connected with the shooting module;
  • the power supply module 5 is configured to provide power for the structured light projection module, the shooting module, the rotating platform module, and the panoramic three-dimensional modeling module, and is configured with the structured light projection module, the shooting module, the rotating platform module, and the panoramic three-dimensional modeling module. connection.
  • FIG. 2 is a schematic structural diagram of a panoramic three-dimensional modeling apparatus according to a second embodiment of the present invention.
  • the structured light projection module 1 includes a projection angle control module 11 and structural light feature control.
  • the projection angle control module 11 is configured to adjust the structural light projection angle according to the distance requirement;
  • the structured light feature control module 12 is configured to control the structural light features, including the projection form, the pattern shape, and the like, such as controlling the structured light to a straight line and a spot.
  • the camera module 2 includes a lens adaptation module 21 and an image information acquisition module 22; wherein the lens adaptation module 21 is configured to select a lens with suitable parameters according to the actual shooting scene, for example, a wide-angle lens or a fisheye lens that selects certain parameters according to the size of the shooting space.
  • the image information collecting module 22 is fixed on the rotating platform module 3 for digitally imaging the scene captured by the lens in the lens matching module 21 to obtain scene image information, and controlling the light projection angle and structure of the module 11 according to the projection angle.
  • the structured light feature of the light feature control module 12 solves the scene spatial structure information, which is connected to the lens adaptation module 21, the projection angle control module 11, and the structured light feature control module 12.
  • the rotating platform module 3 includes a rotation control module 31.
  • the rotation control module 31 is used to control the rotation angle, the rotation speed and the rotation direction of the structural light projection module 1, and is connected to the projection angle control module 11.
  • the panoramic three-dimensional modeling module 4 includes a panoramic image splicing module 41, a three-dimensional point cloud solving module 42 and a texture rendering module 43.
  • the panoramic image splicing module 41 is used to splicing the scene image collected by the image information collecting module 22 in the shooting module 2. Sequence, a two-dimensional panoramic image is obtained, which is connected to the image information collecting module 22; the three-dimensional point cloud solving module 42 is configured to solve the scene spatial structure information sequence collected by the image information collecting module 22 in the shooting module 2, and obtain the panoramic view a three-dimensional point cloud corresponding to the two-dimensional panoramic image in the image splicing module 41, which is connected to the image information collecting module 22 and the panoramic image splicing module 41; the texture rendering module 43 is configured to align the two-dimensional panoramic image in the splicing module 41 according to the panoramic image Mapping and rendering of the scene space with the 3D point cloud corresponding to the 2D panoramic image in the 3D point cloud solving module 42 A panoramic three-dimensional modeling is implemented, which is connected to the panoramic image splicing module 41 and the three-dimensional point cloud solving module 42.
  • FIG. 3 is a schematic flowchart of a method for modeling a three-dimensional panoramic view according to a third embodiment of the present invention. As shown in FIG. 3, the method for modeling a three-dimensional panoramic view includes the following steps:
  • Step S201 starting;
  • Step S202 the lens adaptation module 21 selects a lens according to the shooting scene requirement, and the projection angle control module
  • Step S203 the rotation control module 31 drives the structured light projection module 1 to rotate at a certain angle
  • Step S204 The image information collecting module 22 captures a scene image.
  • Step S205 the structured light projection module 1 projects the structured light of the specified feature into the scene at a certain angle
  • Step S206 the image information collecting module 22 controls the light projection angle and the structured light feature of the projection angle control module 11 according to the projection angle
  • the structured light feature of the module 12 solves the scene spatial structure information
  • Step S207 the structured light projection module 1 stops projecting the structured light
  • Step S208 the image information collecting module 22 sequentially saves the scene image and the scene space structure information; [0065] Step S209, repeating steps S203 to S208 until the 360° acquisition is completed;
  • Step S210 the panoramic image splicing module 41 splices the scene image sequence into a two-dimensional panoramic image;
  • Step S211 the three-dimensional point cloud solving module 42 solves the two-dimensional panoramic image according to the scene spatial structure information sequence. Three-dimensional point cloud;
  • Step S212 Mapping and rendering the scene space according to the two-dimensional panoramic image and the three-dimensional point cloud to obtain a panoramic three-dimensional model
  • FIG. 4 is a schematic structural diagram of a panoramic three-dimensional modeling system according to a fourth embodiment of the present invention.
  • a panoramic three-dimensional modeling system according to a fourth embodiment of the present invention includes A rotating platform 501, a structured light projector 502, and an imaging unit 503, the structured light projector 502 is movably connected to a point on the rotating platform 501, and the camera unit 503 is movably connected to another point on the rotating platform 501, in this embodiment.
  • the structured light projector 502 and the imaging unit 503 are rotated at an equal angle on the rotating platform 501.
  • the effective field of view 505 and the knot of the image acquisition module 504 in the camera unit 503 The closest intersection A and the farthest intersection B of the effective field of view 506 of the structured light feature of the structured light projector 502 determine the effective modeling distance (Z1 to Z2).
  • the present invention provides another panoramic three-dimensional modeling system, comprising a rotating platform, a structured light projector and N camera units, wherein N is a positive integer greater than or equal to 2, the structured light projector and the rotating platform
  • N is a positive integer greater than or equal to 2
  • the structured light projector and the rotating platform
  • the upper movable connection, the camera unit is fixedly disposed and randomly distributed or equally spaced on the circumference of the same circle centered on another point on the rotating platform.
  • the structured light projector is rotating.
  • the platform rotates at a certain angle, and the camera unit does not rotate with the rotating platform during shooting.
  • FIG. 5 is a schematic structural diagram of another panoramic three-dimensional modeling system according to a fifth embodiment of the present invention.
  • the panoramic three-dimensional modeling system includes a rotating platform 601, The structured light projector 602, the two camera units 603, the structured light projector 602 are movably connected to a point on the rotating platform 601, and the camera unit 603 is fixedly disposed and randomly distributed or equally spaced on the rotating platform 601.
  • the structured light projector 602 is rotated at a certain angle on the rotating platform 601, and the imaging unit 603 does not rotate with the rotating platform 601 during the shooting.
  • FIG. 6 is a schematic structural diagram of another panoramic three-dimensional modeling system according to a sixth embodiment of the present invention.
  • the panoramic three-dimensional modeling system includes a rotating platform 701, The structured light projector 702, the three camera units 703, and the structured light projector 702 are movably connected to a point on the rotating platform 701.
  • the camera unit 703 is fixedly disposed and randomly distributed or equally spaced on another point on the rotating platform 701.
  • the structured light projector 702 is rotated at a certain angle on the rotating platform 701, and the imaging unit 703 does not rotate with the rotating platform 701 during the shooting.
