WO2019201836A1 - Système de numérisation 3d et procédé de numérisation 3d - Google Patents

Système de numérisation 3d et procédé de numérisation 3d Download PDF

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Publication number
WO2019201836A1
WO2019201836A1 PCT/EP2019/059629 EP2019059629W WO2019201836A1 WO 2019201836 A1 WO2019201836 A1 WO 2019201836A1 EP 2019059629 W EP2019059629 W EP 2019059629W WO 2019201836 A1 WO2019201836 A1 WO 2019201836A1
Authority
WO
WIPO (PCT)
Prior art keywords
camera
calibration
cameras
sensor head
digitizing system
Prior art date
Application number
PCT/EP2019/059629
Other languages
German (de)
English (en)
Inventor
Johannes KÖHLER
Tobias NÖLL
Simon Brattke
Jochen Fuchs
Original Assignee
Carl Zeiss Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Carl Zeiss Ag filed Critical Carl Zeiss Ag
Publication of WO2019201836A1 publication Critical patent/WO2019201836A1/fr

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Classifications

    • 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
    • G01B11/2504—Calibration devices
    • 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
    • G01B11/2545—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 with one projection direction and several detection directions, e.g. stereo
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/593—Depth or shape recovery from multiple images from stereo images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G06T7/85—Stereo camera calibration
    • 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
    • G06T2207/10004—Still image; Photographic image
    • G06T2207/10012—Stereo images

