WO2021115297A1

WO2021115297A1 - 3d information collection apparatus and method

Info

Publication number: WO2021115297A1
Application number: PCT/CN2020/134757
Authority: WO
Inventors: 左忠斌; 左达宇
Original assignee: 左忠斌
Priority date: 2019-12-12
Filing date: 2020-12-09
Publication date: 2021-06-17

Abstract

A high-precision 3D information collection apparatus, comprising a collection region moving device (3) which is used for driving a collection region of an image collection device (4) to move relative to a target (1), and the image collection device (4) which is used for collecting a group of images of the target (1) by means of the relative motion, wherein during the relative motion, a collection position of the image collection device (4) meets a preset condition. The synthesis speed and the synthesis precision are both improved by means of adding a background board (13) which rotates along with the image collection device (4). By means of optimizing the size of the background board (13), this can ensure that the synthesis speed and the synthesis precision can both be improved, while also reducing the rotation burden.

Description

Equipment and method for 3D information collection

Technical field

The invention relates to the technical field of shape measurement, in particular to the technical field of 3D shape measurement.

Background technique

When performing 3D measurement, 3D information needs to be collected first. At present, commonly used methods include using machine vision to collect pictures of objects from different angles, and match these pictures to form a 3D model. When collecting pictures from different angles, multiple cameras can be set at different angles of the object to be measured, or pictures can be collected from different angles by rotating a single or multiple cameras. However, no matter which of these two methods, the problems of synthesis speed and synthesis accuracy are involved. The synthesis speed and synthesis accuracy are a contradiction to a certain extent. The increase of the synthesis speed will lead to the decrease of the final 3D synthesis accuracy; to improve the 3D synthesis accuracy, the synthesis speed needs to be reduced and more pictures are used to synthesize.

In the prior art, in order to improve the synthesis speed and synthesis accuracy at the same time, it is usually realized by the method of optimizing the algorithm. In addition, the art has always believed that the way to solve the above-mentioned problems lies in the selection and update of algorithms. So far, no other methods have been proposed to improve the synthesis speed and synthesis accuracy at the same time. However, the optimization of the algorithm has reached a bottleneck. Before the emergence of a better theory, it has been impossible to both improve the synthesis speed and synthesis accuracy.

In the prior art, it has also been proposed to use empirical formulas including rotation angle, target size, and object distance to limit the camera position, so as to take into account the synthesis speed and effect. However, in practical applications, it is found that unless there is a precise angle measuring device, the user is not sensitive to the angle, and it is difficult to accurately determine the angle; the size of the target is difficult to accurately determine, especially in some applications where the target needs to be replaced frequently, and the tape is measured every time A lot of extra work is required, and professional equipment is required to accurately measure irregular targets. The measurement error leads to the camera position setting error, which will affect the acquisition and synthesis speed and effect; the accuracy and speed need to be further improved.

Therefore, there is an urgent need to solve the following technical problems: ① It can greatly improve the synthesis speed and synthesis accuracy at the same time; ② It is convenient to operate, does not require the use of professional equipment, does not require excessive measurement, and can quickly obtain the camera position.

Summary of the invention

In view of the above-mentioned problems, the present invention is proposed to provide a collection device that overcomes the above-mentioned problems or at least partially solves the above-mentioned problems.

The present invention provides a device for collecting 3D information,

The acquisition area moving device is used to drive the acquisition area of the image acquisition device to move relative to the target;

An image acquisition device for acquiring a set of images of the target object through the above-mentioned relative motion;

During the above relative movement, the collection position of the image collection device meets the following conditions:

Where L is the linear distance between the optical centers of the image acquisition device at two adjacent acquisition positions; f is the focal length of the image acquisition device; d is the rectangular length or width of the photosensitive element (CCD) of the image acquisition device; T is the length or width of the photosensitive element of the image acquisition device The distance from the optical axis to the surface of the target; δ is the adjustment coefficient.

The present invention provides a 3D information collection method,

Drive the acquisition area of the image acquisition device to move relative to the target;

Collecting a set of images of the target object through the above-mentioned relative movement;

The present invention also provides a device or method for 3D information collection, which has a plurality of image collection devices, which are respectively located around the target;

Multiple image acquisition devices respectively acquire a set of images of the target object from different angles;

The positions of two adjacent image acquisition devices meet the following conditions:

Optionally, δ<0.410.

Optionally, δ<0.356.

Optionally, the image acquisition device rotates or translates relative to the target.

Optionally, a background board is provided on the opposite side of the image acquisition device.

Optionally, it also includes a processor, configured to perform 3D synthesis based on a plurality of images in a set of images to generate a 3D model of the target object.

Optionally, the processor is included in the device, or located in the upper computer, or located in the remote server.

Optionally, the image acquisition device is in the visible light waveband, infrared light waveband, and/or full waveband.

The present invention also provides a 3D synthesis device or method using the above device or method.

The present invention also provides a 3D recognition/comparison device or method using the above device or method.

The present invention also provides a method or device for making an accessory using the above device or method.

The present invention also provides a 3D information acquisition and measurement equipment and method, including an image acquisition device, a rotation device and a background board, wherein

The rotating device is used to drive the image acquisition device to rotate, and to drive the background plate to rotate;

The background board and the image capture device are kept relatively set during the rotation, so that the background board becomes the background pattern of the image captured by the image capture device during capture;

The background board satisfies: projecting in the direction perpendicular to the surface to be photographed, the length W ₁ _{in the horizontal direction of the projected shape and the length W 2} in the vertical direction of the projected shape are determined by the following conditions:

Among them, d ₁ is the length of the imaging element in the horizontal direction, d ₂ is the length of the imaging element in the vertical direction, T is the vertical distance from the sensor element of the image capture device to the background plate along the optical axis, f is the focal length of the image capture device, A ₁ , A ₂ is the experience coefficient;

Among them, A ₁ >1.04 and A ₂ >1.04.

The present invention also provides a standard 3D information collection and/or measurement method and equipment. When the image collection device collects a target object, two adjacent collection positions meet the following conditions:

L is the linear distance of the optical center of the image capture device at two adjacent capture positions; f is the focal length of the image capture device; d is the rectangular length or width of the photosensitive element of the image capture device; T is the photosensitive element of the image capture device along the light The distance between the axis and the surface of the target; δ is the adjustment factor;

And δ<0.603.

Optional, 2>A ₁ >1.1, 2>A ₂ >1.1.

Optionally, the background board and the image acquisition device are respectively arranged at both ends of the rotating beam, and the rotating device drives the rotating beam to rotate.

Optionally, δ<0.410.

Optionally, δ<0.356.

Optionally, the rotating device is located on the fixed beam to drive the rotating beam to rotate.

Optionally, the background board is a flat board or a curved board.

Optionally, the main body of the background board is a solid color or has a mark.

Optionally, the background board is an integral or spliced board.

The present invention also provides a 3D recognition device, which uses the 3D information provided by the above-mentioned device or method.

