CN108020175A - A kind of more optical grating projection binocular vision tongue body surface three dimension entirety imaging methods - Google Patents
A kind of more optical grating projection binocular vision tongue body surface three dimension entirety imaging methods Download PDFInfo
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- CN108020175A CN108020175A CN201711276615.7A CN201711276615A CN108020175A CN 108020175 A CN108020175 A CN 108020175A CN 201711276615 A CN201711276615 A CN 201711276615A CN 108020175 A CN108020175 A CN 108020175A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2513—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 several lines being projected in more than one direction, e.g. grids, patterns
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of more optical grating projection binocular vision tongue body surface three dimension entirety imaging methods, the imaging method includes：First camera and second camera are as binocular camera；It is by first, second projecting apparatus distortion correction, and the image pixel matching of two projecting apparatus, two projections are equivalent into one big visual field projecting apparatus, for covering the big visual field grating of tongue upper surface and both side surface；First camera, second camera form two groups of optical grating measuring systems to gather the three-dimensional information of the both side surface of tongue with the first projecting apparatus, the second projecting apparatus respectively；First camera, second camera constitute Binocular Stereo Vision System in the visual field overlapping region of the upper surface of tongue, by phase matched same place, realize the upper surface topography feature for accurately and stably measuring tongue.The characteristics of present invention ensures to utilize raster phase modulates information while measuring speed reduces measurement data noise jamming, realizes the quick, accurate of three-dimensional appearance data acquisition.
Description
Technical field
The present invention relates to three-dimensional imaging field, more particularly to a kind of more optical grating projection binocular vision tongue body surface three dimensions are overall
Imaging method.
Background technology
Typical structure light topography using a light projector (point or laser line generator, grating loss device etc.) and
Monocular camera, and covering surface type structure light is belonged to based on the surface topography of triangulation principle measurement object, wherein grating, can
To realize the quick measurement of full field to pattern, thus it is widely used in the acquisition of three dimensional biological feature.But tongue body is three-dimensional raw
Thing feature is complicated, and single-throw emitter can only collect tongue upper surface topography feature with monocular camera, for the tongue fur of tongue side
The information gathering such as thickness and indentation is inaccurate or incomplete.
The content of the invention
The present invention provides a kind of more optical grating projection binocular vision tongue body surface three dimension entirety imaging methods, the present invention uses
3 D measuring method of more optical grating projections integral into picture, ensures to utilize raster phase modulates information while measuring speed
Feature reduces measurement data noise jamming, realizes the quick, accurate of three-dimensional appearance data acquisition, described below：
A kind of more optical grating projection binocular vision tongue body surface three dimension entirety imaging methods, the described method comprises the following steps：
1) tongue surface topography acquisition system is built；
Wherein, tongue surface topography acquisition system includes：First projecting apparatus, the second projecting apparatus, first camera, second camera,
First light source and secondary light source；
First light source and secondary light source are as the double grating projector；First camera and second camera are as binocular camera；
2) by first, second projecting apparatus distortion correction, and the image pixel matching of two projecting apparatus, by two projections
It is equivalent into one big visual field projecting apparatus, for covering the big visual field grating of tongue upper surface and both side surface；
3) first camera, second camera are come with the first projecting apparatus, the second projecting apparatus two groups of optical grating measuring systems of composition respectively
Gather the three-dimensional information of the both side surface of tongue；
4) first camera, second camera constitute binocular stereo vision system in the visual field overlapping region of the upper surface of tongue
System, by phase matched same place, realizes the upper surface topography feature for accurately and stably measuring tongue.
The step 2) is specially：
1) by Zhang Zhengyou camera calibration algorithms, world coordinate system is calibrated to camera image coordinate system by scaling board
First transition matrix；
2) horizontal and vertical striped, camera shooting bar graph are projected respectively to scaling board with projecting apparatus, and resolves absolute phase
Position calibrates second transition matrix of the world coordinate system to projector image coordinate system；
3) coordinate between projecting apparatus and scaling board is calculated according to Zhang Zhengyou camera calibrations algorithm, with reference to least square method
Transition matrix；The coordinate conversion matrix from camera to projecting apparatus is obtained at the same time；Image coordinate between first camera second camera turns
Relation is changed to demarcate by scaling board；
4) the image coordinate transformational relation between the first projecting apparatus and the second projecting apparatus is obtained.