  • FIG. 7 is a schematic structural diagram of another panoramic three-dimensional modeling system according to a seventh embodiment of the present invention.
  • the panoramic three-dimensional modeling system includes a rotating platform 801, The structured light projector 802, the four imaging units 803, the structured light projector 802 are movably connected to a point on the rotating platform 801, and the imaging unit 803 is fixedly disposed and randomly distributed or equally spaced on another point on the rotating platform 801.
  • the structured light projector 802 rotates at a certain angle on the rotating platform 801, and the camera unit 803 does not rotate during the shooting process.
  • the moving platform 801 rotates.
  • FIG. 8 is a schematic structural diagram of another panoramic three-dimensional modeling system according to an eighth embodiment of the present invention.
  • the panoramic three-dimensional modeling system includes a rotating platform 901, The structured light projector 902, the eight camera units 903, the structured light projector 902 are movably connected to a point on the rotating platform 901, and the camera unit 903 is fixedly disposed and randomly distributed or equally spaced at another point on the rotating platform 901.
  • the structured light projector 902 is rotated at a certain angle on the rotating platform 901, and the camera unit 903 does not rotate with the rotating platform 901 during the shooting.
  • the present invention can conveniently and accurately obtain the structural information of the scene space by using one or more camera units, and the structure light projector can realize the panoramic three-dimensional reconstruction of the scene space, so that the captured scene space image is more realistic.
  • the application field of panoramic images has been greatly expanded.

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Abstract

A panoramic three-dimensional modeling device, method and system. The device comprises a structured light projection module (1) used for projecting structured light having a specified characteristic into a scene at a particular angle; a photographing module (2) used for capturing a scene image, acquiring scene image information and resolving structural information of a scene space; a rotating platform module (3) used for driving the structured light projection module to rotate; a panoramic three-dimensional modeling module (4) used for processing the scene image information acquired by the photographing module and the resolved structural information of the scene space, to implement panoramic three-dimensional modeling; and a power supply module (5) used for supplying power for the structured light projection module, the photographing module, the rotating platform module, and the panoramic three-dimensional modeling module. By using one or more camera units together with a structured light projector, structural information of a scene space can be conveniently and accurately obtained to implement panoramic three-dimensional reconstruction of the scene space, thereby enhancing the verisimilitude of a captured scene space image, and expanding the application field of panoramic images.

Description

一种全景三维建模装置、 方法及系统 技术领域  Panoramic three-dimensional modeling device, method and system
[0001] 本发明属于全景三维建模技术领域， 特别是涉及一种全景三维建模装置、 方法 及系统。  [0001] The present invention belongs to the field of panoramic three-dimensional modeling technology, and in particular, to a panoramic three-dimensional modeling apparatus, method and system.
背景技术  Background technique
[0002] 全景拍摄是使用一个或多个图像获取单元， 对整个空间场景进行成像的过程， 已有的全景拍摄方法只能拍摄空间场景的二维彩色图像， 却不能准确对全景空 间进行三维建模； 缺少空间距离信息的全景图像限制了全景拍摄的应用范围， 譬如在房产拍照应用中， 如果可以对房屋进行全景三维建模， 则可方便地实现 户型图重构、 VR屋内漫游等； 如果没有三维模型， 则用户只能浏览全景图像， 无法实现更多功能。  [0002] Panoramic shooting is a process of imaging an entire spatial scene using one or more image acquisition units. The existing panoramic shooting method can only capture a two-dimensional color image of a spatial scene, but cannot accurately construct a three-dimensional space of the panoramic space. The panoramic image lacking the spatial distance information limits the application range of the panoramic shooting. For example, in the real estate photographing application, if the three-dimensional modeling of the house can be performed, the floor plan reconstruction, VR indoor roaming, etc. can be conveniently realized; Without a 3D model, users can only view panoramic images and cannot implement more functions.
技术问题  technical problem
[0003] 综上所述， 为解决上述技术问题， 本发明提供了一种全景三维建模装置、 方法 及系统， 以方便准确地获得场景空间的结构信息， 实现对场景空间进行全景三 维重建。  In summary, in order to solve the above technical problem, the present invention provides a panoramic three-dimensional modeling apparatus, method and system, which are convenient for accurately obtaining structural information of a scene space, and realizing panoramic three-dimensional reconstruction of the scene space.
问题的解决方案  Problem solution
技术解决方案  Technical solution
[0004] 第一方面， 本发明提供了一种全景三维建模装置， 包括：  [0004] In a first aspect, the present invention provides a panoramic three-dimensional modeling apparatus, including:
[0005] 结构光投射模块， 用于以一定角度向场景中投射指定特征的结构光；  [0005] a structured light projection module, configured to project structured light of a specified feature into a scene at an angle;
[0006] 拍摄模块， 用于拍摄场景图像并采集场景图像信息及解算场景空间结构信息， 其与所述结构光投射模块相连接；  [0006] a shooting module, configured to capture a scene image and collect scene image information and solve scene spatial structure information, which is connected to the structured light projection module;
[0007] 转动平台模块， 用于带动所述结构光投射模块转动， 其与所述结构光投射模块 相连接； [0007] a rotating platform module, configured to drive the structured light projection module to rotate, and is coupled to the structured light projection module;
[0008] 全景三维建模模块， 用于对所述拍摄模块采集到的场景图像信息及解算的场景 空间结构信息进行处理， 实现全景三维建模， 其与所述拍摄模块相连接；  [0008] a panoramic three-dimensional modeling module, configured to process scene image information collected by the shooting module and the solved scene spatial structure information, to implement panoramic three-dimensional modeling, which is connected to the shooting module;
[0009] 供电模块， 用于为所述结构光投射模块、 拍摄模块、 转动平台模块及全景三维 建模模块提供电源， 其与所述结构光投射模块、 拍摄模块、 转动平台模块及全 景三维建模模块相连接。 [0009] a power supply module, configured to: the structured light projection module, the shooting module, the rotating platform module, and the panoramic three-dimensional The modeling module provides a power source that is coupled to the structured light projection module, the imaging module, the rotating platform module, and the panoramic three-dimensional modeling module.
[0010] 进一步地， 所述结构光投射模块包括：  [0010] Further, the structured light projection module includes:
[0011] 投射角度控制模块， 用于根据距离需求调整光投射角度；  [0011] a projection angle control module, configured to adjust a light projection angle according to a distance requirement;
[0012] 结构光特征控制模块， 用于控制结构光的特征， 包括投射形式， 图案形状等， 其与所述投射角度控制模块相连接。  [0012] The structured light feature control module is configured to control features of the structured light, including a projection form, a pattern shape, and the like, and is coupled to the projection angle control module.
