WO2019091010A1 - Procédé, appareil et système de balayage tridimensionnel, support de stockage et processeur - Google Patents

Procédé, appareil et système de balayage tridimensionnel, support de stockage et processeur Download PDF

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Publication number
WO2019091010A1
WO2019091010A1 PCT/CN2018/075990 CN2018075990W WO2019091010A1 WO 2019091010 A1 WO2019091010 A1 WO 2019091010A1 CN 2018075990 W CN2018075990 W CN 2018075990W WO 2019091010 A1 WO2019091010 A1 WO 2019091010A1
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Prior art keywords
measured
predetermined pattern
image
circular patterns
dimensional
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PCT/CN2018/075990
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English (en)
Chinese (zh)
Inventor
马超
赵晓波
陈晓军
黄磊杰
樊飞
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先临三维科技股份有限公司
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Publication of WO2019091010A1 publication Critical patent/WO2019091010A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G01B11/254—Projection of a pattern, viewing through a pattern, e.g. moiré

Definitions

  • the present invention relates to the field of three-dimensional scanning, and in particular to a three-dimensional scanning method, apparatus, system, storage medium and processor.
  • the 3D scanner product Through the 3D scanner product, the 3D data of the tooth or gum surface is obtained in the oral cavity, and then the 3D model of the tooth or gum is constructed, which is convenient for the dentist to construct the 3D model. Accurate treatment of teeth and gums in the mouth.
  • the current three-dimensional scanner product applied to the oral cavity needs to spray a powder that is harmless to the human body on the surface of the tooth to reduce the reflection and transmission of light by the tooth or the saliva itself, and then obtain the tooth in the oral cavity through the three-dimensional scanner product or Three-dimensional data on the surface of the gums.
  • At least some embodiments of the present invention provide a three-dimensional scanning method, apparatus, system, storage medium, and processor to at least solve the problem that three-dimensional data of the surface of the measured object cannot be directly obtained due to characteristics such as high reflection and scattered light of the object to be measured.
  • a three-dimensional scanning method comprising: projecting a predetermined pattern onto an object to be measured, wherein the predetermined pattern includes a plurality of circular patterns; and collecting a plurality of the circular shapes The image of the measured object.
  • the method before projecting the predetermined pattern with the encoded information to the object to be measured, the method further comprises: acquiring the predetermined pattern, wherein a color of the circular pattern is different from a background color of the predetermined pattern a plurality of the circular patterns are randomly distributed in the predetermined pattern, and at least one of the circular patterns has a diameter different from that of the other of the circular patterns.
  • the method before projecting the predetermined pattern to the object to be measured, the method further comprises: encoding a diameter of the plurality of the circular patterns in the predetermined pattern to obtain the predetermined information with encoded information pattern.
  • the method further includes: extracting a center coordinate of the circular pattern in the image of the measured object; Performing stereo matching as a feature point, obtaining a stereo matching result; reconstructing a three-dimensional coordinate of the feature point based on the stereo matching result; and constructing a three-dimensional model of the measured object according to the three-dimensional coordinate.
  • constructing the three-dimensional model of the measured object according to the three-dimensional coordinates comprises: acquiring three-dimensional coordinates of the plurality of measured objects; according to the three-dimensional coordinates Constructing a dense point cloud corresponding to each of the measured objects; splicing the dense point clouds of the plurality of measured objects; constructing the three-dimensional model according to the spliced dense point clouds, wherein the three-dimensional model comprises a plurality of said objects to be measured.
  • a storage medium comprising a stored program, wherein the program is executed to perform the method of any of the above.
  • a processor configured to execute a program, wherein the program is executed to perform the method of any of the above.
  • a three-dimensional scanning apparatus comprising: a projection unit configured to project a predetermined pattern with encoded information to an object to be measured, wherein the predetermined pattern includes a plurality of circles a patterning unit configured to collect an image of the object to be measured with a plurality of the circular patterns.
  • a three-dimensional scanning system comprising: a projection device configured to project a predetermined pattern with encoded information to an object to be measured, wherein the predetermined pattern includes a plurality of circles a camera; configured to capture an image of the object to be measured with a plurality of the circular patterns.