The present invention also provides a 3D manufacturing equipment that uses the 3D information provided by the above-mentioned equipment or method.

Invention points and technical effects

1. For the first time, it is proposed to increase the synthesis speed and synthesis accuracy by increasing the background plate to rotate with the camera.

2. By optimizing the position where the camera collects pictures, it is guaranteed that the synthesis speed and synthesis accuracy can be improved at the same time. And when optimizing the position, there is no need to measure the angle, no need to measure the target size, and the applicability is stronger.

3. A 3D synthesis algorithm that matches the above-mentioned acquisition method is proposed, which can improve the speed and effect of 3D modeling.

5. By optimizing the size of the background board, while reducing the burden of rotation, it is guaranteed that the synthesis speed and synthesis accuracy can be improved at the same time.

6. Through the optimization algorithm, it is ensured that the synthesis speed and synthesis accuracy can be improved at the same time.

Description of the drawings

By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only used for the purpose of illustrating the preferred embodiments, and are not considered as a limitation to the present utility model. Also, throughout the drawings, the same reference symbols are used to denote the same components. In the attached picture:

FIG. 1 is a schematic diagram of a rotating structure of the collection area moving device in Embodiment 1 of the present invention;

2 is a schematic diagram of another implementation manner in which the collection area moving device in Embodiment 1 of the present invention is a rotating structure;

FIG. 3 is a schematic diagram of a translational structure of the collection area moving device in Embodiment 2 of the present invention; FIG.

FIG. 4 is a schematic diagram of a random movement structure of the collection area moving device in Embodiment 3 of the present invention; FIG.

FIG. 5 is a schematic diagram of a multi-camera method in Embodiment 4 of the present invention;

6 is a front view of a 3D information collection device provided by Embodiment 5 of the present invention;

FIG. 7 is a perspective view of a 3D information collection device provided by Embodiment 5 of the present invention;

FIG. 8 is another perspective view of the 3D information collection device provided by Embodiment 5 of the present invention;

The corresponding relationship between the reference signs and the components is as follows:

1 target, 2 stage, 3 rotation device, 4 image acquisition device, 5 linear track.

13 background board, 14 first mounting post, 15 rotating beam, 16 horizontal support, 17 second mounting post.

Detailed ways

Hereinafter, exemplary embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings. Although the drawings show exemplary embodiments of the present disclosure, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

In order to solve the above technical problems, an embodiment of the present invention provides an image acquisition device for 3D information acquisition, including an image acquisition device and a rotating device. The image acquisition device is used to acquire a set of images of the target through the relative movement of the acquisition area of the image acquisition device and the target; the acquisition area moving device is used to drive the acquisition area of the image acquisition device to move relative to the target. The acquisition area is the effective field of view range of the image acquisition device.

Embodiment 1: The collection area moving device is a rotating structure

Please refer to FIG. 1, the target 1 is fixed on the stage 2, and the rotating device 3 drives the image acquisition device 4 to rotate around the target 1. The rotating device 3 can drive the image acquisition device 4 to rotate around the target 1 through a rotating arm. Of course, this kind of rotation is not necessarily a complete circular motion, and it can only be rotated by a certain angle according to the collection needs. Moreover, this rotation does not necessarily have to be a circular motion, and the motion trajectory of the image acquisition device 4 can be other curved trajectories, as long as it is ensured that the camera shoots the object from different angles.

The rotation device 3 can also drive the image acquisition device to rotate, so that the image acquisition device 4 can collect images of the target object from different angles through rotation.

The rotating device 3 can be in various forms such as a cantilever, a turntable, or a track, so that the image acquisition device 4 can move.

In addition to the above methods, the camera can also be fixed in some cases. As shown in Figure 2, the stage 2 carrying the target 1 rotates, so that the direction of the target 1 facing the image capture device 4 changes from time to time, so that the image capture device 4 Capable of collecting images of target 1 from different angles. However, when calculating at this time, the calculation can still be performed according to the situation converted into the movement of the image acquisition device 4, so that the movement conforms to the corresponding empirical formula (the details will be described in detail below). For example, in a scenario where the stage 2 rotates, it can be assumed that the stage 2 does not move but the image capture device 4 rotates. By using an empirical formula to set the distance of the shooting position of the image acquisition device 4 when it rotates, the rotation speed is derived, and the rotation speed of the stage is deduced, so as to facilitate the rotation speed control and realize 3D acquisition. Of course, this kind of scene is not commonly used, and it is more commonly used to rotate the image capture device.

In addition, in order to enable the image capture device 4 to capture images of the target object 1 in different directions, it is also possible to keep both the image capture device 4 and the target object 1 still, by rotating the optical axis of the image capture device 4. For example, the acquisition area moving device 4 is an optical scanning device, so that when the image acquisition device 4 does not move or rotate, the acquisition area of the image acquisition device 4 and the target 1 move relative to each other. The collection area moving device also includes a light deflection unit, which is mechanically driven to rotate, or is electrically driven to cause light path deflection, or is arranged in multiple groups in space, so as to obtain images of the target object from different angles. The light deflection unit can typically be a mirror, which rotates so that images of the target object in different directions are collected. Or directly arrange a mirror surrounding the target in space, so that the light from the mirror enters the image acquisition device 4 in turn. Similar to the foregoing, the rotation of the optical axis in this case can be regarded as the rotation of the virtual position of the image capture device 4. Through this conversion method, it is assumed that the image capture device 4 is rotated, and the following empirical formula is used for calculation.

The image acquisition device 4 is used to acquire an image of the target object 1, and it may be a fixed focus camera or a zoom camera. In particular, it can be a visible light camera or an infrared camera. Of course, it is understandable that any device with image acquisition function can be used and does not constitute a limitation of the present invention. For example, it can be CCD, CMOS, camera, video camera, industrial camera, monitor, camera, mobile phone, tablet, notebook, Mobile terminals, wearable devices, smart glasses, smart watches, smart bracelets, and all devices with image capture functions.

In the rotation setting, you can also add a background board to the device. The background board is located opposite to the image acquisition device 4, and rotates synchronously when the image acquisition device 4 rotates, and remains stationary when the image acquisition device 4 is stationary. As a result, the target images collected by the image collecting device 4 are all based on the background board. The background board is all solid color, or most (main body) is solid color. In particular, it can be a white board or a black board, and the specific color can be selected according to the main color of the target object. The background board is usually a flat panel, preferably a curved panel, such as a concave panel, a convex panel, a spherical panel, and even in some application scenarios, it can be a background panel with a wavy surface; it can also be a spliced panel of various shapes. For example, three planes can be used for splicing, and the whole is concave, or flat and curved surfaces can be used for splicing.

The device also includes a processor, also called a processing unit, for synthesizing a 3D model of the target object according to a 3D synthesis algorithm according to a plurality of images collected by the image acquisition device to obtain 3D information of the target object.