[0013] 进一步地， 所述拍摄模块包括：  [0013] Further, the shooting module includes:
[0014] 镜头适配模块， 用于根据实际拍摄场景选取合适参数的镜头；  [0014] a lens adaptation module, configured to select a lens with suitable parameters according to an actual shooting scene;
[0015] 图像信息采集模块， 用于将镜头适配模块中的镜头所拍摄的场景进行数字化成 像处理得到场景图像信息， 根据所述投射角度控制模块的光投射角度及所述结 构光特征控制模块的结构光特征解算场景空间结构信息， 其与所述镜头适配模 块、 投射角度控制模块、 结构光特征控制模块相连接。 [0015] an image information collection module, configured to digitally image the scene captured by the lens in the lens adaptation module to obtain scene image information, and control a light projection angle of the module according to the projection angle and the structural light feature control module The structured light feature solves the scene spatial structure information, and is connected to the lens adaptation module, the projection angle control module, and the structured light feature control module.
[0016] 进一步地， 所述转动平台模块包括： [0016] Further, the rotating platform module includes:
[0017] 转动控制模块， 用于控制所述结构光投射模块的转动角度、 转动速度和转动方 向， 其与所述投射角度控制模块相连接。  [0017] a rotation control module, configured to control a rotation angle, a rotation speed, and a rotation direction of the structural light projection module, and is coupled to the projection angle control module.
[0018] 进一步地， 所述全景三维建模模块包括： [0018] Further, the panoramic three-dimensional modeling module includes:
[0019] 全景图像拼接模块， 用于拼接所述拍摄模块中图像信息采集模块采集到的场景 图像序列， 得到二维全景图像， 其与所述图像信息采集模块相连接；  [0019] a panoramic image splicing module, configured to splicing a sequence of scene images acquired by the image information collecting module in the shooting module, to obtain a two-dimensional panoramic image, which is connected to the image information collecting module;
[0020] 三维点云解算模块， 用于解算所述拍摄模块中图像信息采集模块采集到的场景 空间结构信息序列， 得到与所述全景图像拼接模块中的二维全景图像对应的三 维点云， 其与所述图像信息采集模块及所述全景图像拼接模块相连接；  [0020] a three-dimensional point cloud solving module, configured to solve a scene spatial structure information sequence collected by the image information collecting module in the shooting module, and obtain a three-dimensional point corresponding to the two-dimensional panoramic image in the panoramic image splicing module a cloud, which is connected to the image information collecting module and the panoramic image splicing module;
[0021] 贴图渲染模块， 用于根据所述全景图像拼接模块中的二维全景图像和所述三维 点云解算模块中与所述二维全景图像对应的三维点云进行场景空间的贴图和渲 染， 实现全景三维建模， 其与所述全景图像拼接模块及所述三维点云解算模块 相连接。  [0021] a texture rendering module, configured to map a scene space according to a two-dimensional panoramic image in the panoramic image mosaic module and a three-dimensional point cloud corresponding to the two-dimensional panoramic image in the three-dimensional point cloud solving module Rendering, implementing panoramic three-dimensional modeling, which is connected to the panoramic image splicing module and the three-dimensional point cloud solving module.
[0022] 第二方面， 本发明提供了一种全景三维建模方法， 其特征在于， 包括下述步骤  [0022] In a second aspect, the present invention provides a panoramic three-dimensional modeling method, which includes the following steps
[0023] 步骤 A， 所述镜头适配模块根据拍摄场景需求选取镜头， 所述投射角度控制模 块初始化结构光投射角； [0023] Step A, the lens adaptation module selects a lens according to a shooting scene requirement, and the projection angle control mode Block initialization structure light projection angle;
[0024] 步骤 B， 所述转动控制模块带动结构光投射模块以一定角度转动；  [0024] Step B, the rotation control module drives the structural light projection module to rotate at a certain angle;
[0025] 步骤 (：， 所述图像信息采集模块拍摄场景图像； [0025] Step (:, the image information collecting module captures a scene image;
[0026] 步骤 D， 所述结构光投射模块以一定角度向场景中投射指定特征的结构光； [0027] 步骤 E， 所述图像信息采集模块根据所述投射角度控制模块的光投射角度及所 述结构光特征控制模块的结构光特征解算场景空间结构信息；  [0026] Step D, the structured light projection module projects the structured light of the specified feature into the scene at a certain angle; [0027] Step E, the image information collecting module controls the light projection angle of the module according to the projection angle The structural light feature of the structured light feature control module is used to solve the spatial structure information of the scene;
[0028] 步骤 F， 所述结构光投射模块停止投射结构光； [0028] Step F, the structured light projection module stops projecting the structured light;
[0029] 步骤 G， 所述图像信息采集模块依序保存场景图像和场景空间结构信息； [0029] Step G, the image information collection module sequentially saves the scene image and the scene space structure information;
[0030] 步骤 H， 重复步骤 B至步骤 G直到完成 360°采集； [0030] Step H, repeat steps B through G until the 360° acquisition is completed;
[0031] 步骤 I， 所述全景图像拼接模块将场景图像序列拼接为二维全景图像；  [0031] Step I, the panoramic image splicing module splices the sequence of scene images into a two-dimensional panoramic image;
[0032] 步骤 J， 所述三维点云解算模块根据场景空间结构信息序列解算与所述二维全 景图像对应的三维点云；  [0032] Step J, the three-dimensional point cloud solving module solves a three-dimensional point cloud corresponding to the two-dimensional panoramic image according to the scene spatial structure information sequence;
[0033] 步骤 K， 根据所述二维全景图像和所述三维点云对场景空间进行贴图、 渲染， 得到全景三维模型。 [0033] Step K: mapping and rendering the scene space according to the two-dimensional panoramic image and the three-dimensional point cloud to obtain a panoramic three-dimensional model.
[0034] 第三方面， 本发明提供了一种全景三维建模系统， 所述全景三维建模系统包括 一个转动平台、 一个结构光投射器以及一个摄像单元， 所述结构光投射器与所 述转动平台上的一点活动连接， 所述摄像单元与所述转动平台上的另一点活动 连接。  [0034] In a third aspect, the present invention provides a panoramic three-dimensional modeling system, the panoramic three-dimensional modeling system including a rotating platform, a structured light projector, and an image capturing unit, the structured light projector and the A little active connection on the rotating platform, the camera unit being movably connected to another point on the rotating platform.
[0035] 进一步地， 所述结构光投射器与所述摄像单元在所述转动平台上以相等的角度 转动。  [0035] Further, the structured light projector and the image capturing unit rotate at an equal angle on the rotating platform.