  • the system further includes: a model construction device configured to construct a three-dimensional model of the measured object according to the image of the measured object; and at least one of: a timing control circuit configured to be disposed at the projection device In the case where the predetermined pattern is projected onto the object to be measured, the camera is controlled to collect an image of the object to be measured with a plurality of the circular patterns; and a heating device is provided to collect the image of the object to be measured at the camera In the case of heating the camera; the heat sink is arranged to maintain the overall temperature of the three-dimensional scanning system.
  • a predetermined pattern with a plurality of circular patterns may be projected onto the object to be measured, and a plurality of circular patterns may be acquired.
  • the image of the measured object because the circular pattern can still maintain the circular feature in the case of being diffused, there is no deformation, so that when the measured object has high reflective, transparent scattered light and the like, there will be multiple
  • a predetermined pattern of a circular pattern is projected on the object to be measured, and then an image of the object to be measured with a circular pattern is acquired, and the contour of the object to be measured can be accurately determined by recognizing a circular pattern in the image of the object to be measured, thereby realizing
  • the three-dimensional scanning surface of the object to be measured which has the characteristics of high reflection and scattered light, solves the technical problem that the three-dimensional data of the surface of the object to be measured cannot be directly obtained due to the characteristics of high reflection and scattered light of the object to be measured.
  • FIG. 1 is a flow chart 1 of an alternative three-dimensional scanning method in accordance with an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of an alternative projection pattern in accordance with an embodiment of the present invention.
  • FIG. 3 is a second flowchart of an alternative three-dimensional scanning method in accordance with an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of an alternative three-dimensional scanning device in accordance with an embodiment of the present invention.
  • Figure 5 is a schematic illustration of an alternative three dimensional scanning system in accordance with an embodiment of the present invention.
  • an embodiment of a three-dimensional scanning method is provided, it being noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and, although The logical order is shown in the flowchart, but in some cases the steps shown or described may be performed in a different order than the ones described herein.
  • FIG. 1 is a flow chart 1 of an optional three-dimensional scanning method according to an embodiment of the present invention. As shown in FIG. 1, the method includes the following steps:
  • Step S102 projecting a predetermined pattern to the object to be measured, wherein the predetermined pattern includes a plurality of circular patterns;
  • Step S104 acquiring an image of the measured object with a plurality of circular patterns.
  • a predetermined pattern with a plurality of circular patterns may be projected onto the object to be measured, and an image of the object to be measured with a plurality of circular patterns may be acquired. Since the circular pattern can still maintain a circular feature in the case of being diffused, there is no deformation, so that in the case where the object to be measured has characteristics of high reflection, scattered light, etc., the reservation with a plurality of circular patterns is to be performed.
  • the pattern is projected on the object to be measured, and then the image of the object to be measured with a circular pattern is acquired, and the contour of the object to be measured can be accurately determined by recognizing the circular pattern in the image of the object to be measured, thereby realizing the presence of high reflection.
  • the three-dimensional scanning surface of the measured object such as the transmitted light, solves the technical problem that the three-dimensional data of the surface of the measured object cannot be directly obtained due to the characteristics of high reflection and scattered light of the object to be measured.
  • the circular pattern may be a dot in which a plurality of circular patterns having different diameters are included, and a plurality of circular patterns in the predetermined pattern are randomly distributed.
  • a plurality of circular patterns are cast on the object to be measured, and by collecting an image of the measured object with a plurality of circular patterns, it can be determined according to the circular pattern in the image of the measured object. The contour of the object is measured to realize a three-dimensional scan of the object to be measured.
  • the circular feature can still be maintained in the case of being diffused, so that the object to be measured is projected and collected by the object under the condition of high reflection, scattered light, and the like.
  • the image of the object to be measured with a circular pattern can accurately recognize the circular pattern in the image of the object to be measured under the influence of high reflection and scattered light of the object to be measured, thereby determining the image according to the circular pattern.
  • the contour of the object is measured, and the three-dimensional scanning of the object to be measured is realized, and the characteristics such as high reflection and scattered light of the object to be measured are not compensated by powder spraying, etc., so that the object can be completed without affecting the object to be measured. There are three-dimensional scans of the measured object with high reflection, scattered light and other characteristics.