Embodiment 2: The moving device of the collection area is a translational structure

In addition to the above-mentioned rotating structure, the image acquisition device 4 can move relative to the target 1 in a straight line. For example, the image acquisition device 4 is located on a linear track 5 and passes by the target 1 along the linear track 5 to take pictures. During the process, the image acquisition device 4 does not rotate. The linear track 5 can also be replaced by a linear cantilever. More preferably, as shown in FIG. 3, when the image acquisition device 4 as a whole moves along a linear trajectory, it performs a certain rotation, so that the optical axis of the image acquisition device 4 faces the target 1.

Embodiment 3: The moving device of the collection area has an irregular movement structure

As shown in Fig. 4, sometimes, the movement of the collection area is irregular. For example, the image collection device 4 can be hand-held to surround the target 1 for shooting. At this time, it is difficult to move on a strict trajectory, and the movement trajectory of the image collection device 4 is difficult to accurately predict. Therefore, in this case, how to ensure that the captured images can be accurately and stably synthesized 3D models is a big problem, and no one has mentioned it yet. A more common method is to take more photos and use the redundancy of the number of photos to solve the problem. But the result of this synthesis is not stable. Although there are some ways to improve the synthesis effect by limiting the camera rotation angle, in fact, the user is not sensitive to the angle. Even if the preferred angle is given, it is difficult for the user to operate in the case of handheld shooting. Therefore, the present invention proposes a method for improving the synthesis effect and shortening the synthesis time by limiting the movement distance of the camera for two shots.

For example, in the process of face recognition, a user can hold a mobile terminal to move and shoot around his face. As long as it meets the empirical requirements of the photographing position (specifically described below), the face 3D model can be accurately synthesized. At this time, the face recognition can be realized by comparing with the pre-stored standard model. For example, the mobile phone can be unlocked, or payment verification can be performed.

In the case of irregular movement, a sensor can be installed in the mobile terminal or the image acquisition device 4, and the linear distance that the image acquisition device 4 moves during two shots can be measured by the sensor. When the movement distance does not meet the above-mentioned L (specifically the following conditions) ) In case of experience conditions, an alarm is issued to the user. The alarm includes sound or light alarm to the user. Of course, it can also be displayed on the screen of the mobile phone when the user moves the image acquisition device 4, or a voice prompts the user to move the distance and the maximum distance L that can be moved in real time. Sensors that implement this function include: rangefinders, gyroscopes, accelerometers, positioning sensors, and/or combinations thereof.

Embodiment 4: Multi-camera mode

It can be understood that in addition to the relative movement of the camera and the target, the camera can take images of the target 1 from different angles. As shown in Figure 5, multiple cameras can be set at different positions around the target 1 so that the target can be photographed at the same time. 1 Images from different angles.

light source

Normally, the light source is distributed around the lens of the image acquisition device 4 in a dispersed manner, for example, the light source is a ring LED lamp around the lens. Since in some applications, the collected object is a human body, it is necessary to control the intensity of the light source to avoid causing discomfort to the human body. In particular, a soft light device, such as a soft light housing, can be arranged on the light path of the light source. Or directly use the LED surface light source, not only the light is softer, but also the light is more uniform. More preferably, an OLED light source can be used, which is smaller in size, has softer light, and has flexible characteristics that can be attached to curved surfaces. The light source can also be set in other positions that can provide uniform illumination for the target. The light source can also be a smart light source, that is, the light source parameters are automatically adjusted according to the target 1 and ambient light conditions.

Image acquisition device setting method

The collection area moving device is a rotating structure. The image collection device 4 rotates around the target object 1. When performing 3D collection, the image collection device 4 changes its optical axis direction relative to the target object 1 at different collection positions. At this time, there are two adjacent images. The position of the acquisition device 4, or two adjacent acquisition positions of the image acquisition device 4 meet the following conditions:

When the above two positions are along the length direction of the photosensitive element of the image capture device, d takes the length of the rectangle; when the above two positions are along the width direction of the photosensitive element of the image capture device, d is the width of the rectangle.

When the image capture device is in any one of the two positions, the distance from the photosensitive element to the surface of the target along the optical axis is taken as T. In addition to this method, in another case, L is A _{_n,} A _n _{+ 1} two linear distance optical center of the image pickup apparatus, and A _{_n,} A _n _{+ 1} of two adjacent image pickup devices A _{The distances between the photosensitive elements of the two image acquisition devices n-1} and A _{n+2 and the} two image acquisition devices A _n and A _n+1 to the surface of the target along the optical axis are respectively T _n-1 , T _n , T _n+1 , T _n+2 , T=(T _n-1 +T _n +T _n+1 +T _n+2 )/4. Of course, it is not limited to 4 adjacent positions, and more positions can be used for average calculation.

As mentioned above, L should be the linear distance between the optical centers of the two image capture devices, but because the position of the optical centers of the image capture devices is not easy to determine in some cases, the image capture device 4 can also be used in some cases. The center of the photosensitive element, the geometric center of the image capture device, the center of the axis connecting the image capture device and the pan/tilt (or platform, bracket), and the center of the lens near or far Within the acceptable range, therefore, the above-mentioned range is also within the protection scope of the present invention.

Generally, in the prior art, parameters such as object size and field of view are used as a method for estimating the position of the camera, and the positional relationship between the two cameras is also expressed by angle. Since the angle is not easy to measure in actual use, it is more inconvenient in actual use. And, the size of the object will change with the change of the measuring object. For example, after collecting the 3D information of an adult's head, and then collecting the head of a child, the head size needs to be re-measured and recalculated. The above-mentioned inconvenient measurement and multiple re-measurements will cause measurement errors, resulting in errors in the estimation of the camera position. Based on a large amount of experimental data, this solution gives the empirical conditions that the camera position needs to meet, which not only avoids measuring angles that are difficult to accurately measure, but also does not need to directly measure the size of the object. In the empirical conditions, d and f are the fixed parameters of the camera. When purchasing the camera and lens, the manufacturer will give the corresponding parameters without measurement. And T is only a straight line distance, which can be easily measured by traditional measuring methods, such as rulers and laser rangefinders. Therefore, the empirical formula of the present invention makes the preparation process convenient and quick, and at the same time improves the accuracy of the arrangement of the camera position, so that the camera can be set in an optimized position, thereby taking into account the 3D synthesis accuracy and speed at the same time. Specific experiments See below for data.

Using the device of the present invention, experiments were carried out, and the following experimental results were obtained.

Change the camera lens, experiment again, and get the following experimental results.

From the above experimental results and a large amount of experimental experience, it can be concluded that the value of δ should satisfy δ<0.603. At this time, it is possible to synthesize some 3D models. Although some of them cannot be synthesized automatically, it is acceptable if the requirements are not high. And you can make up for the parts that cannot be synthesized manually or by replacing the algorithm. Especially when the value of δ satisfies δ<0.410, the balance between synthesis effect and synthesis time can be optimally taken into account; in order to obtain a better synthesis effect, δ<0.356 can be selected. At this time, the synthesis time will increase, but the synthesis quality will be better. Of course, in order to further improve the synthesis effect, you can choose δ<0.311. When δ is 0.681, it can no longer be synthesized. However, it should be noted here that the above scope is only the best embodiment and does not constitute a limitation on the protection scope.