Image coordinate transformational relation between first projecting apparatus and the second projecting apparatus is specially：
Wherein,For the abscissa of any on the first projector image,For first
The ordinate of any on projector image,For the second projector image corresponding points abscissa,For the second projector image
Corresponding points ordinate,For first camera transition matrix from image to the first projector image,For the figure of second camera
As to first camera image transition matrix,Transition matrix for from second camera image to the second projector image.
Wherein, the method further includes：
Corresponding projector image coordinate is found according to coordinate transformation relation in camera image overexposure region, and reduces its projection
Brightness；
Whole audience uniform restraint is introduced, by repeatedly adjustment and iteration, finally makes spliced big visual field grating fringe figure bright
Degree is uniform.
Further, the method further includes：
By the establishment of coordinate system of Binocular Stereo Vision System in first camera, while monocular system establishment of coordinate system is
On two cameras；
Monocular system needs to carry out coordinate system according to the transition matrix that Binocular Stereo Vision System calibrates to measurement result
Conversion；
The data of three sets of systems are all unified to after same coordinate system, the tongue upper surface data that measuring system collects with
The measurement data of two sides will combine.
Further, first projecting apparatus, the second projecting apparatus are technical grade projecting apparatus TI Lightcrafter 4500.
Wherein, the first camera, second camera are Basler ava1900-50gc.
Further, first light source and secondary light source are CCS HPR2-150SW.
The beneficial effect of technical solution provided by the invention is：
1st, the present invention while measuring speed is ensured using raster phase modulates information the characteristics of reduction measurement data make an uproar
Acoustic jamming, realizes the quick, accurate of three-dimensional appearance data acquisition；
2nd, the present invention realizes application of the 3 D measuring method on Tongue, meets more in practical application
Kind application demand.
Brief description of the drawings
Fig. 1 is a kind of flow chart of more optical grating projection binocular vision tongue body surface three dimension entirety imaging methods；
Fig. 2 is a kind of structure diagram of more optical grating projection binocular vision tongue body surface three dimension entirety imaging systems；
Fig. 3 is the schematic diagram of biocular systems datum transformation；
Fig. 4 is projecting apparatus and the schematic diagram of camera coordinates phase matched；
Wherein, (a) is the longitudinal stripe figure of projector projects；(b) it is the travers figure of projector projects；(c) it is phase
The longitudinal stripe figure of machine projection；(d) it is the travers figure of camera projection；(e) it is (a) corresponding absolute phase distribution map；(f)
For (b) corresponding absolute phase distribution map；(g) it is (c) corresponding absolute phase distribution map；(h) it is (d) corresponding absolute phase
Distribution map.
Fig. 5 is binocular parallax schematic diagram.
In attached drawing, parts list represented by the reference numerals is as follows：
1：First projecting apparatus； 2：Second projecting apparatus；
3：First camera； 4：Second camera；
5：First light source； 6：Secondary light source；
7：Tongue.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, embodiment of the present invention is made below further
It is described in detail on ground.
Embodiment 1
In order to solve the problems, such as in background technology, it is overall that a kind of more optical grating projection binocular vision tongue body surface three dimensions need to be developed
Imaging method, referring to Fig. 1 and Fig. 2, this method comprises the following steps：
101：Build the tongue surface topography acquisition system of the double grating projector and binocular camera composition；
Wherein, include referring to Fig. 1, the tongue surface topography acquisition system：First projecting apparatus 1, the second projecting apparatus 2, the first phase
Machine 3, second camera 4, the first light source 5 and secondary light source 6.First light source 5 and secondary light source 6 are used as the double grating projector.The
One camera 3 and second camera 4 are used as binocular camera.
First projecting apparatus 1 corresponds to 3 and first light source 5 of first camera, and similarly, the second projecting apparatus 2 corresponds to second camera 4
With secondary light source 6.
During specific implementation, the embodiment of the present invention is not limited the model of above-mentioned device, as long as above-mentioned function can be realized
Device.