  • a picture including a plurality of predetermined patterns may be used as a projection picture, and further, a picture including a plurality of predetermined patterns is projected onto the object to be measured, and then an image of the object to be measured with a plurality of circular patterns is acquired. Complete the 3D scan of the object being measured.
  • FIG. 2 is a schematic diagram of an alternative projection pattern according to an embodiment of the present invention. As shown in FIG. 2, a plurality of white dots having different diameters are randomly distributed in a black background of a region where the projection pattern is located.
  • the embodiment before projecting the predetermined pattern with the encoded information to the object to be measured, the embodiment further includes: acquiring a predetermined pattern, wherein the color of the circular pattern is different from the background color of the predetermined pattern, The plurality of circular patterns are randomly distributed in a predetermined pattern, and the diameter of at least one of the circular patterns is different from the diameters of the other circular patterns.
  • a predetermined pattern is set in advance, and the predetermined pattern includes a plurality of circular patterns, wherein the color pattern and the predetermined color of the circular pattern The background color of the pattern is different, and the circular pattern is easily recognized in the predetermined pattern; and a plurality of circular patterns having different diameters are randomly distributed in the predetermined pattern, so that the object to be measured can be reduced in the process of scanning the measured object.
  • the interference of the pattern enhances the accuracy of scanning the object to be measured.
  • the three-dimensional scanner needs to be calibrated before projecting the predetermined pattern onto the object to be measured, wherein the projected predetermined pattern may be encoded during calibration of the three-dimensional scan.
  • the embodiment before projecting the predetermined pattern to the object to be measured, the embodiment further includes: encoding the diameters of the plurality of circular patterns in the predetermined pattern to obtain a predetermined pattern with the encoded information. .
  • the diameters of the plurality of circular patterns in the predetermined image may be encoded to obtain a predetermined pattern with the encoded information, which may be according to the predetermined pattern.
  • the encoded information accurately scans the object to be measured in three dimensions.
  • the diameter of each dot is encoded, wherein code repetition is not allowed in several regions.
  • the embodiment may further include: constructing the three-dimensional model of the measured object according to the image of the measured object.
  • a three-dimensional model of the object to be measured can be constructed, so that the object to be measured has a characteristic of high reflection and scattered light, and is projected by the object.
  • the circular pattern on the object is measured, and the three-dimensional scanning of the measured object is completed, and the three-dimensional model of the measured object is accurately obtained.
  • FIG. 3 is a second flowchart of an optional three-dimensional scanning method according to an embodiment of the present invention. As shown in FIG. 3, after the foregoing step S104, the method includes the following steps:
  • Step S202 extracting a center coordinate of a circular pattern in the image of the measured object
  • Step S204 performing stereo matching on the center coordinates as a feature point to obtain a stereo matching result
  • Step S206 reconstructing three-dimensional coordinates of the feature points based on the stereo matching result
  • Step S208 constructing a three-dimensional model of the measured object according to the three-dimensional coordinates.
  • the center coordinates of the circular pattern in the image of the measured object are extracted; the center coordinates are used as the feature points for stereo matching, and the stereo matching result is obtained; and the three-dimensional coordinates of the feature points are reconstructed based on the stereo matching result; Three-dimensional coordinates are used to construct a three-dimensional model of the object to be measured, so that the three-dimensional scanning of the object to be measured is completed by the circular pattern projected on the object to be measured under the condition that the object to be measured has high reflection and scattered light. Get a three-dimensional model of the object being measured.
  • stereo matching the English name is Stereo Matching, the purpose of which is to find matching corresponding points from different viewpoint images.
  • the extracted center coordinates can be used as the feature points to perform stereo matching by using the binocular stereo vision imaging principle, and the sparse three-dimensional point cloud coordinates of each feature point are reconstructed by using the principle of triangular imaging, and then the difference is adopted. Value and gradient related information to obtain dense point cloud 3D data.
  • constructing the three-dimensional model of the measured object according to the three-dimensional coordinates comprises: acquiring three-dimensional coordinates of the plurality of measured objects; constructing each according to the three-dimensional coordinates A dense point cloud corresponding to the measured object; a dense point cloud splicing a plurality of measured objects; a three-dimensional model is constructed according to the spliced dense point cloud, wherein the three-dimensional model includes a plurality of measured objects.