And from the above experiments, it can be seen that for the determination of the camera's photo location, only the camera parameters (focal length f, CCD size) and the distance T between the camera CCD and the surface of the object can be obtained according to the above formula, which makes the equipment design and It becomes easy when debugging. Since the camera parameters (focal length f, CCD size) are determined when the camera is purchased, and will be marked in the product description, it is easy to obtain. Therefore, the camera position can be easily calculated according to the above formula, without the need for tedious field angle measurement and object size measurement. Especially in some occasions, it is necessary to replace the camera lens, then the method of the present invention can directly replace the lens to calculate the conventional parameter f to obtain the camera position; similarly, when collecting different objects, due to the different size of the object, the measurement of the object size is also More cumbersome. With the method of the present invention, there is no need to measure the size of the object, and the camera position can be determined more conveniently. In addition, the camera position determined by the present invention can take into account the synthesis time and the synthesis effect. Therefore, the above empirical condition is one of the invention points of the present invention.

The above data is only obtained from experiments to verify the conditions of the formula, and does not limit the invention. Even without these data, it does not affect the objectivity of the formula. Those skilled in the art can adjust the equipment parameters and step details as needed to perform experiments, and obtain other data that also meets the conditions of the formula.

The rotation movement of the present invention is that during the acquisition process, the previous position acquisition plane and the next position acquisition plane cross instead of being parallel, or the optical axis of the image acquisition device at the previous position crosses the optical axis of the image acquisition position at the next position. Instead of parallel. That is to say, the movement of the acquisition area of the image acquisition device around or partly around the target object can be regarded as the relative rotation of the two. Although the examples of the present invention enumerate more rotational motions with tracks, it can be understood that as long as non-parallel motion occurs between the acquisition area of the image acquisition device and the target, it is in the category of rotation, and the present invention can be used. Qualification. The protection scope of the present invention is not limited to the orbital rotation in the embodiment.

The adjacent acquisition positions in the present invention refer to two adjacent positions on the moving track where the acquisition action occurs when the image acquisition device moves relative to the target. This is usually easy to understand for the movement of the image capture device. However, when the target object moves to cause the two to move relative to each other, at this time, the movement of the target object should be converted into the target object's immobility according to the relativity of the movement, and the image acquisition device moves. At this time, measure the two adjacent positions of the image acquisition device where the acquisition action occurs in the transformed movement track.

Example 5

3D information collection equipment structure

In order to solve the above technical problems, an embodiment of the present invention provides a 3D information collection device, which includes an image collection device 4, a rotation device 3, and a background board 13.

The image acquisition device 4 is used to acquire an image of the target object, and it can be a fixed focus camera or a zoom camera. In particular, it can be a visible light camera or an infrared camera. Of course, it is understandable that any device with image acquisition function can be used and does not constitute a limitation of the present invention. For example, it can be CCD, CMOS, camera, video camera, industrial camera, monitor, camera, mobile phone, tablet, notebook, Mobile terminals, wearable devices, smart glasses, smart watches, smart bracelets, and all devices with image capture functions.

All of the background plate 13 is a solid color, or most (main body) is a solid color. In particular, it can be a white board or a black board, and the specific color can be selected according to the main color of the target object. The background board 13 is usually a flat panel, preferably a curved panel, such as a concave panel, a convex panel, a spherical panel, and even in some application scenarios, it can be a background panel with a wavy surface; it can also be a splicing panel of various shapes. For example, three planes can be used for splicing, and the whole is concave, or flat and curved surfaces can be used for splicing. In addition to the shape of the surface of the background plate 3 can be changed, the shape of its edge can also be selected according to needs. Normally, it is a straight type, which constitutes a rectangular plate. However, in some applications, the edges can be curved.

Preferably, the background plate 13 is a curved plate, which can minimize the projection size of the background plate 3 when the maximum background range is obtained. This makes the background board need less space when rotating, which is conducive to reducing the size of the device, reducing the weight of the device, and avoiding rotational inertia, thereby making it more conducive to controlling the rotation.

Regardless of the surface shape and edge shape of the background plate 13, the projection is performed in the direction perpendicular to the surface to be photographed. The length W ₁ _{in the horizontal direction of the projected shape and the length W 2} in the vertical direction of the projected shape are determined by the following conditions:

Among them, d ₁ is the length of the imaging element in the horizontal direction, d ₂ is the length of the imaging element in the vertical direction, T is the vertical distance from the sensor element of the image capture device to the background plate along the optical axis, f is the focal length of the image capture device, A ₁ , A ₂ is the empirical coefficient.

After a lot of experiments, preferably, A ₁ >1.04, A ₂ >1.04; more preferably 2>A ₁ >1.1, ₂ >A 2 >1.1.

In some application scenarios, the edge of the background board is non-linear, which causes the edge of the projected graphic to be non-linear after projection. _{At this time, W 1} and W ₂ measured at different positions are different, so W ₁ and W _{2 are} not easy to determine in actual calculations. Therefore, it is possible to take 3-5 points on the opposite sides of the background plate 13 respectively, measure the linear distance between the two points, and then take the measured average value as W ₁ and W ₂ in the above conditions.

If the background plate 13 is too large and the cantilever is too long, it will increase the volume of the device, and at the same time bring extra burden to the rotation, making the device more likely to be damaged. However, if the background plate is too small, the background will not be pure, which will bring about the burden of calculation.

The following table is the experimental control results:

Experimental conditions:

Collection object: plaster head

Camera: MER-2000-19U3M/C

Lens: OPT-C1616-10M

经验系数Experience coefficient	合成时间Synthesis time	合成精度Synthesis accuracy
A ₁＝1.2，A ₂＝1.2 A ₁ ＝1.2, A ₂ ＝1.2	3.3分钟3.3 minutes	高high
A ₁＝1.4，A ₂＝1.4 A ₁ ＝1.4, A ₂ ＝1.4	3.4分钟3.4 minutes	高high
A ₁＝0.9，A ₂＝0.9 A ₁ ＝0.9, A ₂ ＝0.9	4.5分钟4.5 minutes	中高Mid to high
无no	7.8分钟7.8 minutes	中in

The background board 13 is installed on the first mounting column 14 through the frame. The first mounting column 14 is arranged at one end of the rotating beam 15 in the vertical direction; the image acquisition device 3 is installed on a horizontal bracket, and the horizontal bracket 16 is connected to the second mounting column. , The second mounting column 17 is arranged at the other end of the rotating cross beam 15 along the vertical direction. The first mounting post 14 can move horizontally along the rotating beam 5 to adjust the horizontal position of the background board 13. The second mounting post 7 can move horizontally along the rotating beam 15 to adjust the horizontal position of the image capture device 4. Of course, the background plate 13 can also be directly installed on the mounting column, or the background plate 13 and the mounting column can be integrally formed.