102：, will by the first projecting apparatus 1, the calibration of the second projecting apparatus 2, image rectification, fringe gray level automatic adjusument
Two stripeds are spliced into the big visual field grating of a upper surface for covering tongue 7 and both side surface；
103：First camera 3, second camera 4 form two groups of grating measurings with the first projecting apparatus 1, the second projecting apparatus 2 respectively
System gathers the three-dimensional information of the both side surface of tongue 7；
104：First camera 3, second camera 4 constitute binocular tri-dimensional in the visual field overlapping region of the upper surface of tongue 7
Feel system, same place is accurately matched by phase matched, realizes the upper surface topography feature for accurately and stably measuring tongue 7.
In conclusion the embodiment of the present invention uses 3 D measuring method of more optical grating projections integral into picture, ensure to survey
The characteristics of utilizing raster phase modulates information while measuring speed reduces measurement data noise jamming, realizes that three-dimensional appearance data obtain
What is taken is quick, accurate.
Embodiment 2
The scheme in embodiment 1 is further introduced with reference to specific example, calculation formula, Fig. 3-Fig. 5,
It is described below：
201：Build the tongue surface topography acquisition system of the double grating projector and binocular camera composition；
Wherein, include referring to Fig. 2, the tongue surface topography acquisition system：First projecting apparatus 1, the second projecting apparatus 2, the first phase
Machine 3, second camera 4, the first light source 5 and secondary light source 6.First light source 5 and secondary light source 6 are used as the double grating projector.The
One camera 3 and second camera 4 are used as binocular camera.
First projecting apparatus 1 corresponds to 3 and first light source 5 of first camera, and similarly, the second projecting apparatus 2 corresponds to second camera 4
With secondary light source 6.
Wherein, in order to reduce the lens distortion of projecting apparatus and nonlinear response error, the first projecting apparatus 1, the second projecting apparatus 2
Preferably technical grade projecting apparatus TI Lightcrafter 4500.
Further, in order to which high speed acquisition raster image and true lingual surface color, first camera 3, second camera 4 are preferably
Basler ava1900-50gc；First light source 5 and secondary light source 6 are preferably CCS HPR2-150SW.
202：The visual field of first projecting apparatus 1 and the second projecting apparatus 2 is spliced；
Bar graph to project the first projecting apparatus 1 and the second projecting apparatus 2 is stitched together, and ties up to two image coordinates
It is unified in world coordinate system, it is necessary first to calibrate the inside and outside parameter of the first projecting apparatus 1 and the second projecting apparatus 2.
First projecting apparatus 1 and the second projecting apparatus 2 are not photosensitive instruments, it is necessary to by means respectively of 3 and second phase of first camera
The auxiliary shooting of machine 4.According to light path principle, projecting apparatus is equal to reverse camera, and is suitable for camera pinhole model, throws
" the biocular systems datum transformation " of shadow instrument and camera composition is as shown in Figure 3.Wherein, PwRepresent scaling board plane, PlRepresent
The projection chip plane of first projecting apparatus 1 (or second projecting apparatus 2), PrRepresent the sense of camera first camera 3 (or second camera 4)
Optical chip target surface.
A point p on projector image coordinate systemlThrow light has arrived a point p on scaling boardw, pwLight by cameras capture
The p being imaged on camera imagerPoint.prPoint and pwPoint coordinates meets following transformational relation：
Wherein, pr=[ur vr 1]T,pw=[xw yw 1]TTwo point coordinates are represented respectively, and s represents zoom factor.
The internal reference matrix of camera and outer ginseng square are represented respectively
Battle array.frxAnd rr22Deng the element represented respectively in matrix.
Therefore, can be by prPoint and pwPoint conversion relational expression is write a Chinese character in simplified form into：
Similarly, p can be obtainedlPoint and pwThe conversion relational expression of point：
Wherein,Transition matrix for from world coordinate system to camera image coordinate system；It is world coordinate system to projecting apparatus
The transition matrix of image coordinate system.