Definitions

  • the present invention relates to a 3D digitizing system and 3D digitizing method.
  • Such a 3D digitizing system usually needs to be pre-calibrated before it can be used to digitize three-dimensional objects.
  • the hardware parts relevant for the calibration e.g.
  • a dynamic calibration is provided which makes a calibration to be performed before the measurement superfluous. Therefore, the images can be taken to digitize the object and then the necessary dynamic calibration can be realized after the recordings, so that the 3D digitizing system can be used extremely flexibly.
  • variable 3D digitizing system is provided.
  • the 3D digitizing system makes it possible to scan an object to be digitized from all spatial directions without having to move the object in order to be able to detect the floor of the object.
  • each component eg camera and / or projector
  • the positioning device can be realized for example as a movable arm on which the first sensor head is mounted.
  • the positioning device can be designed such that it moves the sensor head, possibly further cameras, possibly further sensor heads and / or the holder.
  • the positioning device may have a robotic arm or a similar device.
  • the holder is designed as a turntable, so that the positioning device controls the rotation of the turntable.
  • the turntable may be formed as a glass turntable.
  • the first and second cameras are in particular geometry cameras, from whose images the three-dimensional shape of the object can be determined. If a third camera is provided, it may e.g. a texture camera, which serves for example to record color and other material properties of the object. The third camera may e.g. then not be provided if their shots are taken from one of the geometry cameras.
  • the projected pattern in step A1 may be a striped pattern.
  • the selection of the camera pair in step B1 can be performed, for example, so that there is a predetermined number or a predetermined level of correspondence.
  • the at least two cameras can be selected, whose recordings have the most correspondences.
  • more than two cameras are selected, for example, three or four cameras can be selected.
  • the calibration is done in step B2 for all selected cameras.
  • these two cameras are selected in step B1.
  • the selection in step B3 can be made such that the at least one camera not yet calibrated has a predetermined number or a predetermined level of correspondence with at least one image of at least one of the already calibrated cameras.
  • the camera can be selected which has the most correspondences to the at least one image of the already calibrated camera (s). If more than one camera is selected in step B3, it is possible, for example, to select the cameras which have more correspondences than still remaining uncalibrated cameras.
  • the 3D digitizing system may include other sensors, such as
  • Ultrasonic sensors time-of-flight sensors (ToF)
  • multi-spectral sensors such as IR cameras, etc.
  • Camera parameters are calibrated. Furthermore, it is possible to calibrate intrinsic and / or extrinsic projector parameters.
  • the individual partial scans (the images of the individual sections) can also be aligned with each other. Furthermore, meta-information (using at least one calibration mark) can be determined. This can in particular be location information, the area of interest in the measurement volume and / or a metric scaling.
  • the backprojection error (backprojection of reconstructed 3D points into the original image) is preferably in the range of 0.1 to 0.5 pixels.
  • the sensor heads may be identical or different.
  • the 3D digitizing system can still have at least one further (or more) cameras that are not part of a sensor head, but are calibrated with.
  • calibration markers which are also referred to below as calibration markers, markers or markers, may e.g. may be formed printed, may have a clearly distinguishable pattern and / or may be formed as a 3D body. Furthermore, e.g. switchable calibration markers are used. They can be made of electrochromic coatings or films. These may e.g. from a polymer liquid crystal film or from
  • Tungsten trioxide and / or polyaniline coatings The layers or films can be switched back and forth reversibly by applying current or voltage between an opaque and a transparent state. also be faded in or out with the help of microstructures integrated in the glass.
  • Calibration marks are used e.g. for generating optical correspondences for assembling individual partial scans in the context of the structure-from-motion method and / or serve e.g. to set the depth of field of the cameras.
  • step C) all recorded data can be removed, which are not part of the object to be digitized. Thus, all data can be removed automatically, which does not belong to the object to be digitized. Further, in step B2, the images of the cameras selected in step B1 can be aligned relative to each other to accommodate the different shooting directions
  • step C additionally, data of a pre-calibration carried out before steps A, A1 and A2 can be taken into account.
  • the 3D digitizing system according to the invention can perform a fine calibration starting from the pre-calibration. Such fine calibration can be performed extremely fast, e.g. before each subsequent measurement.
  • the steps A-C can be carried out again for the object to be digitized or a second object to be digitized, whereby fewer and / or smaller calibration marks can be used in the renewed execution in step A2 and in step C additionally data of the calibration of the first execution of the steps AC are taken into account.
  • the 3D digitizing method may include further steps described in connection with the 3D digitizing system.
  • Fig. 1 is a schematic view of an embodiment of the inventive 3D digitizing system
  • FIG. 2 shows a schematic view of the first sensor head 2.
  • the 3D digitizing system 1 comprises a first sensor head 2, a second sensor head 3, an IR camera 4, a holder 5 formed as a glass plate, a positioning device 6 and a control unit 7 an object 8 to be digitized is positioned.
  • a plurality of calibration marks 9 are applied to the holder 5. You can e.g. firmly applied or only hung up.
  • the object 8 itself may have at least one calibration mark 10.
  • the positioning device 6 is provided, with the relative
  • Positioning between the corresponding sensor head 2, 3 and the holder 5 is changeable.
  • further positions of the sensor heads 2 and 3 are shown in dashed lines in FIG.
  • the IR camera 4 is moved accordingly by means of the positioning device 6.
  • the holder 5 itself can be moved.
  • the holder 5 can be rotatable.
  • the rotational position is preferably adjusted by means of the positioning device 6.
  • the sensor heads 2, 3 may be identical.
  • Fig. 2 is an exemplary
  • the sensor head 2 may have a plate 1 1, on which a first and a second camera 12, 13 are attached, which are used in particular for so-called geometry recordings.