[0036] 本发明还提供了另一种全景三维建模系统， 所述全景三维建模系统包括一个转 动平台、 一个结构光投射器以及 Ν个摄像单元， 其中 Ν为大于或等于 2的正整 数， 所述结构光投射器与所述转动平台上的一点活动连接， 所述摄像单元固定 设置于且任意分布或等间距设置在以所述转动平台上的另一点为圆心的同一圆 的圆周上。  [0036] The present invention also provides another panoramic three-dimensional modeling system, the panoramic three-dimensional modeling system includes a rotating platform, a structured light projector, and a plurality of imaging units, wherein Ν is a positive integer greater than or equal to 2. The structural light projector is movably connected to a point on the rotating platform, and the image capturing unit is fixedly disposed and randomly distributed or equally spaced on a circumference of the same circle centered on another point on the rotating platform. .
[0037] 进一步地， 所述结构光投射器在所述转动平台上以一定角度转动， 所述摄像单 元在拍摄过程中不随转动平台转动。  [0037] Further, the structured light projector rotates at an angle on the rotating platform, and the imaging unit does not rotate with the rotating platform during shooting.
发明的有益效果 有益效果 Advantageous effects of the invention Beneficial effect
[0038] 与现有技术相比， 本发明通过使用一个或多个摄像单元， 配合结构光投射器可 以方便准确地获得场景空间的结构信息， 实现对场景空间的全景三维重建， 使 拍摄的场景空间图像更具逼真感， 大大拓展了全景图像的应用领域。  Compared with the prior art, the present invention can conveniently and accurately obtain the structural information of the scene space by using one or more camera units, and the structure light projector can realize the panoramic three-dimensional reconstruction of the scene space, so that the scene is captured. Space images are more realistic, greatly expanding the application of panoramic images.
对附图的简要说明  Brief description of the drawing
附图说明  DRAWINGS
[0039] 图 1为本发明第一实施例提供的全景三维建模装置的结构示意图；  1 is a schematic structural diagram of a panoramic three-dimensional modeling apparatus according to a first embodiment of the present invention;
[0040] 图 2为本发明第二实施例提供的全景三维建模装置的结构示意图； 2 is a schematic structural diagram of a panoramic three-dimensional modeling apparatus according to a second embodiment of the present invention;
[0041] 图 3为本发明第三实施例提供的一种全景三维建模方法的流程示意图； 3 is a schematic flowchart of a three-dimensional panoramic modeling method according to a third embodiment of the present invention;
[0042] 图 4为本发明第四实施例提供的一种全景三维建模系统的结构示意图； 4 is a schematic structural diagram of a panoramic three-dimensional modeling system according to a fourth embodiment of the present invention;
[0043] 图 5为本发明第五实施例提供的另一种全景三维建模系统的结构示意图； [0044] 图 6为本发明第六实施例提供的另一种全景三维建模系统的结构示意图； [0045] 图 7为本发明第七实施例提供的另一种全景三维建模系统的结构示意图； [0046] 图 8为本发明第八实施例提供的另一种全景三维建模系统的结构示意图。 5 is a schematic structural diagram of another panoramic three-dimensional modeling system according to a fifth embodiment of the present invention; [0044] FIG. 6 is a structure of another panoramic three-dimensional modeling system according to a sixth embodiment of the present invention; FIG. 7 is a schematic structural diagram of another panoramic three-dimensional modeling system according to a seventh embodiment of the present invention; [0046] FIG. 8 is another panoramic three-dimensional modeling system according to an eighth embodiment of the present invention; Schematic diagram of the structure.
本发明的实施方式 Embodiments of the invention
[0047] 为了使本发明的目的、 技术方案及优点更加清楚明白， 以下结合附图及实施例 ， 对本发明进行进一步详细说明。 应当理解， 此处所描述的具体实施例仅仅用 以解释本发明， 并不用于限定本发明。  The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
[0048] 以下结合具体实施例对本发明的实现进行详细的描述。  [0048] The implementation of the present invention will be described in detail below with reference to specific embodiments.
[0049] 请参阅图 1， 图 1是本发明第一实施例提供的全景三维建模装置的结构示意图 ， 如图 1所示， 全景三维建模装置包括： 结构光投射模块 1， 拍摄模块 2， 转动 平台模块 3， 全景三维建模模块 4， 供电模块 5。  Please refer to FIG. 1. FIG. 1 is a schematic structural diagram of a panoramic three-dimensional modeling apparatus according to a first embodiment of the present invention. As shown in FIG. 1, the panoramic three-dimensional modeling apparatus includes: a structured light projection module 1, and a photographing module 2 , rotating platform module 3, panoramic three-dimensional modeling module 4, power supply module 5.
[0050] 结构光投射模块 1用于以一定角度和固定特征向场景中投射结构光； [0050] The structured light projection module 1 is configured to project structured light into the scene at a certain angle and a fixed feature;
[0051] 拍摄模块 2用于拍摄场景图像并采集场景图像信息及解算场景空间结构信息， 其与结构光投射模块相连接； [0051] The shooting module 2 is configured to capture a scene image and collect scene image information and solve scene spatial structure information, which is connected to the structured light projection module;
[0052] 转动平台模块 3用于带动结构光投射模块转动， 其与结构光投射模块相连接； [0053] 全景三维建模模块 4用于对拍摄模块采集到的场景图像信息及解算的场景空间 结构信息进行处理， 实现全景三维建模， 其与拍摄模块相连接； [0052] The rotating platform module 3 is configured to drive the structural light projection module to rotate, and is connected to the structured light projection module; [0053] the panoramic three-dimensional modeling module 4 is configured to capture scene image information and a solution scene captured by the shooting module. Space The structural information is processed to realize panoramic three-dimensional modeling, which is connected with the shooting module;
[0054] 供电模块 5， 用于为结构光投射模块、 拍摄模块、 转动平台模块及全景三维建 模模块提供电源， 其与结构光投射模块、 拍摄模块、 转动平台模块及全景三维 建模模块相连接。  [0054] The power supply module 5 is configured to provide power for the structured light projection module, the shooting module, the rotating platform module, and the panoramic three-dimensional modeling module, and is configured with the structured light projection module, the shooting module, the rotating platform module, and the panoramic three-dimensional modeling module. connection.