By Zhang Zhengyou camera calibrations algorithm, (algorithm is known to those skilled in the art, and the embodiment of the present invention is to this
Do not repeat), it can easily calibrate matrix by scaling boardBut in order to demarcateProjecting apparatus need to be used to scaling board point
Tou She not be laterally with vertical striped, camera shoots bar graph, and resolves its absolute phase, as shown in Figure 4.
For any point p on projecting apparatus chipl, there is horizontal phase and vertical phase on bar graphWith this
Phase matching point p can be found in camera image coordinate systemr.According to the matrix to calibrateCalculate on scaling board
Corresponding points pw, and then calculated according to Zhang Zhengyou camera calibrations model and with reference to least square method between projecting apparatus and scaling board
Coordinate conversion matrixCoordinate conversion matrix from camera to projecting apparatusIt can be calculated by following formula：
First camera 3 and second camera 4 form a typical binocular vision system, at this time P in Fig. 3l、PrPlane is distinguished
Represent the photosensitive target surface of first camera 3 and second camera 4, the image coordinate transformational relation between first camera 3 and second camera 4 can
Easily to be calibrated by scaling board.When the first projecting apparatus 1 and first camera 3, the second projecting apparatus 2 and second camera 4, first
When known to the image coordinate transformational relation between camera 3 and second camera 4, the image between the first projecting apparatus 1 and the second projecting apparatus 2
Coordinate transformation relation can be calculated by following formula：
Wherein,For the abscissa of any on 1 image of the first projecting apparatus,For first
The ordinate of any on 1 image of projecting apparatus,For 2 image corresponding points abscissa of the second projecting apparatus,For 2 figure of the second projecting apparatus
Picture corresponding points ordinate,For first camera 3 transition matrix from image to 1 image of the first projecting apparatus,For second camera
Transition matrix from 4 image to 3 image of first camera,Conversion square for from 4 image of second camera to 2 image of the second projecting apparatus
Battle array.
, can be by two projections by first, second projecting apparatus distortion correction, and the image pixel matching of two projecting apparatus
It is equivalent to be stitched together into one big visual field projecting apparatus, the bar graph of first, second projector projects, tested tongue can be covered
7 uper side surface and both side surface.
To make the contrast of grating fringe clear, the first projecting apparatus 1 and the second projecting apparatus 2 generally use maximum brightness, this
Two projecting apparatus visual field intersections can be made to cause overexposure phenomenon, fringe phase information degree of being highlighted is covered.
To solve the problems, such as overexposure, corresponding projector image is found according to coordinate transformation relation in camera image overexposure region and sat
Mark, and reduce its projection brightness；Whole audience uniform restraint is introduced, by repeatedly adjustment and iteration, finally makes spliced big visual field
Grating fringe figure brightness uniformity.
202：Single binocular vision merges topography.
By the system calibrating of optical grating projection topography, by the scaling board of known topological relation under viewing field of camera
Put multiple positions and gathered with camera and calculate bar graph phase, resolve multinomial coefficient using optimization algorithm, establish camera
Mapping matrix between image phase and object height.
Two CCD camera measure system is based on principle of parallax as shown in Figure 5, it is necessary to find the same space o'clock in two cameras
Subpoint in image planesWithIt is the coordinate that can determine that spatial point P by two ray intersections：
Wherein, b is translation relation between camera,It is parallax, f is the focal length of double camera.
Further, the C in Fig. 51For the optical center of first camera 3, C2For the optical center of second camera 4, A1It is P points first
Subpoint on camera 3, A2For subpoint of the P points in second camera 4.
The key of binocular measuring system is the homotopy mapping of first camera 3 and second camera 4, by means of the throwing of grating
Penetrate, first camera 3 and second camera 4 shoot the bar graph with phase information respectively.Similar to match point searcher in Fig. 4
Method, for the visual field intersection of first camera 3 and second camera 4, must have a bit, with the first phase on the image of second camera 4
The vertical and horizontal direction phase of the same place on the image of machine 3 is identical.