  • the three-dimensional structure of the object 8 can be derived from the geometry recordings.
  • the first sensor head 2 comprises a third camera 14, which for example has a
  • Texture camera 14 can be. With the third camera 14, the visual appearance of the surface of the object 8 can be detected. Furthermore, the first sensor head 2 also has a projector 15 which can be projected onto the male section of the object 8 in order to project a pattern. In this case, a striped pattern is often projected, because then off the recordings of the first and second camera 12, 13 can be determined by known methods, the three-dimensional shape of the recorded portion.
  • the 3D digitizing system according to the invention is designed such that a dynamic calibration takes place in which the required parameters are extracted from the recorded measurement data (in particular the recordings) following the measurement of the object 8.
  • the dynamic calibration method of the present invention is based on the structure-from-motion (SfM) approach.
  • This approach is used, for example, in photogrammetry (3D scanning with only one camera).
  • a detailed description of the SfM approach or the SfM method can be found in the thesis "Enhanced Usability and Applicability for Simultaneous Geometry and Reflectance Acquisition” by Johannes Daniel Köhler (ISBN 978-3-8439-2465-8), below Called Köhler. The contents of Köhler are hereby incorporated (in particular Chapter 4 "Camera and Projector Calibration").
  • the data acquisition is performed first.
  • the object 8 to be digitized is in several positions relative to the (uncalibrated) sensor heads 2,
  • the positions or the corresponding relative positioning can be adjusted by means of the positioning device 6.
  • At each shot is at least one of the calibration marks 9 and the object 8 partially and thus a portion of the object 8 in the field of view of the cameras 12-14, 4. Pro relative
  • the geometry cameras 12, 13 record one or more patterns projected with the projector 15. Each pattern can be recorded once or several times.
  • the texture camera 14 captures one or more color images of the portion of the object 8 (optionally with alternating illumination). When recording by means of the texture camera 14, preferably no pattern is projected onto the section of the object 8 by means of the projector 15.
  • At least one characteristic of the cameras is calibrated. This may be an intrinsic camera parameter, e.g. the focal length, the distortion, the major point, etc., and / or an extrinsic camera parameter, e.g. the camera position, camera orientation, etc., act.
  • an intrinsic camera parameter e.g. the focal length, the distortion, the major point, etc.
  • an extrinsic camera parameter e.g. the camera position, camera orientation, etc.
  • Correspondences contains (in their recordings most correspondences could be found). The correspondence can be generated with the projector 15
  • Correspondence e.g., by fringe projection or projection of the above clearly distinguishable pattern.
  • it may also be correspondences derived from the appearance of the object, e.g. by means of so-called
  • Feature Descriptors such as the known KAZE features are determined. Further Correspondences can be derived from the calibration marks 9, which in turn are determined, for example, by means of feature descriptors (such as, for example, KAZE features).
  • Geometry cameras 12, 13 of relative positioning and KAZE correspondences are typically found between different object sensor head positions. If a plurality of sensor heads 2, 3 are used, projector correspondences can also be generated between the different sensor heads 2, 3, provided that the receptacles of both sensor heads are assigned the same object positioning by means of the positioning device 6.
  • the at least one property for the two cameras is calibrated.
  • a triangulation of all correspondences between the camera pair to SD points can be performed. All points whose reprojection error is sufficiently low are retained, whereas all other points are discarded.
  • the calibration is then globally optimized for all currently calibrated and possibly already calibrated cameras.
  • the next not yet calibrated camera is preferably selected, whose
  • correspondence generated by the projector is preferred in the selection.
  • the newly selected camera is now calibrated in the same way as the first pair of cameras with respect to the at least one property.
  • This procedure is carried out until all cameras of the 3D digitizing system 1 are calibrated.
  • the desired 3D model of the object 8 to be digitized is created on the basis of the images taking into account the calibration performed.
  • a preliminary calibration can be carried out and then, by means of the method according to the invention, a dynamic fine calibration can be carried out with fewer features and very quickly for each scan.
  • a pre-calibration can be calculated using the already described structure-from-motion approach (SfM approach).
  • Pre-calibration can then be used as the starting value for a fine calibration. In this case, however, are no major changes in the positions and settings of Components more possible.
  • This fine calibration can compensate for pre-calibration errors that arise over time due to inaccuracies in the turntable or slight changes in camera positions.
  • the advantage of this type of calibration lies in the very fast calculation of the fine calibration and a significantly reduced number or
  • a metric scaling can be performed using known calibration marks prior to the creation of the 3D model.
  • all projectors 15 can be calibrated, provided that correspondences to the projector can be derived from the projection methods used.
  • a fine calibration can be calculated for each created 3D model.
  • the fine calibration assumes calibration as described above and assumes that the positions of the individual components of the system change only slightly. Based on the existing calibration, a new calibration is calculated with the starting values of the existing calibration. For this purpose, fewer features or even smaller features than for the original calibration necessary, which significantly reduces the calculation time.
  • the calibration marks 9 and 10 which are also referred to below as calibration markers, markers or marks 9, 10, e.g. can be printed and have a clearly distinguishable pattern, in particular have the following functions.
  • the calibration marks generate optical correspondences for assembling individual partial scans in the context of the structure-from-motion method.
  • the calibration marks can also be designed as 3D bodies. Without these calibration marks 9, e.g. Monochromatic objects and symmetrical to the rotation axis objects are difficult to scan.