[0055] 请参阅图 2， 图 2是本发明第二实施例提供的全景三维建模装置的结构示意图 ， 如图 2所示， 结构光投射模块 1包括投射角度控制模块 11和结构光特征控制 模块 12; 其中， 投射角度控制模块 11用于根据距离需求调整结构光投射角度； 结构光特征控制模块 12用于控制结构光特征， 包括投射形式、 图案形状等， 譬 如控制结构光以直线、 光斑、 网格或编码形式投射到场景中， 其与投射角度控 制模块 11相连接； 结构光投射模块 1固定在转动平台模块 3上， 以一定角度 Θ 将固定特征 （直线、 光斑、 网格、 编码等） 的结构光投射到场景中， 结构光的 具体特征由结构光特征控制模块 12选取。 拍摄模块 2包括镜头适配模块 21和图 像信息采集模块 22; 其中， 镜头适配模块 21用于根据实际拍摄场景选取合适参 数的镜头， 譬如， 根据拍摄空间尺寸选择一定参数的广角镜头或鱼眼镜头等； 图像信息采集模块 22固定在转动平台模块 3上， 用于将镜头适配模块 21中的 镜头所拍摄的场景进行数字化成像处理得到场景图像信息， 根据投射角度控制 模块 11的光投射角度及结构光特征控制模块 12的结构光特征解算场景空间结 构信息， 其与镜头适配模块 21、 投射角度控制模块 11、 结构光特征控制模块 12 相连接。 转动平台模块 3包括转动控制模块 31 ; 转动控制模块 31用于控制结构 光投射模块 1的转动角度、 转动速度和转动方向， 其与投射角度控制模块 11相 连接。 全景三维建模模块 4包括全景图像拼接模块 41， 三维点云解算模块 42和 贴图渲染模块 43; 其中， 全景图像拼接模块 41用于拼接拍摄模块 2中图像信息 采集模块 22采集到的场景图像序列， 得到二维全景图像， 其与图像信息采集模 块 22相连接； 三维点云解算模块 42用于解算拍摄模块 2中图像信息采集模块 22采集到的场景空间结构信息序列， 得到与全景图像拼接模块 41中的二维全景 图像对应的三维点云， 其与图像信息采集模块 22及全景图像拼接模块 41相连 接； 贴图渲染模块 43用于根据全景图像拼接模块 41中的二维全景图像和三维 点云解算模块 42中与二维全景图像对应的三维点云进行场景空间的贴图和渲染 ， 实现全景三维建模， 其与全景图像拼接模块 41及三维点云解算模块 42相连 接。 Referring to FIG. 2, FIG. 2 is a schematic structural diagram of a panoramic three-dimensional modeling apparatus according to a second embodiment of the present invention. As shown in FIG. 2, the structured light projection module 1 includes a projection angle control module 11 and structural light feature control. The projection angle control module 11 is configured to adjust the structural light projection angle according to the distance requirement; the structured light feature control module 12 is configured to control the structural light features, including the projection form, the pattern shape, and the like, such as controlling the structured light to a straight line and a spot. , a grid or a coded form is projected into the scene, which is connected to the projection angle control module 11; the structured light projection module 1 is fixed on the rotating platform module 3, at a certain angle Θ fixed features (straight line, spot, grid, coding The structured light of the etc. is projected into the scene, and the specific features of the structured light are selected by the structured light feature control module 12. The camera module 2 includes a lens adaptation module 21 and an image information acquisition module 22; wherein the lens adaptation module 21 is configured to select a lens with suitable parameters according to the actual shooting scene, for example, a wide-angle lens or a fisheye lens that selects certain parameters according to the size of the shooting space. The image information collecting module 22 is fixed on the rotating platform module 3 for digitally imaging the scene captured by the lens in the lens matching module 21 to obtain scene image information, and controlling the light projection angle and structure of the module 11 according to the projection angle. The structured light feature of the light feature control module 12 solves the scene spatial structure information, which is connected to the lens adaptation module 21, the projection angle control module 11, and the structured light feature control module 12. The rotating platform module 3 includes a rotation control module 31. The rotation control module 31 is used to control the rotation angle, the rotation speed and the rotation direction of the structural light projection module 1, and is connected to the projection angle control module 11. The panoramic three-dimensional modeling module 4 includes a panoramic image splicing module 41, a three-dimensional point cloud solving module 42 and a texture rendering module 43. The panoramic image splicing module 41 is used to splicing the scene image collected by the image information collecting module 22 in the shooting module 2. Sequence, a two-dimensional panoramic image is obtained, which is connected to the image information collecting module 22; the three-dimensional point cloud solving module 42 is configured to solve the scene spatial structure information sequence collected by the image information collecting module 22 in the shooting module 2, and obtain the panoramic view a three-dimensional point cloud corresponding to the two-dimensional panoramic image in the image splicing module 41, which is connected to the image information collecting module 22 and the panoramic image splicing module 41; the texture rendering module 43 is configured to align the two-dimensional panoramic image in the splicing module 41 according to the panoramic image Mapping and rendering of the scene space with the 3D point cloud corresponding to the 2D panoramic image in the 3D point cloud solving module 42 A panoramic three-dimensional modeling is implemented, which is connected to the panoramic image splicing module 41 and the three-dimensional point cloud solving module 42.
[0056] 请参阅图 3， 图 3是本发明第三实施例提供的一种全景三维建模方法的流程示 意图， 如图 3所示， 全景三维建模方法， 包括如下步骤：  Referring to FIG. 3, FIG. 3 is a schematic flowchart of a method for modeling a three-dimensional panoramic view according to a third embodiment of the present invention. As shown in FIG. 3, the method for modeling a three-dimensional panoramic view includes the following steps:
[0057] 步骤 S201、 幵始； [0057] Step S201, starting;
[0058] 步骤 S202、 镜头适配模块 21根据拍摄场景需求选取镜头， 投射角度控制模块 [0058] Step S202, the lens adaptation module 21 selects a lens according to the shooting scene requirement, and the projection angle control module
11初始化结构光投射角； 11 initializing the structure light projection angle;
[0059] 步骤 S203、 转动控制模块 31带动结构光投射模块 1以一定角度转动； [0059] Step S203, the rotation control module 31 drives the structured light projection module 1 to rotate at a certain angle;
[0060] 步骤 S204、 图像信息采集模块 22拍摄场景图像； [0060] Step S204: The image information collecting module 22 captures a scene image.