  • the three-dimensional coordinates of the plurality of measured objects are determined according to the circular pattern on the plurality of measured objects, and then the three-dimensional coordinates of the plurality of measured objects are determined. Construct a dense point cloud corresponding to each object to be measured, and then splicing dense point clouds of multiple objects to be measured, and construct a three-dimensional model of multiple objects to be measured according to the spliced dense point cloud, so that a three-dimensional model can be used.
  • the model completely represents a plurality of measured objects. For a measured object that cannot complete the three-dimensional scanning at one time, by splicing dense point clouds of a plurality of measured objects, a complete three-dimensional scan of the measured object can also be obtained by multiple scanning. result.
  • the present invention also provides a preferred embodiment which provides a low cost, non-dusting, intraoral three dimensional scanning system.
  • the invention provides a three-dimensional scanning measurement system capable of acquiring three-dimensional data of a tooth surface directly in a human oral cavity without powder spraying.
  • the three-dimensional scanning system provided by the invention does not need professional components such as an excessively complicated optical system and a customized projector, and can be realized only by a lower cost optical design, and solves the high reflection and scattered light of the tooth enamel.
  • Professional components such as an excessively complicated optical system and a customized projector
  • optical design can be realized only by a lower cost optical design, and solves the high reflection and scattered light of the tooth enamel.
  • Features affect image clarity and 3D measurement challenges, and optical hardware can also be implemented at lower manufacturing process costs.
  • the three-dimensional scanning system comprises a projection optical system, an image acquisition optical system, a timing control circuit, a heat dissipation system, a heating anti-fog system, a software algorithm system and the like.
  • the timing control circuit projects the white light or the designed pattern onto the object to be measured (such as a tooth or a gum) by triggering the projection optical system, and simultaneously controls the image acquisition optical system (such as one or more CCD chips) to quickly Obtain an image of the object to be measured with a projection pattern of the encoded information.
  • the image acquisition optical system such as one or more CCD chips
  • CCD Charge-coupled Device
  • CCD image sensor Charge-coupled component in Chinese
  • image controller image controller
  • the camera has a CCD image sensor configured to convert the acquired optical signal into an electrical signal.
  • the acquired image may be processed by a software algorithm to acquire the three-dimensional data of the measured object.
  • the anti-fog system can be heated to eliminate the atomization defect caused by the temperature difference between the inside and the surrounding environment by heating the glass of the camera in the three-dimensional scanning system; at the same time, the heat dissipation system can be used to maintain the overall temperature of the system.
  • the three-dimensional scanning system provided by the invention can directly obtain the three-dimensional surface data of the teeth in the mouth without spraying the powder to the oral cavity, and solves the problem that the image clarity and the image clarity are affected by the characteristics of the high glare and the scattered light of the tooth enamel.
  • the projection optical system may employ a custom DLP projector or a transmissive projection lens.
  • the DLP projector also called a digital light projector, is arranged to realize a projected image by adjusting the reflected light.
  • the three-dimensional scanning system provided by the present invention can adopt a transmissive projection lens, which greatly reduces the manufacturing cost of the whole system.
  • the projection pattern may adopt a black and white dot with encoded information as the active light image, wherein the dot may be black, the background of the dot projection pattern is white, and the advantage of using the projection pattern with dots is The dot pattern maintains the circular shape of the dot even with the diffusion of the enamel.
  • the projection pattern is the predetermined pattern described above.
  • different diameters of different dots may be encoded during calibration of the scanner, wherein the coding within several regions of the projected pattern is not allowed to repeat.
  • the three-dimensional scanning system provided by the present invention can adopt the binocular stereo vision imaging principle, and perform stereo matching on the extracted center coordinates as each feature point, and can reconstruct the three-dimensional coordinates of each feature point by the principle of triangular imaging. Then use the difference and gradient related information to obtain a dense point cloud.
  • Binocular Stereo Vision the English name is Binocular Stereo Vision
  • Binocular Stereo Vision is an important form of machine vision. It is based on the time difference principle and uses the imaging device to acquire two images of the measured object from different positions. A method of acquiring the three-dimensional geometric information of an object corresponding to the positional deviation between the points.