The frame of the background plate 13 can move up and down along the first mounting column 14 to adjust the position of the background plate 13 in the vertical direction; the horizontal bracket 6 can move up and down along the second mounting column 7 to adjust the image capture device 4 in the vertical direction. The location of the direction.

The image capture device 4 can also move in the horizontal direction along the horizontal support 16 to adjust the horizontal position of the image capture device 4.

The above-mentioned movement can be realized by a variety of ways such as guide rails, lead screws, and sliding tables.

The rotating beam 15 is connected to the fixed beam through the rotating device 3. The rotating device 3 drives the rotating beam 15 to rotate, thereby driving the background plate 13 and the image capture device 4 at both ends of the beam to rotate, but no matter how it rotates, the image capture device 4 and the background plate 13 are both The relative arrangement, in particular, the optical axis of the image capture device 4 passes through the center of the background plate 13.

The rotating device 3 can be a motor and a matching rotating transmission system, such as a gear system, a transmission belt, and the like.

The light source can be arranged on the rotating beam 15, the first column 14, the second column 17, the horizontal support 16 and/or the image acquisition device 4. The light source can be an LED light source or a smart light source, which is based on the target object and the ambient light. The light source parameters are automatically adjusted according to the situation. Normally, the light source is distributed around the lens of the image acquisition device 1 in a dispersed manner, for example, the light source is a ring LED lamp around the lens. Since in some applications, the collected object is a human body, it is necessary to control the intensity of the light source to avoid causing discomfort to the human body. In particular, a soft light device, such as a soft light housing, can be arranged on the light path of the light source. Or directly use the LED surface light source, not only the light is softer, but also the light is more uniform. More preferably, an OLED light source can be used, which is smaller in size, has softer light, and has flexible characteristics that can be attached to curved surfaces.

The object to be collected is usually between the image acquisition device 4 and the background plate 13. When the target is a human body, a seat can be set in the center of the equipment base. And because different people have different heights, the seat can be set to connect with a liftable structure. The lifting mechanism is driven by a driving motor, and the lifting is controlled by a remote controller. Of course, the lifting mechanism can also be uniformly controlled by the control terminal. That is, the control panel of the driving motor communicates with the control terminal in a wired or wireless manner, and receives commands from the control terminal. The control terminal can be a computer, cloud platform, mobile phone, tablet, special control equipment, etc.

However, when the target is an object, a stage can be set in the center of the device base. Similarly, the stage can also be driven by a lifting structure for height adjustment to facilitate the collection of target object information. The specific control method and connection relationship are the same as the above, and will not be repeated. But in particular, the object is different from a person, and rotation does not bring discomfort. Therefore, the stage can be rotated under the drive of the rotating device. At this time, there is no need to rotate the beam 15 to drive the image capture device 4 and the background plate during collection. 13 rotation. Of course, the stage and the rotating beam 15 can also be rotated at the same time.

In order to facilitate the actual size measurement of the target, 4 marking points can be set on the seat or the stage, and the coordinates of these marking points are known. By collecting marker points and combining their coordinates, the absolute size of the 3D synthetic model is obtained. The marking point can be located on the headrest on the seat.

3D information collection method flow

Place the target between the image acquisition device 1 and the background board 3. It is preferably placed on the extension line of the rotating shaft of the rotating device 2, that is, at the center of the circle around which the image capturing device 1 rotates. This can ensure that the distance between the image acquisition device 1 and the target object is basically unchanged during the rotation process, thereby preventing the image acquisition from being unclear due to drastic changes in the object distance, or resulting in excessively high requirements on the camera's depth of field (increasing cost).

When the target is the human head, a seat can be placed between the image capture device 1 and the background board 3. When the person sits down, the head is located just near the rotation axis and between the image capture device 1 and the background board 3. . Since each person has a different height, the height of the area to be collected (for example, the human head) is different. At this time, the position of the human head in the field of view of the image acquisition device 1 can be adjusted by adjusting the height of the seat. When collecting objects, the seat can be replaced with a storage table.

In addition to adjusting the height of the seat, it is also possible to adjust the height of the image acquisition device 1 and the background board 3 in the vertical direction to ensure that the center of the target is located in the center of the field of view of the image acquisition device 4. For example, the background board can move up and down along the first mounting column 14, and the horizontal support 16 carrying the image capture device 4 can move up and down along the second mounting column 17. Generally, the movement of the background plate 3 and the image acquisition device 4 are synchronized, ensuring that the optical axis of the image acquisition device 1 passes through the center position of the background plate 3.

Because the size of the target object varies greatly each time. If the image acquisition device 1 collects at the same position, the ratio of the target object in the image will change greatly. For example, when the size of the target A in the image is appropriate, if it is replaced with a smaller target B, its proportion in the image will be very small, which will greatly affect the subsequent 3D synthesis speed and accuracy. Therefore, the image acquisition device 1 can be driven to move back and forth on the horizontal support, so as to ensure that the target object occupies a proper proportion of the pictures collected by the image acquisition device 1.

To ensure that the target is basically stationary, the rotating device 2 drives the image acquisition device 4 and the background board 13 to rotate around the target by rotating the rotating beam 15 and ensures that the two are facing each other during the rotation. When collecting during rotation, you can continuously rotate and collect at a fixed angle; you can also stop rotation at a fixed angle for collection, continue to rotate after collection, and continue to stop at the next position for collection.

3D capture camera position optimization

According to a large number of experiments, the collected separation distance preferably satisfies the following empirical formula:

When performing 3D acquisition, the two adjacent acquisition positions of the image acquisition device meet the following conditions:

Where L is the linear distance of the optical center of the image acquisition device at two adjacent acquisition positions; f is the focal length of the image acquisition device; d is the rectangular length or width of the photosensitive element (CCD) of the image acquisition device; T is the light sensitivity of the image acquisition device The distance from the component along the optical axis to the surface of the target; δ is the adjustment coefficient, δ<0.603.

L should be the linear distance between the optical centers of the two image acquisition devices, but because the position of the optical centers of the image acquisition devices is not easy to determine in some cases, the center of the photosensitive element and the image of the image acquisition device can also be used in some cases. The geometric center of the acquisition device 1, the axis center of the connection between the image acquisition device and the pan/tilt (or platform, bracket), and the center of the proximal or distal surface of the lens are substituted. After experiments, it is found that the resulting error is within an acceptable range. inside.

From the above experimental results and a large amount of experimental experience, it can be concluded that the value of δ should satisfy δ<0.603. At this time, some 3D models can be synthesized. Although some of them cannot be synthesized automatically, it is acceptable if the requirements are not high. And you can make up for the parts that cannot be synthesized manually or by replacing the algorithm. Especially when the value of δ satisfies δ<0.410, the balance between synthesis effect and synthesis time can be optimally taken into account; in order to obtain a better synthesis effect, δ<0.356 can be selected. At this time, the synthesis time will increase, but the synthesis quality will be better. Of course, in order to further improve the synthesis effect, you can choose δ<0.311. When δ is 0.681, it can no longer be synthesized. However, it should be noted here that the above scope is only the best embodiment and does not constitute a limitation on the protection scope.