[0061] 步骤 S205、 结构光投射模块 1以一定角度向场景中投射指定特征的结构光； [0062] 步骤 S206、 图像信息采集模块 22根据投射角度控制模块 11的光投射角度及 结构光特征控制模块 12的结构光特征解算场景空间结构信息；  [0061] Step S205, the structured light projection module 1 projects the structured light of the specified feature into the scene at a certain angle; [0062] Step S206, the image information collecting module 22 controls the light projection angle and the structured light feature of the projection angle control module 11 according to the projection angle The structured light feature of the module 12 solves the scene spatial structure information;
[0063] 步骤 S207、 结构光投射模块 1停止投射结构光； [0063] Step S207, the structured light projection module 1 stops projecting the structured light;
[0064] 步骤 S208、 图像信息采集模块 22依序保存场景图像和场景空间结构信息； [0065] 步骤 S209、 重复步骤 S203至 S208直到完成 360°采集；  [0064] Step S208, the image information collecting module 22 sequentially saves the scene image and the scene space structure information; [0065] Step S209, repeating steps S203 to S208 until the 360° acquisition is completed;
[0066] 步骤 S210、 全景图像拼接模块 41将场景图像序列拼接为二维全景图像； [0067] 步骤 S211、 三维点云解算模块 42根据场景空间结构信息序列解算与二维全景 图像对应的三维点云； [0066] Step S210, the panoramic image splicing module 41 splices the scene image sequence into a two-dimensional panoramic image; [0067] Step S211, the three-dimensional point cloud solving module 42 solves the two-dimensional panoramic image according to the scene spatial structure information sequence. Three-dimensional point cloud;
[0068] 步骤 S212、 根据二维全景图像和三维点云对场景空间进行贴图、 渲染， 得到 全景三维模型；  [0068] Step S212: Mapping and rendering the scene space according to the two-dimensional panoramic image and the three-dimensional point cloud to obtain a panoramic three-dimensional model;
[0069] 步骤 S213、 结束。 [0069] Step S213, ending.
[0070] 请参阅图 4， 图 4是本发明第四实施例提供的一种全景三维建模系统的结构示 意图， 如图 4所示， 本发明第四实施例提供的全景三维建模系统包括一个转动 平台 501、 一个结构光投射器 502以及一个摄像单元 503， 结构光投射器 502与 转动平台 501上的一点活动连接， 摄像单元 503与转动平台 501上的另一点活 动连接， 在本实施例具体实施过程中， 结构光投射器 502与摄像单元 503在转 动平台 501上以相等的角度转动。  [0070] Please refer to FIG. 4. FIG. 4 is a schematic structural diagram of a panoramic three-dimensional modeling system according to a fourth embodiment of the present invention. As shown in FIG. 4, a panoramic three-dimensional modeling system according to a fourth embodiment of the present invention includes A rotating platform 501, a structured light projector 502, and an imaging unit 503, the structured light projector 502 is movably connected to a point on the rotating platform 501, and the camera unit 503 is movably connected to another point on the rotating platform 501, in this embodiment. In a specific implementation, the structured light projector 502 and the imaging unit 503 are rotated at an equal angle on the rotating platform 501.
[0071] 本发明实施例中， 摄像单元 503中的图像采集模块 504的有效视场角 505与结 构光投射器 502的结构光特征的有效视场角 506的最近交点 A和最远交点 B决 定了有效建模距离 （Z1至 Z2) 。 In the embodiment of the present invention, the effective field of view 505 and the knot of the image acquisition module 504 in the camera unit 503 The closest intersection A and the farthest intersection B of the effective field of view 506 of the structured light feature of the structured light projector 502 determine the effective modeling distance (Z1 to Z2).
[0072] 本发明提供了另一种全景三维建模系统， 包括一个转动平台、 一个结构光投射 器以及 N个摄像单元， 其中 N为大于或等于 2的正整数， 结构光投射器与转动 平台上的一点活动连接， 摄像单元固定设置于且任意分布或等间距设置在以转 动平台上的另一点为圆心的同一圆的圆周上， 在本实施例具体实施过程中， 结 构光投射器在转动平台上以一定角度转动， 摄像单元在拍摄过程中不随转动平 台转动。 [0072] The present invention provides another panoramic three-dimensional modeling system, comprising a rotating platform, a structured light projector and N camera units, wherein N is a positive integer greater than or equal to 2, the structured light projector and the rotating platform The upper movable connection, the camera unit is fixedly disposed and randomly distributed or equally spaced on the circumference of the same circle centered on another point on the rotating platform. In the specific implementation of the embodiment, the structured light projector is rotating. The platform rotates at a certain angle, and the camera unit does not rotate with the rotating platform during shooting.
[0073] 请参阅图 5， 图 5是本发明第五实施例提供的另一种全景三维建模系统的结构 示意图， 如图 5所示， 该全景三维建模系统包括一个转动平台 601， 一个结构光 投射器 602， 两个摄像单元 603， 结构光投射器 602与转动平台 601上的一点活 动连接， 摄像单元 603固定设置于且任意分布或等间距设置在以转动平台 601 上的另一点为圆心的同一圆的圆周上， 在本实施例具体实施过程中， 结构光投 射器 602在转动平台 601上以一定角度转动， 摄像单元 603在拍摄过程中不随转 动平台 601转动。  [0073] Please refer to FIG. 5. FIG. 5 is a schematic structural diagram of another panoramic three-dimensional modeling system according to a fifth embodiment of the present invention. As shown in FIG. 5, the panoramic three-dimensional modeling system includes a rotating platform 601, The structured light projector 602, the two camera units 603, the structured light projector 602 are movably connected to a point on the rotating platform 601, and the camera unit 603 is fixedly disposed and randomly distributed or equally spaced on the rotating platform 601. On the circumference of the same circle of the center of the circle, in the specific implementation of the embodiment, the structured light projector 602 is rotated at a certain angle on the rotating platform 601, and the imaging unit 603 does not rotate with the rotating platform 601 during the shooting.
[0074] 请参阅图 6， 图 6是本发明第六实施例提供的另一种全景三维建模系统的结构 示意图， 如图 6所示， 该全景三维建模系统包括一个转动平台 701， 一个结构光 投射器 702， 三个摄像单元 703， 结构光投射器 702与转动平台 701上的一点活 动连接， 摄像单元 703固定设置于且任意分布或等间距设置在以转动平台 701 上的另一点为圆心的同一圆的圆周上， 在本实施例具体实施过程中， 结构光投 射器 702在转动平台 701上以一定角度转动， 摄像单元 703在拍摄过程中不随转 动平台 701转动。  [0074] Please refer to FIG. 6. FIG. 6 is a schematic structural diagram of another panoramic three-dimensional modeling system according to a sixth embodiment of the present invention. As shown in FIG. 6, the panoramic three-dimensional modeling system includes a rotating platform 701, The structured light projector 702, the three camera units 703, and the structured light projector 702 are movably connected to a point on the rotating platform 701. The camera unit 703 is fixedly disposed and randomly distributed or equally spaced on another point on the rotating platform 701. On the circumference of the same circle of the center of the circle, in the specific implementation of the embodiment, the structured light projector 702 is rotated at a certain angle on the rotating platform 701, and the imaging unit 703 does not rotate with the rotating platform 701 during the shooting.