The difficult point of this method is uniformly to arrive three systems (a set of Binocular Stereo Vision System, two sets of monocular optical-mechanical systems)
Under one coordinate system., can be by the establishment of coordinate system of biocular systems in first camera 3 in calibration process, while monocular system
Establishment of coordinate system on corresponding camera, ask by the conversion that monocular system that such first camera 3 forms is not related to coordinate system then
Topic, and the monocular system that second camera 4 forms then needs to carry out coordinate according to the transition matrix that Bi-objective is made to measurement result
System's conversion.The data of three sets of systems are all unified to after same coordinate system, the 7 upper surface data of tongue that measuring system collects with
The measurement data of two sides will combine.
For monocular, reappear the region beyond binocular deleted areas, both add time of measuring, while also can be at this
A little regions produce data overlap, influence further to handle.
, must be respectively to the in the matching process of binocular measurement for the only reproduction binocular absent region in monocular
The unmatched point of one camera 3 and second camera 4 is marked.One mark value is set to every bit in phase diagram, if it is possible to
Find Corresponding matching point and then set its mark value as 1, be otherwise 0.Only needed for the point that mark value is 0 in subsequent monocular reproduction
Handled.
In conclusion the embodiment of the present invention uses 3 D measuring method of more optical grating projections integral into picture, ensure to survey
The characteristics of utilizing raster phase modulates information while measuring speed reduces measurement data noise jamming, realizes that three-dimensional appearance data obtain
What is taken is quick, accurate.
It will be appreciated by those skilled in the art that attached drawing is the schematic diagram of a preferred embodiment, the embodiments of the present invention
Sequence number is for illustration only, does not represent the quality of embodiment.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on, should all be included in the protection scope of the present invention.
Claims (8)
- A kind of 1. more optical grating projection binocular vision tongue body surface three dimension entirety imaging methods, it is characterised in that the described method includes Following steps：1) tongue surface topography acquisition system is built；Wherein, tongue surface topography acquisition system includes：First projecting apparatus, the second projecting apparatus, first camera, second camera, first Light source and secondary light source；First light source and secondary light source are as the double grating projector；First camera and second camera are as binocular camera；2) it is by first, second projecting apparatus distortion correction, and the image pixel matching of two projecting apparatus, two projections are equivalent Into one big visual field projecting apparatus, for covering the big visual field grating of tongue upper surface and both side surface；3) first camera, second camera form two groups of optical grating measuring systems to gather with the first projecting apparatus, the second projecting apparatus respectively The three-dimensional information of the both side surface of tongue；4) first camera, second camera constitute Binocular Stereo Vision System in the visual field overlapping region of the upper surface of tongue, lead to Phase matched same place is crossed, realizes the upper surface topography feature for accurately and stably measuring tongue.
- 2. a kind of more optical grating projection binocular vision tongue body surface three dimension entirety imaging methods according to claim 1, it is special Sign is that the step 2) is specially：1) by Zhang Zhengyou camera calibration algorithms, world coordinate system is calibrated to the first of camera image coordinate system by scaling board Transition matrix；2) horizontal and vertical striped, camera shooting bar graph are projected respectively to scaling board with projecting apparatus, and resolves absolute phase mark Make second transition matrix of the world coordinate system to projector image coordinate system；3) coordinate between projecting apparatus and scaling board is calculated according to Zhang Zhengyou camera calibrations algorithm, with reference to least square method to change Matrix；The coordinate conversion matrix from camera to projecting apparatus is obtained at the same time；Image coordinate conversion between first camera second camera is closed System demarcates by scaling board；4) the image coordinate transformational relation between the first projecting apparatus and the second projecting apparatus is obtained.
- 3. a kind of more optical grating projection binocular vision tongue body surface three dimension entirety imaging methods according to claim 2, it is special Sign is that the image coordinate transformational relation between first projecting apparatus and the second projecting apparatus is specially：<mrow> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>u</mi> <msub> <mi>p</mi> <mn>1</mn> </msub> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <msub> <mi>p</mi> <mn>1</mn> </msub> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <msubsup> <mi>H</mi> <msub> <mi>p</mi> <mn>2</mn> </msub> <msub> <mi>p</mi> <mn>1</mn> </msub> </msubsup> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>u</mi> <msub> <mi>p</mi> <mn>2</mn> </msub> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <msub> <mi>p</mi> <mn>2</mn> </msub> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> </mrow>Wherein, For the abscissa of any on the first projector image,For the first projecting apparatus The ordinate of any on image,For the second projector image corresponding points abscissa,For the second projector image corresponding points Ordinate,For first camera transition matrix from image to the first projector image,For second camera image to The transition matrix of one camera image,Transition matrix for from second camera image to the second projector image.