3D synthesis method

After the image acquisition device collects images in multiple directions of the target through the image acquisition device 4, the multiple images are transmitted to the processor in a data transmission manner. The processor can be set locally, or the image can be uploaded to the cloud platform to use a remote processor. Use the following method in the processor to synthesize the 3D model.

When using the above-mentioned collected pictures for 3D synthesis, the existing algorithm can be used to realize it, or the optimized algorithm proposed by the present invention can be used, which mainly includes the following steps:

Step 1: Perform image enhancement processing on all input photos. The following filters are used to enhance the contrast of the original photos and suppress noise at the same time.

Where: g(x, y) is the gray value of the original image at (x, y), f(x, y) is the gray value of the original image _{after being enhanced by the Wallis filter, and m g is the local gray value of the original image} Degree mean, s _g is the local gray-scale standard deviation of the original image, m _f is the local gray-scale target value _{of the transformed image, and s f} is the local gray-scale standard deviation target value of the transformed image. c∈(0,1) is the expansion constant of the image variance, and b∈(0,1) is the image brightness coefficient constant.

The filter can greatly enhance the image texture patterns of different scales in the image, so the number and accuracy of feature points can be improved when extracting the point features of the image, and the reliability and accuracy of the matching result can be improved in the photo feature matching.

Step 2: Perform feature point extraction on all input photos, and perform feature point matching to obtain sparse feature points. The SURF operator is used to extract and match the feature points of the photos. The SURF feature matching method mainly includes three processes, feature point detection, feature point description and feature point matching. This method uses Hessian matrix to detect feature points, uses Box Filters to replace second-order Gaussian filtering, and uses integral images to accelerate convolution to increase the calculation speed and reduce the dimensionality of local image feature descriptors. To speed up the matching speed. The main steps include ① constructing the Hessian matrix to generate all points of interest for feature extraction. The purpose of constructing the Hessian matrix is to generate stable edge points (mutation points) of the image; ② constructing the scale space feature point positioning, which will be processed by the Hessian matrix Compare each pixel point with 26 points in the neighborhood of two-dimensional image space and scale space, and initially locate the key points, and then filter out the key points with weaker energy and the key points that are incorrectly positioned to filter out the final stable ③The main direction of the feature point is determined by using the Harr wavelet feature in the circular neighborhood of the statistical feature point. That is, in the circular neighborhood of the feature point, the sum of the horizontal and vertical harr wavelet features of all points in the 60-degree fan is counted, and then the fan is rotated at an interval of 0.2 radians and the harr wavelet eigenvalues in the area are counted again. The direction of the sector with the largest value is taken as the main direction of the feature point; ④ A 64-dimensional feature point description vector is generated, and a 4*4 rectangular area block is taken around the feature point, but the direction of the obtained rectangular area is along the main direction of the feature point. direction. Each sub-region counts 25 pixels of haar wavelet features in the horizontal and vertical directions, where the horizontal and vertical directions are relative to the main direction. The haar wavelet features are 4 directions after the horizontal direction value, after the vertical direction value, after the horizontal direction absolute value, and the vertical direction absolute value. These 4 values are used as the feature vector of each sub-block area, so there is a total of 4* 4*4=64-dimensional vector is used as the descriptor of Surf feature; ⑤Feature point matching, the degree of matching is determined by calculating the Euclidean distance between two feature points. The shorter the Euclidean distance, the better the matching degree of the two feature points. .

Step 3: Input the matching feature point coordinates, use the beam method to adjust, solve the sparse face 3D point cloud and the position and posture data of the camera, that is, obtain the sparse face model 3D point cloud and the position model coordinate value ; With sparse feature points as initial values, dense matching of multi-view photos is performed to obtain dense point cloud data. The process has four main steps: stereo pair selection, depth map calculation, depth map optimization, and depth map fusion. For each image in the input data set, we select a reference image to form a stereo pair for calculating the depth map. Therefore, we can get rough depth maps of all images. These depth maps may contain noise and errors. We use its neighborhood depth map to check consistency to optimize the depth map of each image. Finally, depth map fusion is performed to obtain a three-dimensional point cloud of the entire scene.

Step 4: Use the dense point cloud to reconstruct the face surface. Including the process of defining the octree, setting the function space, creating the vector field, solving the Poisson equation, and extracting the isosurface. The integral relationship between the sampling point and the indicator function is obtained from the gradient relationship, and the vector field of the point cloud is obtained according to the integral relationship, and the approximation of the gradient field of the indicator function is calculated to form the Poisson equation. According to the Poisson equation, the approximate solution is obtained by matrix iteration, the moving cube algorithm is used to extract the isosurface, and the model of the measured object is reconstructed from the measured point cloud.

Step 5: Fully automatic texture mapping of the face model. After the surface model is built, texture mapping is performed. The main process includes: ①The texture data is obtained through the image reconstruction target's surface triangle grid; ②The visibility analysis of the reconstructed model triangle. Use the image calibration information to calculate the visible image set of each triangle and the optimal reference image; ③The triangle surface clustering generates texture patches. According to the visible image set of the triangle surface, the optimal reference image and the neighborhood topological relationship of the triangle surface, the triangle surface cluster is generated into a number of reference image texture patches; ④The texture patches are automatically sorted to generate texture images. Sort the generated texture patches according to their size relationship, generate the texture image with the smallest enclosing area, and obtain the texture mapping coordinates of each triangle.

It should be noted that the above-mentioned algorithm is an optimized algorithm of the present invention, and this algorithm cooperates with the image acquisition conditions, and the use of this algorithm takes into account the time and quality of synthesis, which is one of the invention points of the present invention. Of course, the conventional 3D synthesis algorithm in the prior art can also be used, but the synthesis effect and speed will be affected to a certain extent.

Matching and production of attachments

After collecting the 3D information of the target and synthesizing the 3D model, the accessory can be made for the target according to the 3D data.

For example, make glasses suitable for the face of the user. On the basis of meeting the above empirical conditions, collect multiple pictures of the user's head in different directions; use 3D synthesis software to synthesize a 3D model from the multiple photos, and the method used can use common 3D picture matching algorithms. After obtaining the 3D mesh model, texture information is added to form a 3D head model. According to the relevant position and size of the head 3D model, such as the width of the cheeks, the height of the nose bridge, the size of the auricle, etc., the user selects the appropriate glasses frame.

In addition to glasses, various accessories such as hats, gloves, and prostheses can also be designed for users. It is also possible to design accessory accessories for the object, such as designing packaging boxes that can be tightly wrapped for special-shaped parts.