  • the point cloud splicing technology may be used to splicing multiple single-chip dense point clouds in real time.
  • a single-chip three-dimensional image can only acquire one-sided data of one or two teeth.
  • multiple single-chip three-dimensional data can be spliced in real time to obtain the three-dimensional shape of the teeth.
  • an embodiment of the present invention further provides a storage medium, where the storage medium includes a stored program, wherein the device where the storage medium is located is controlled to execute the three-dimensional scanning method described above when the program is running.
  • an embodiment of the present invention further provides a processor configured to execute a program, wherein the three-dimensional scanning method described above is executed when the program is running.
  • the three-dimensional scanning device may be configured to perform the three-dimensional scanning method in the embodiment of the present invention. Executed in the three-dimensional scanning device.
  • the device may include: a projection unit 21 configured to project a predetermined pattern with encoded information onto the measured object. And wherein the predetermined pattern includes a plurality of circular patterns; and the collecting unit 23 is configured to collect the image of the measured object with the plurality of circular patterns.
  • the projection unit 21 in this embodiment may be configured to perform step S102 in the embodiment of the present application.
  • the collecting unit 23 in this embodiment may be configured to perform step S104 in the embodiment of the present application.
  • the above modules are the same as the examples and application scenarios implemented by the corresponding steps, but are not limited to the contents disclosed in the above embodiments.
  • a predetermined pattern with a plurality of circular patterns can be projected onto the object to be measured, and an image of the object to be measured with a plurality of circular patterns is acquired. Since the circular pattern can still maintain the circular feature in the case of being diffused, there is no deformation, so that the object to be measured has a plurality of circular patterns in the case of high reflection, scattered light and the like.
  • the predetermined pattern is projected on the object to be measured, and then the image of the measured object with a circular pattern is acquired, and the contour of the measured object can be accurately determined by recognizing the circular pattern in the image of the measured object, thereby achieving a high presence
  • the three-dimensional scanning surface of the object to be measured such as reflective or translucent light, solves the technical problem that the three-dimensional data of the surface of the object to be measured cannot be directly obtained due to characteristics such as high reflection and scattered light of the object to be measured.
  • the acquiring unit is configured to acquire a predetermined pattern before projecting the predetermined pattern with the encoded information to the object to be measured, wherein the color of the circular pattern is different from the background color of the predetermined pattern,
  • the circular patterns are randomly distributed in a predetermined pattern, and the diameter of at least one of the circular patterns is different from the diameter of the other circular patterns.
  • the encoding unit is configured to encode the diameters of the plurality of circular patterns in the predetermined pattern before projecting the predetermined pattern onto the object to be measured, to obtain a predetermined pattern with the encoded information.
  • the embodiment may further include: an extracting unit configured to extract a center coordinate of the circular pattern in the image of the measured object after acquiring the image of the measured object with the plurality of circular patterns;
  • the matching unit is configured to perform stereo matching by using the center coordinates as the feature points to obtain a stereo matching result;
  • the coordinate building unit is configured to reconstruct the three-dimensional coordinates of the feature points based on the stereo matching result;
  • the model building unit is configured to construct the measured according to the three-dimensional coordinates A three-dimensional model of an object.
  • the model building unit includes: an acquiring module, configured to acquire three-dimensional coordinates of the plurality of measured objects in the case that the measured object is multiple; the dense point cloud building module is set according to the The three-dimensional coordinates construct a dense point cloud corresponding to each object to be measured; the splicing module is set as a dense point cloud for splicing a plurality of measured objects; and the model building module is configured to construct a three-dimensional model according to the spliced dense point cloud, wherein, the three-dimensional model The model includes multiple objects to be measured.
  • the apparatus may include: a projection device 31 configured to project a predetermined pattern with encoded information to an object to be measured.
  • the predetermined pattern includes a plurality of circular patterns; and the camera 33 is configured to collect an image of the object to be measured with a plurality of circular patterns.
  • a predetermined pattern with a plurality of circular patterns can be projected onto the object to be measured, and an image of the object to be measured with a plurality of circular patterns is acquired. Since the circular pattern can still maintain the circular feature in the case of being diffused, there is no deformation, so that the object to be measured has a plurality of circular patterns in the case of high reflection, scattered light and the like.