- 4. a kind of more optical grating projection binocular vision tongue body surface three dimension entirety imaging methods according to claim 1, it is special Sign is that the method further includes：Corresponding projector image coordinate is found according to coordinate transformation relation in camera image overexposure region, and it is bright to reduce its projection Degree；Whole audience uniform restraint is introduced, by repeatedly adjustment and iteration, finally makes spliced big visual field grating fringe figure brightness equal It is even.
- 5. a kind of more optical grating projection binocular vision tongue body surface three dimension entirety imaging methods according to claim 1, it is special Sign is that the method further includes：By the establishment of coordinate system of Binocular Stereo Vision System in first camera, while monocular system establishment of coordinate system is in the second phase On machine；Monocular system needs to carry out coordinate system conversion according to the transition matrix that Binocular Stereo Vision System calibrates to measurement result；The data of three sets of systems are all unified to after same coordinate system, the tongue upper surface data and both sides that measuring system collects The measurement data in face will combine.
- 6. a kind of more optical grating projection binocular vision tongue body surface three dimension entirety imaging methods according to claim 1, it is special Sign is that first projecting apparatus, the second projecting apparatus are technical grade projecting apparatus TI Lightcrafter 4500.
- 7. a kind of more optical grating projection binocular vision tongue body surface three dimension entirety imaging methods according to claim 1, it is special Sign is that the first camera, second camera are Basler ava1900-50gc.
- 8. a kind of more optical grating projection binocular vision tongue body surface three dimension entirety imaging methods according to claim 1, it is special Sign is that first light source and secondary light source are CCS HPR2-150SW.
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| CN110060301A (en) * | 2019-03-18 | 2019-07-26 | 盎锐（上海）信息科技有限公司 | Calibration system and method for projection grating modeling |
| CN111023994A (en) * | 2020-01-11 | 2020-04-17 | 武汉玄景科技有限公司 | Grating three-dimensional scanning method and system based on multiple measurements |
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| CN112013786A (en) * | 2020-09-01 | 2020-12-01 | 三一重工股份有限公司 | Large-view-field depth camera and three-dimensional information detection method |
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| CN109767490A (en) * | 2019-03-05 | 2019-05-17 | 盎锐（上海）信息科技有限公司 | Image analysis system and method for projection grating modeling |
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| CN111023994A (en) * | 2020-01-11 | 2020-04-17 | 武汉玄景科技有限公司 | Grating three-dimensional scanning method and system based on multiple measurements |
| CN111023994B (en) * | 2020-01-11 | 2023-06-23 | 武汉玄景科技有限公司 | Grating three-dimensional scanning method and system based on multiple measurement |
| CN111601097A (en) * | 2020-04-10 | 2020-08-28 | 熵智科技(深圳)有限公司 | Binocular stereo matching method, device, medium and equipment based on double projectors |
| CN111601097B (en) * | 2020-04-10 | 2020-12-18 | 熵智科技(深圳)有限公司 | Binocular stereo matching method, device, medium and equipment based on double projectors |
| WO2021203770A1 (en) * | 2020-04-10 | 2021-10-14 | 熵智科技(深圳)有限公司 | Binocular stereo matching method and apparatus based on double projectors, and medium and device |
| CN112013786A (en) * | 2020-09-01 | 2020-12-01 | 三一重工股份有限公司 | Large-view-field depth camera and three-dimensional information detection method |
| CN112509055A (en) * | 2020-11-20 | 2021-03-16 | 浙江大学 | Acupuncture point positioning system and method based on combination of binocular vision and coded structured light |
| CN112509055B (en) * | 2020-11-20 | 2022-05-03 | 浙江大学 | Acupuncture point positioning system and method based on combination of binocular vision and coded structured light |
| CN114404084A (en) * | 2022-01-21 | 2022-04-29 | 北京大学口腔医学院 | Scanning device and scanning method |
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