Target recognition and comparison

The 3D information of multiple regions of the target obtained in the above embodiment can be used for comparison, for example, for identity recognition. First, use the solution of the present invention to obtain 3D information of the human face and iris, and store it in the server as standard data. When in use, such as when identity authentication is required for payment, door opening, etc., the 3D acquisition device can be used to collect and obtain the 3D information of the human face and iris again, and compare it with the standard data. If the comparison is successful, the next step is allowed. One step. It is understandable that this kind of comparison can also be used for the identification of fixed assets such as antiques and artworks, that is, first obtain 3D information of multiple areas of antiques and artworks as standard data, and obtain 3D information of multiple areas again when authentication is required. Information, and compare with standard data to identify authenticity.

Although the foregoing embodiments describe that the image capture device captures images, it should not be construed as being only applicable to a group of pictures composed of a single picture, and this is only an illustrative method for ease of understanding. The image acquisition device can also collect video data, directly use the video data or intercept images from the video data for 3D synthesis. However, the shooting position of the corresponding frame of the video data or the captured image used in the synthesis still satisfies the above empirical formula.

The above-mentioned target object, target object, and object all represent objects for which three-dimensional information is pre-acquired. It can be a physical object, or it can be a combination of multiple objects. For example, it can be a head, a hand, and so on. The three-dimensional information of the target includes a three-dimensional image, a three-dimensional point cloud, a three-dimensional grid, a local three-dimensional feature, a three-dimensional size, and all parameters with a three-dimensional feature of the target. The so-called three-dimensional in the present invention refers to three-direction information of XYZ, especially depth information, which is essentially different from only two-dimensional plane information. It is also essentially different from the definitions called three-dimensional, panoramic, holographic, and three-dimensional, but actually only include two-dimensional information, especially depth information.

The collection area mentioned in the present invention refers to the range that an image collection device (such as a camera) can shoot. The image acquisition device in the present invention can be CCD, CMOS, camera, video camera, industrial camera, monitor, camera, mobile phone, tablet, notebook, mobile terminal, wearable device, smart glasses, smart watch, smart bracelet and belt All devices with image capture function.

In the instructions provided here, a lot of specific details are explained. However, it can be understood that the embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures, and technologies are not shown in detail, so as not to obscure the understanding of this specification.

Similarly, it should be understood that in order to simplify the present disclosure and help understand one or more of the various inventive aspects, in the above description of the exemplary embodiments of the present invention, the various features of the present invention are sometimes grouped together into a single embodiment, Figure, or its description. However, the disclosed method should not be interpreted as reflecting the intention that the claimed invention requires more features than those explicitly stated in each claim. More precisely, as reflected in the following claims, the inventive aspect lies in less than all the features of a single embodiment disclosed previously. Therefore, the claims following the specific embodiment are thus explicitly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present invention.

Those skilled in the art can understand that it is possible to adaptively change the modules in the device in the embodiment and set them in one or more devices different from the embodiment. The modules or units or components in the embodiments can be combined into one module or unit or component, and in addition, they can be divided into multiple sub-modules or sub-units or sub-components. Except that at least some of such features and/or processes or units are mutually exclusive, any combination can be used to compare all the features disclosed in this specification (including the accompanying claims, abstract and drawings) and any method or methods disclosed in this manner or All the processes or units of the equipment are combined. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract and drawings) may be replaced by an alternative feature providing the same, equivalent or similar purpose.

In addition, those skilled in the art can understand that although some embodiments herein include certain features included in other embodiments but not other features, the combination of features of different embodiments means that they fall within the scope of the present invention. And form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

The various component embodiments of the present invention may be implemented by hardware, or by software modules running on one or more processors, or by a combination of them. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all of the functions based on some or all of the components in the device of the present invention according to the embodiments of the present invention. The present invention can also be implemented as a device or device program (for example, a computer program and a computer program product) for executing part or all of the methods described herein. Such a program for realizing the present invention may be stored on a computer-readable medium, or may have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

It should be noted that the above-mentioned embodiments illustrate rather than limit the present invention, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be constructed as a limitation to the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of multiple such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims listing several devices, several of these devices may be embodied in the same hardware item. The use of the words first, second, and third, etc. do not indicate any order. These words can be interpreted as names.

So far, those skilled in the art should realize that although multiple exemplary embodiments of the present invention have been illustrated and described in detail herein, they can still be disclosed according to the present invention without departing from the spirit and scope of the present invention. The content directly determines or derives many other variations or modifications that conform to the principles of the present invention. Therefore, the scope of the present invention should be understood and deemed to cover all these other variations or modifications.

Claims

A device for collecting high-precision 3D information, which is characterized by:

The acquisition area moving device is used to drive the acquisition area of the image acquisition device to move relative to the target;

An image acquisition device for acquiring a set of images of the target object through the above-mentioned relative motion;

During the above relative movement, the collection position of the image collection device meets the following conditions:

Where L is the linear distance of the optical center of the image acquisition device at two adjacent acquisition positions; f is the focal length of the image acquisition device; d is the rectangular length or width of the photosensitive element of the image acquisition device; T is the photosensitive element of the image acquisition device along the light The distance between the axis and the surface of the target; δ is the adjustment coefficient.
The device according to claim 1, characterized in that: δ<0.603, preferably δ<0.410.
The device according to claim 1, wherein: δ<0.356; or δ<0.311; or δ<0.284; or δ<0.261; or δ<0.241; or δ<0.107.
The device according to claim 1, wherein the image acquisition device rotates or translates relative to the target.
The device according to claim 1, wherein a background board is provided opposite to the image acquisition device.
8. The device of claim 1, further comprising a processor, configured to perform 3D synthesis based on a plurality of images in a set of images to generate a 3D model of the target object.
The device according to claim 1, characterized in that it comprises a processor, which is arranged in the device, or located in an upper computer, or located in a remote server.
The device according to claim 1, wherein the image acquisition device is in the visible light waveband, infrared light waveband, or full waveband.
A 3D synthesis device, characterized in that it uses the device according to any one of claims 1-8.
A 3D recognition device, characterized in that it uses the device according to any one of claims 1-8.
An accessory making device, which is characterized in that the device according to any one of claims 1-8 is used to make an accessory for the target object according to 3D data.
A device for collecting 3D information, which is characterized in:

Have multiple image acquisition devices, respectively located around the target;

Multiple image acquisition devices respectively acquire a set of images of the target object from different angles;

The positions of two adjacent image acquisition devices meet the following conditions:

Where L is the linear distance between the optical centers of the image capture device at two adjacent capture positions; f is the focal length of the image capture device; d is the rectangular length or width of the photosensitive element of the image capture device; T is the photosensitive element of the image capture device along the optical axis The distance to the surface of the target; δ is the adjustment coefficient.
The device according to claim 12, characterized in that: δ<0.603, preferably δ<0.410.
The device according to claim 12, wherein: δ<0.356; or δ<0.311; or δ<0.284; or δ<0.261; or δ<0.241; or δ<0.107.
The device according to claim 12, wherein a background board is provided opposite to the image acquisition device.
The device according to claim 12, further comprising a processor, configured to perform 3D synthesis according to a plurality of images in a group of images to generate a 3D model of the target object.
The device according to claim 12, characterized in that it comprises a processor, which is set in the device, or located in the upper computer, or located in the remote server.
The device according to claim 12, wherein the image acquisition device is in the visible light waveband, infrared light waveband, or full waveband.
A 3D synthesis device, characterized in that it uses the device according to any one of claims 12-18.
A 3D recognition device, which is characterized in that the device according to any one of claims 12-18 is used.
An accessory making device, which is characterized in that the equipment according to any one of claims 12-18 is used to make an accessory for the target object according to 3D data.
A method for collecting high-precision 3D information, which is characterized by:

The acquisition area moving device drives the acquisition area of the image acquisition device to move relative to the target;

The image acquisition device acquires a set of images of the target object through the above-mentioned relative movement;

During the above relative movement, the collection position of the image collection device meets the following conditions:

Where L is the linear distance of the optical center of the image acquisition device at two adjacent acquisition positions; f is the focal length of the image acquisition device; d is the rectangular length or width of the photosensitive element of the image acquisition device; T is the photosensitive element of the image acquisition device along the light The distance between the axis and the surface of the target; δ is the adjustment coefficient.
The method according to claim 22, characterized in that: δ<0.603, preferably δ<0.410.
The method of claim 22, wherein: δ<0.356; or δ<0.311; or δ<0.284; or δ<0.261; or δ<0.241; or δ<0.107.
The method of claim 22, wherein the image acquisition device rotates or translates relative to the target.
The method according to claim 22, wherein a background board is provided opposite to the image acquisition device.
The method according to claim 22, further comprising the processor performing 3D synthesis based on a plurality of images in a set of images to generate a 3D model of the target object.
The method of claim 22, wherein the image acquisition device is in the visible light band, the infrared light band, or the full band.
A 3D synthesis method, characterized in that the method according to any one of claims 22-28 is used.
A 3D recognition method, characterized in that the method according to any one of claims 22-28 is used.
A method for making an appendage, which is characterized in that the method according to any one of claims 22-28 is used to make a matching appendage for the target object based on 3D data.
A method for 3D information collection, which is characterized in:

A plurality of image acquisition devices are respectively located around the target object;

Multiple image acquisition devices respectively acquire a set of images of the target object from different angles;

The positions of two adjacent image acquisition devices meet the following conditions:

Where L is the linear distance between the optical centers of the image capture device at two adjacent capture positions; f is the focal length of the image capture device; d is the rectangular length or width of the photosensitive element of the image capture device; T is the photosensitive element of the image capture device along the optical axis The distance to the surface of the target; δ is the adjustment coefficient.
The method according to claim 32, characterized in that: δ<0.603, preferably δ<0.410.
The method of claim 32, wherein: δ<0.356; or δ<0.311; or δ<0.284; or δ<0.261; or δ<0.241; or δ<0.107.
The method according to claim 32, wherein a background board is provided opposite the image acquisition device.
The method according to claim 32, further comprising the processor performing 3D synthesis based on a plurality of images in a set of images to generate a 3D model of the target object.
The method according to claim 32, wherein the image acquisition device is in a visible light band, an infrared light band, or a full band.
A 3D synthesis method, characterized in that the method according to any one of claims 33-37 is used.
A 3D recognition method, characterized in that the method according to any one of claims 33-37 is used.
A method for making attachments, which is characterized by using the method according to any one of claims 33-37 to make an attachment for the target object according to 3D data.
A high-speed acquisition and measurement equipment for 3D information of a target, which is characterized in that it comprises an image acquisition device, a rotation device and a background board, wherein

The rotating device is used to drive the image acquisition device to rotate, and to drive the background plate to rotate;

The background board and the image capture device are kept relatively set during the rotation, so that the background board becomes the background pattern of the image captured by the image capture device during capture;

When the image acquisition device collects a target, two adjacent acquisition positions meet the following conditions:

L is the linear distance of the optical center of the image acquisition device at two adjacent acquisition positions; f is the focal length of the image acquisition device; d is the rectangular length or width of the photosensitive element of the image acquisition device; T is the photosensitive element of the image acquisition device along the light The distance between the axis and the surface of the target; δ is the adjustment coefficient.
The device according to claim 41, characterized in that: δ<0.603, preferably δ<0.410.
The equipment according to claim 41, wherein the rotating device is located on the fixed beam and drives the rotating beam to rotate.
The device according to claim 41, wherein the background plate is a flat plate or a curved plate.
The device according to claim 41, wherein the main body of the background board is solid color or has a mark.
The device according to claim 41, wherein the background board is an integrally formed or spliced board.
The device according to claim 41, wherein the background board satisfies the following requirements: projecting in a direction perpendicular to the surface to be photographed, the length W 1 in the horizontal direction of the projected shape and the length W 2 in the vertical direction of the projected shape by Conditional decision:

Among them, d 1 is the length of the imaging element in the horizontal direction, d 2 is the length of the imaging element in the vertical direction, T is the vertical distance from the sensor element of the image capture device to the background plate along the optical axis, f is the focal length of the image capture device, A 1 , A 2 is the experience coefficient;

Among them, A 1 >1.04 and A 2 >1.04.
The device according to claim 13, characterized in that: 2>A 1 >1.1, 2 >A 2 >1.1.
A 3D recognition device, characterized in that it uses 3D information provided by the device according to any one of claims 41-48.
A 3D manufacturing equipment, characterized in that it uses the 3D information provided by the equipment according to any one of claims 41-48.
A high-speed acquisition and measurement equipment for 3D information of a target, which is characterized in that:

When the image acquisition device collects a target, two adjacent acquisition positions meet the following conditions:

L is the linear distance of the optical center of the image acquisition device at two adjacent acquisition positions; f is the focal length of the image acquisition device; d is the rectangular length or width of the photosensitive element of the image acquisition device; T is the photosensitive element of the image acquisition device along the light The distance between the axis and the surface of the target; δ is the adjustment coefficient.
The device according to claim 51, characterized in that: the device further comprises a background board, the background board satisfies: projecting in a direction perpendicular to the surface to be photographed, the length W 1 in the horizontal direction of the projection shape, and the vertical direction of the projection shape The length W 2 in the direction is determined by the following conditions:

Among them, d 1 is the length of the imaging element in the horizontal direction, d 2 is the length of the imaging element in the vertical direction, T is the vertical distance from the sensor element of the image capture device to the background plate along the optical axis, f is the focal length of the image capture device, A 1 , A 2 is the experience coefficient;

Among them, A 1 >1.04 and A 2 >1.04.
The device of claim 52, wherein: 2>A 1 >1.1, 2 >A 2 >1.1.
The device according to claim 51, characterized in that: δ<0.603, preferably δ<0.410.
A 3D recognition device, characterized in that it uses 3D information provided by the device according to any one of claims 51-54.
A 3D manufacturing equipment, characterized in that it uses 3D information provided by the equipment according to any one of claims 51-54.