  • Calibration marks can alternatively or additionally also be projected by means of one or more projection units (not shown) in the region of the section to be recorded (including object). These projection units are fixed during the scanning process (during the recording) relative to the object 8 and move with a change in position of the object 8, so that projected features do not change their position on the object surface with different object positioning.
  • the calibration marks 9 areas in the measurement volume can be identified and it can be generated by their spatial arrangement additional meta information, such as the position of the holder 5. This can be used to automatically release the object 8 in the images.
  • the scale is determined in the recordings. Furthermore, they can be used to estimate the focal length of the cameras if there is no starting value (auto-calibration).
  • the calibration markers 9 are preferably double-sided markers 9.
  • the size of the calibration markers 9 and the number of calibration markers 9 are adapted to the recordable measurement volume or the size of the object 8 to be recorded.
  • switchable calibration markers such as e.g. the calibration markers 10 or 9 are provided. They can be made of electrochromic coatings or films. These may e.g. be formed of a polymer liquid crystal film or of tungsten trioxide and / or polyaniline coatings. The layers or films can be reversibly switched back and forth by applying current or voltage between an opaque and a transparent state.
  • the layers or films can also be applied to the holder 5, so that unique calibration markers are provided, which can be switched on and off. Thus, e.g. obscuring the object 8 can be prevented by the calibration markers. In this case, then, e.g. Recordings with switched on and off calibration markers are made one after the other to avoid occlusion when shooting from below. When shooting from the top, the markers can be turned on or the entire glass plate 5 can be switched to opaque to prevent unwanted reflections that could interfere with the recordings.
  • markers can be used to identify areas in the measurement volume and, by their spatial arrangement, they can generate additional meta-information, e.g. the position of the holder 5. Thus, e.g. an exemption of the object 8 are performed automatically.
  • the calibration markers 9, 10 can also be designed as UV-sensitive and / or IR-sensitive calibration markers. For example, they can be applied to the holder 5 with the aid of UV-sensitive inks or layers or IR-sensitive inks or layers. The markers are then invisible as long as they are not activated by a corresponding UV radiation or IR radiation and then fluoresce or phosphoresce, for example.
  • recordings with activated and non-activated calibration markers can be carried out successively, in order, for example, to use To avoid occlusions when shooting from below.
  • the calibration markers can, for. B. have a relief and / or recesses and are detected by means of an ultrasonic sensor.
  • the calibration markers set the scale and, by their positional information, automatically enable cropping of the object 8 and can provide additional clues for the autocalibration (estimation of the focal length), which otherwise can be determined unobjectively or unambiguously.
  • the formation of the calibration markers as switchable markers leads in particular to the advantage that occlusions of the object 8 can be reliably avoided.
  • the described sensor head 2, 3 has the two geometry cameras 12 and 13 on the one hand and the texture camera 14 on the other hand, cameras optimally adapted to the task can be designed and used.
  • the geometry cameras 12, 13 are selected so that a high number of recordings can be carried out quickly with them.
  • the texture camera 14, however, is designed so that it has the best possible resolution, the recording speed decreases, but more details can be recorded.
  • Sensor heads 2, 3 and more cameras 4 can always be calibrated together reliably. Correspondences between the individual components of the sensor heads 2 and 3 (cameras, 12, 13, 14) and the camera 4 can be generated in particular by the projected unique pattern. Correspondences of a sensor head 2, 3 in dependence the relative positioning to the object 8 can be achieved in particular by the calibration marks 9. Thus, all cameras can always be calibrated, with the obligatory alignment via geometry described in Köhler, for example, being omitted for some data sets. This applies in particular when using the holder 5 in the form of a glass table.
  • each camera used in the sensor head 2, 3 it is no longer necessary, as in Köhler, for each camera used in the sensor head 2, 3 to generate its own virtual camera with its own parameters per relative positioning of the sensor head relative to the object.
  • the cameras 12 to 14 of a sensor head 2, 3 can now be e.g. split the focal length, which makes the calibration more robust.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Optics & Photonics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L'invention concerne un système de numérisation 3D comportant une première tête de détection (2, 3) qui présente au moins une première et une seconde caméra (12, 13) et un projecteur (15), un support (5) maintenant l'objet (8) à numériser, un dispositif de positionnement (6) qui permet d'ajuster différents positionnements relatifs entre la première tête de détection (2, 3) et le support (5), et une unité de commande (7) qui active la première tête de détection (2, 3) et le dispositif de positionnement (6) de telle manière que les étapes ci-dessous sont exécutées ; A) ajustement des différents positionnements relatifs et, dans chacune des positionnements relatifs, A1) projection d'un motif au moyen du projecteur (15) sur une partie de l'objet (8) à numériser, et enregistrement par au moins la première et la seconde caméra (12, 13) de ladite partie de l'objet (8) à numériser munie du motif projeté, A2) enregistrement par la première et la seconde caméra (12, 13 ; 4, 14) de ladite partie en même temps que d'un repère de calibrage (9, 10) agencé sur le support (5) et/ou l'objet (8) ; B) calibrage d'au moins une caractéristique des caméras (12-14, 4) par les étapes suivantes ; B1) sélection d'au moins deux caméras dont les enregistrements présentent des correspondances, B2) calibrage de la ou des caractéristiques pour les caméras sélectionnées à l'étape B1), et C) établissement d'un modèle 3D de l'objet (8) à numériser au moyen des enregistrements en tenant compte du calibrage effectué.
PCT/EP2019/059629 2018-04-20 2019-04-15 Système de numérisation 3d et procédé de numérisation 3d WO2019201836A1 (fr)

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Application Number Priority Date Filing Date Title
DE102018109586.4A DE102018109586A1 (de) 2018-04-20 2018-04-20 3D-Digitalisierungssystem und 3D-Digitalisierungsverfahren
DE102018109586.4 2018-04-20

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DE102022112625A1 (de) * 2022-05-19 2023-11-23 Isra Vision Gmbh Verfahren und Vorrichtung zur Ausrichtung von Kameras

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