[0075] 请参阅图 7， 图 7是本发明第七实施例提供的另一种全景三维建模系统的结构 示意图， 如图 7所示， 该全景三维建模系统包括一个转动平台 801， 一个结构光 投射器 802， 四个摄像单元 803， 结构光投射器 802与转动平台 801上的一点活 动连接， 摄像单元 803固定设置于且任意分布或等间距设置在以转动平台 801 上的另一点为圆心的同一圆的圆周上， 在本实施例具体实施过程中， 结构光投 射器 802在转动平台 801上以一定角度转动， 摄像单元 803在拍摄过程中不随转 动平台 801转动。 [0075] Please refer to FIG. 7. FIG. 7 is a schematic structural diagram of another panoramic three-dimensional modeling system according to a seventh embodiment of the present invention. As shown in FIG. 7, the panoramic three-dimensional modeling system includes a rotating platform 801, The structured light projector 802, the four imaging units 803, the structured light projector 802 are movably connected to a point on the rotating platform 801, and the imaging unit 803 is fixedly disposed and randomly distributed or equally spaced on another point on the rotating platform 801. On the circumference of the same circle of the center of the circle, in the specific implementation of the embodiment, the structured light projector 802 rotates at a certain angle on the rotating platform 801, and the camera unit 803 does not rotate during the shooting process. The moving platform 801 rotates.
[0076] 请参阅图 8， 图 8是本发明第八实施例提供的另一种全景三维建模系统的结构 示意图， 如图 8所示， 该全景三维建模系统包括一个转动平台 901， 一个结构光 投射器 902， 八个摄像单元 903， 结构光投射器 902与转动平台 901上的一点活 动连接， 摄像单元 903固定设置于且任意分布或等间距设置在以转动平台 901 上的另一点为圆心的同一圆的圆周上， 在本实施例具体实施过程中， 结构光投 射器 902在转动平台 901上以一定角度转动， 摄像单元 903在拍摄过程中不随转 动平台 901转动。  [0076] Please refer to FIG. 8. FIG. 8 is a schematic structural diagram of another panoramic three-dimensional modeling system according to an eighth embodiment of the present invention. As shown in FIG. 8, the panoramic three-dimensional modeling system includes a rotating platform 901, The structured light projector 902, the eight camera units 903, the structured light projector 902 are movably connected to a point on the rotating platform 901, and the camera unit 903 is fixedly disposed and randomly distributed or equally spaced at another point on the rotating platform 901. On the circumference of the same circle of the center of the circle, in the specific implementation of the embodiment, the structured light projector 902 is rotated at a certain angle on the rotating platform 901, and the camera unit 903 does not rotate with the rotating platform 901 during the shooting.
[0077] 本发明通过使用一个或多个摄像单元， 配合结构光投射器可以方便准确地获得 场景空间的结构信息， 实现对场景空间的全景三维重建， 使拍摄的场景空间图 像更具逼真感， 大大拓展了全景图像的应用领域。  [0077] The present invention can conveniently and accurately obtain the structural information of the scene space by using one or more camera units, and the structure light projector can realize the panoramic three-dimensional reconstruction of the scene space, so that the captured scene space image is more realistic. The application field of panoramic images has been greatly expanded.
[0078] 以上所述仅为本发明的较佳实施例而已， 并不用以限制本发明， 凡在本发明的 精神和原则之内所作的任何修改、 等同替换和改进等， 均应包含在本发明的保 护范围之内。 The above description is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the present invention. Within the scope of protection of the invention.

Claims

权利要求书 Claim
[权利要求 1] 一种全景三维建模装置， 其特征在于， 包括：  [Claim 1] A panoramic three-dimensional modeling apparatus, comprising:
结构光投射模块， 用于以一定角度向场景中投射指定特征的结构光； 拍摄模块， 用于拍摄场景图像并采集场景图像信息及解算场景空间结 构信息， 其与所述结构光投射模块相连接；  a structured light projection module, configured to project a structured light of a specified feature into the scene at a certain angle; a shooting module, configured to capture a scene image and collect scene image information and solve scene spatial structure information, and the structured light projection module Connection
转动平台模块， 用于带动所述结构光投射模块转动， 其与所述结构光 投射模块相连接；  a rotating platform module, configured to drive the structured light projection module to rotate, and connected to the structured light projection module;
全景三维建模模块， 用于对所述拍摄模块采集到的场景图像信息及解 算的场景空间结构信息进行处理， 实现全景三维建模， 其与所述拍摄 模块相连接；  a panoramic three-dimensional modeling module, configured to process scene image information collected by the shooting module and the decoded scene spatial structure information, to implement panoramic three-dimensional modeling, which is connected to the shooting module;
供电模块， 用于为所述结构光投射模块、 拍摄模块、 转动平台模块及 全景三维建模模块提供电源， 其与所述结构光投射模块、 拍摄模块、 转动平台模块及全景三维建模模块相连接。  a power supply module, configured to provide power for the structured light projection module, the shooting module, the rotating platform module, and the panoramic three-dimensional modeling module, and the structural light projection module, the shooting module, the rotating platform module, and the panoramic three-dimensional modeling module connection.
[权利要求 2] 如权利要求 1所述的全景三维建模装置， 其特征在于， 所述结构光投 射模块包括：  [Claim 2] The panoramic three-dimensional modeling apparatus according to claim 1, wherein the structured light projection module comprises:
投射角度控制模块， 用于根据距离需求调整光投射角度；  a projection angle control module, configured to adjust a light projection angle according to a distance requirement;
结构光特征控制模块， 用于控制结构光的特征， 包括投射形式， 图案 形状等， 其与所述投射角度控制模块相连接。  The structured light feature control module is configured to control features of the structured light, including a projection form, a pattern shape, and the like, which are coupled to the projection angle control module.
[权利要求 3] 如权利要求 1所述的全景三维建模装置， 其特征在于， 所述拍摄模块 包括： [Claim 3] The panoramic three-dimensional modeling apparatus according to claim 1, wherein the photographing module comprises:
镜头适配模块， 用于根据实际拍摄场景选取合适参数的镜头； 图像信息采集模块， 用于将镜头适配模块中的镜头所拍摄的场景进行 数字化成像处理得到场景图像信息， 根据所述投射角度控制模块的光 投射角度及所述结构光特征控制模块的结构光特征解算场景空间结构 信息， 其与所述镜头适配模块、 投射角度控制模块、 结构光特征控制 模块相连接。  a lens adaptation module, configured to select a lens with suitable parameters according to an actual shooting scene; an image information acquisition module, configured to digitally image the scene captured by the lens in the lens adaptation module to obtain scene image information, according to the projection angle The light projection angle of the control module and the structural light feature of the structured light feature control module are used to solve the scene spatial structure information, and are connected to the lens adaptation module, the projection angle control module, and the structured light feature control module.