  • the predetermined pattern is projected on the object to be measured, and then the image of the measured object with a circular pattern is acquired, and the contour of the measured object can be accurately determined by recognizing the circular pattern in the image of the measured object, thereby achieving a high presence
  • the three-dimensional scanning surface of the object to be measured such as reflective or translucent light, solves the technical problem that the three-dimensional data of the surface of the object to be measured cannot be directly obtained due to characteristics such as high reflection and scattered light of the object to be measured.
  • the embodiment further includes: a model construction device configured to construct a three-dimensional model of the measured object according to the image of the measured object; and at least one of: a timing control circuit configured to be in the projection device When the predetermined pattern is projected onto the object to be measured, the control camera captures an image of the object to be measured with a plurality of circular patterns; the heating device is configured to heat the camera when the camera captures an image of the object to be measured; To maintain the overall temperature of the 3D scanning system.
  • a model construction device configured to construct a three-dimensional model of the measured object according to the image of the measured object
  • at least one of: a timing control circuit configured to be in the projection device When the predetermined pattern is projected onto the object to be measured, the control camera captures an image of the object to be measured with a plurality of circular patterns; the heating device is configured to heat the camera when the camera captures an image of the object to be measured; To maintain the overall temperature of the 3D scanning system.
  • a three-dimensional model of the measured object can be constructed according to a plurality of circular patterns on the image of the measured object;
  • the circuit controls the camera to capture an image of the object to be measured with a plurality of circular patterns while controlling the projection device to project the predetermined pattern onto the object to be measured, thereby realizing rapid scanning of the measured object; and collecting the measured object through the camera
  • the camera can be heated by the heating device to avoid the defect of the camera atomization due to the annular temperature difference; the overall temperature of the three-dimensional scanning system can be maintained by the heat dissipation device, and the three-dimensional scanning system is prevented from overheating and malfunctioning.
  • the disclosed technical contents may be implemented in other manners.
  • the device embodiments described above are only schematic.
  • the division of the unit may be a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or may be Integrate into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, unit or module, and may be electrical or otherwise.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium.
  • the technical solution of the present invention which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium.
  • a number of instructions are included to cause a computer device (which may be a personal computer, server or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk, and the like. .
  • the three-dimensional scanning method, apparatus, system, storage medium, and processor provided by at least some embodiments of the present invention have the following beneficial effects: in the case where the object to be measured has characteristics of high reflection, scattered light, etc., A predetermined pattern of a plurality of circular patterns is projected on the object to be measured, and then an image of the object to be measured with a circular pattern is acquired, and an outline of the object to be measured can be accurately determined by recognizing a circular pattern in the image of the object to be measured. Thereby, a three-dimensional scanning surface of the measured object having characteristics of high reflection, scattered light and the like is realized.

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  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

La présente invention concerne un procédé, un appareil et un système de balayage tridimensionnel, un support de stockage et un processeur. Le procédé consiste à : projeter un motif prédéfini sur un objet détecté, le motif prédéfini comprenant une pluralité de motifs circulaires (S102) ; et collecter une image de l'objet détecté comportant la pluralité de motifs circulaires (S104). Des motifs circulaires peuvent toujours maintenir des caractéristiques circulaires dans une condition diffusée et ne sont pas déformés, par conséquent, un motif prédéfini comportant une pluralité de motifs circulaires est projeté sur un objet détecté alors que l'objet détecté présente des caractéristiques telles qu'une réflectivité élevée et une transmittance de lumière diffusée, une image de l'objet détecté comportant les motifs circulaires est ensuite collectée et le contour de l'objet détecté peut être déterminé précisément par identification des motifs circulaires dans l'image de l'objet détecté, de sorte que le problème technique selon lequel des données tridimensionnelles de la surface de l'objet détecté ne peuvent pas être directement obtenues en raison de la réflectivité élevée et de la transmittance de lumière diffusée et autres, de l'objet détecté soit résolu.
PCT/CN2018/075990 2017-11-08 2018-02-09 Procédé, appareil et système de balayage tridimensionnel, support de stockage et processeur WO2019091010A1 (fr)

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