[权利要求 4] 如权利要求 1所述的全景三维建模装置， 其特征在于， 所述转动平台 模块包括： 转动控制模块， 用于控制所述结构光投射模块的转动角度、 转动速度 和转动方向， 其与所述投射角度控制模块相连接。 [Claim 4] The panoramic three-dimensional modeling apparatus according to claim 1, wherein the rotating platform module comprises: The rotation control module is configured to control a rotation angle, a rotation speed and a rotation direction of the structure light projection module, and is connected to the projection angle control module.
[权利要求 5] 如权利要求 1所述的全景三维建模装置， 其特征在于， 所述全景三维 建模模块包括：  [Claim 5] The panoramic three-dimensional modeling apparatus according to claim 1, wherein the panoramic three-dimensional modeling module comprises:
全景图像拼接模块， 用于拼接所述拍摄模块中图像信息采集模块采集 到的场景图像序列， 得到二维全景图像， 其与所述图像信息采集模块 相连接；  a panoramic image splicing module, configured to splicing a sequence of scene images acquired by the image information collecting module in the shooting module, to obtain a two-dimensional panoramic image, which is connected to the image information collecting module;
三维点云解算模块， 用于解算所述拍摄模块中图像信息采集模块采集 到的场景空间结构信息序列， 得到与所述全景图像拼接模块中的二维 全景图像对应的三维点云， 其与所述图像信息采集模块及所述全景图 像拼接模块相连接；  a three-dimensional point cloud solving module, configured to solve a scene spatial structure information sequence collected by the image information collecting module in the shooting module, and obtain a three-dimensional point cloud corresponding to the two-dimensional panoramic image in the panoramic image splicing module, Connecting with the image information collecting module and the panoramic image splicing module;
贴图渲染模块， 用于根据所述全景图像拼接模块中的二维全景图像和 所述三维点云解算模块中与所述二维全景图像对应的三维点云进行场 景空间的贴图和渲染， 实现全景三维建模， 其与所述全景图像拼接模 块及所述三维点云解算模块相连接。  a texture rendering module, configured to perform texture mapping and rendering according to a two-dimensional panoramic image in the panoramic image mosaic module and a three-dimensional point cloud corresponding to the two-dimensional panoramic image in the three-dimensional point cloud solving module, The panoramic three-dimensional modeling is connected to the panoramic image splicing module and the three-dimensional point cloud solving module.
[权利要求 6] . 一种全景三维建模方法， 其特征在于， 包括下述步骤： [Claim 6] A panoramic three-dimensional modeling method, comprising the steps of:
步骤 A， 所述镜头适配模块根据拍摄场景需求选取镜头， 所述投射角 度控制模块初始化结构光投射角；  Step A, the lens adaptation module selects a lens according to a shooting scene requirement, and the projection angle control module initializes a structural light projection angle;
步骤 B， 所述转动控制模块带动结构光投射模块以一定角度转动； 步骤 (：， 所述图像信息采集模块拍摄场景图像； 步骤 D， 所述结构光投射模块以一定角度向场景中投射指定特征的结 构光；  Step B, the rotation control module drives the structural light projection module to rotate at a certain angle; Step (:, the image information collection module captures a scene image; Step D, the structured light projection module projects a specified feature into the scene at a certain angle Structural light
步骤 E， 所述图像信息采集模块根据所述投射角度控制模块的光投射 角度及所述结构光特征控制模块的结构光特征解算场景空间结构信息 步骤 F， 所述结构光投射模块停止投射结构光； 步骤 G， 所述图像信息采集模块依序保存场景图像和场景空间结构信 息； 步骤 H， 重复步骤 B至步骤 G直到完成 360°采集； Step E, the image information collecting module calculates the scene spatial structure information step F according to the light projection angle of the projection angle control module and the structural light feature of the structured light feature control module, and the structured light projection module stops the projection structure. Step G: The image information collection module sequentially saves the scene image and the scene space structure information; Step H, repeat steps B to G until the 360° acquisition is completed;
步骤 I， 所述全景图像拼接模块将场景图像序列拼接为二维全景图像 步骤 J， 所述三维点云解算模块根据场景空间结构信息序列解算与所 述二维全景图像对应的三维点云； Step I, the panoramic image splicing module splicing the sequence of the scene image into a two-dimensional panoramic image step J, the three-dimensional point cloud solving module solving the three-dimensional point cloud corresponding to the two-dimensional panoramic image according to the sequence of the spatial structure information of the scene ;
步骤 K， 根据所述二维全景图像和所述三维点云对场景空间进行贴图 、 渲染， 得到全景三维模型。 Step K: mapping and rendering the scene space according to the two-dimensional panoramic image and the three-dimensional point cloud to obtain a panoramic three-dimensional model.
一种全景三维建模系统， 其特征在于， 所述全景三维建模系统包括一 个转动平台、 一个结构光投射器以及一个摄像单元， 所述结构光投射 器与所述转动平台上的一点活动连接， 所述摄像单元与所述转动平台 上的另一点活动连接。 A panoramic three-dimensional modeling system, wherein the panoramic three-dimensional modeling system comprises a rotating platform, a structured light projector and an image capturing unit, and the structured light projector is connected to a point on the rotating platform. The camera unit is movably connected to another point on the rotating platform.
如权利要求 7所述的全景三维建模系统， 其特征在于， 所述结构光投 射器与所述摄像单元在所述转动平台上以相等的角度转动。 A panoramic three-dimensional modeling system according to claim 7, wherein said structured light projector and said image pickup unit are rotated at an equal angle on said rotating platform.
一种全景三维建模系统， 其特征在于， 所述全景三维建模系统包括一 个转动平台、 一个结构光投射器以及 Ν个摄像单元， 其中 Ν为大于 或等于 2的正整数， 所述结构光投射器与所述转动平台上的一点活动 连接， 所述摄像单元固定设置于且任意分布或等间距设置在以所述转 动平台上的另一点为圆心的同一圆的圆周上。 A panoramic three-dimensional modeling system, wherein the panoramic three-dimensional modeling system comprises a rotating platform, a structured light projector and one camera unit, wherein Ν is a positive integer greater than or equal to 2, the structured light The projector is movably coupled to a point on the rotating platform, and the camera unit is fixedly disposed and arbitrarily distributed or equally spaced on a circumference of the same circle centered on another point on the rotating platform.
如权利要求 9所述的全景三维建模系统， 其特征在于， 所述结构光投 射器在所述转动平台上以一定角度转动， 所述摄像单元在拍摄过程中 不随转动平台转动。 A panoramic three-dimensional modeling system according to claim 9, wherein said structured light projector rotates at an angle on said rotating platform, and said image capturing unit does not rotate with the rotating platform during shooting.
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