CN110500959A - 一种单摄像头口内三维扫描*** - Google Patents

一种单摄像头口内三维扫描*** Download PDF

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Publication number
CN110500959A
CN110500959A CN201910947140.2A CN201910947140A CN110500959A CN 110500959 A CN110500959 A CN 110500959A CN 201910947140 A CN201910947140 A CN 201910947140A CN 110500959 A CN110500959 A CN 110500959A
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single camera
reflecting mirror
reflecting
scanning system
mouth
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龙潜
欧攀
赵力
谢启伟
赵梓成
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Yunnan Astronomical Observatory of CAS
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Yunnan Astronomical Observatory of CAS
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Priority to CN201910947140.2A priority Critical patent/CN110500959A/zh
Publication of CN110500959A publication Critical patent/CN110500959A/zh
Priority to US17/036,183 priority patent/US11375888B2/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/24—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the mouth, i.e. stomatoscopes, e.g. with tongue depressors; Instruments for opening or keeping open the mouth
    • A61B1/247—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the mouth, i.e. stomatoscopes, e.g. with tongue depressors; Instruments for opening or keeping open the mouth with means for viewing areas outside the direct line of sight, e.g. dentists' mirrors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00064—Constructional details of the endoscope body
    • A61B1/00071—Insertion part of the endoscope body
    • A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
    • A61B1/00096—Optical elements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
    • A61B1/0646—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements with illumination filters
    • 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
    • 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
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G02B26/10—Scanning systems
    • G02B26/105—Scanning systems with one or more pivoting mirrors or galvano-mirrors

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Surgery (AREA)
  • Optics & Photonics (AREA)
  • Medical Informatics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Engineering & Computer Science (AREA)
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  • Heart & Thoracic Surgery (AREA)
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  • Veterinary Medicine (AREA)
  • General Physics & Mathematics (AREA)
  • Dentistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
  • Microscoopes, Condenser (AREA)

Abstract

一种单摄像头口内三维扫描***，包括单摄像头，在单摄像头与被测物体之间设有两个互相垂直的反射镜M2、M3，该两个反射镜的角平分线与单摄像头的镜头垂直，且两个反射镜的镜面朝向所述镜头，在反射镜M2左侧设有反射镜M1，在反射镜M3右侧设有反射镜M4；所述四个反射镜M1、M2、M3和M4处于同一平面内。本发明通过单摄像头结合其他光学分光装置，获得双目立体视觉三维扫描的效果。

Description

一种单摄像头口内三维扫描***
技术领域
本发明属于口腔医疗器械领域，具体涉及一种单摄像头口内三维扫描***。
背景技术
随着三维测量技术飞速的发展，该技术在各行业都有着重要的应用。在口腔印模的数字化过程中，一般通过计算机视觉技术获得测量物体的三维信息。因此需要对被测场景进行多视角的测量来获取更完整的测量数据，或者是直接用双目来测量获取三维信息。
双目立体视觉融合两只眼睛获得的图像并观察它们之间的差别，使我们可以获得明显的深度感，建立特征间的对应关系，将同一空间物理点在不同图像中的映像点对应起来，这个差别，我们称作视差(Disparity)图像。
双目立体视觉测量方法具有效率高、精度合适、***结构相对简单、成本低等优点，适合于在线、非接触产品检测和质量控制。在对运动物体的(包括动物和人体形体)测量过程中，由于图像获取是在瞬间完成的，因此立体视觉方法是一种更有效的测量方法。双目立体视觉***是计算机视觉的关键技术之一，获取空间三维场景的距离信息也是计算机视觉研究中的重要内容。
但是双目立体视觉测量采用的装置体积较大，在很多场景中的应用受到限制，尤其是在口腔这种狭小空间的使用时，不足之处更加明显，而单摄像头又由于测量设备和测量条件的限制，通常无法获得完整的三维数据。
发明内容
本发明的目的是提供一种单摄像头口内三维扫描***，通过单摄像头结合其他光学分光装置，获得双目立体视觉三维扫描的效果。
本发明采取的技术方案是：
一种单摄像头口内三维扫描***，包括单摄像头，在单摄像头与被测物体之间设有两个互相垂直的反射镜M2、M3，该两个反射镜的角平分线与单摄像头的镜头垂直，且两个反射镜的镜面朝向所述镜头，在反射镜M2左侧设有反射镜M1，在反射镜M3右侧设有反射镜M4；所述四个反射镜M1、M2、M3和M4处于同一平面内。
进一步的，所述四个反射镜M1、M2、M3和M4为2～5mm的正方形状。
进一步的，所述镜头到反射镜M2和M3的交点处的距离为1mm。
进一步的，反射镜M1与M2、M4与M3之间的距离均为3～5mm。
进一步的，反射镜M1和M4分别与所述角平分线的夹角为25～40度。
本发明的有益效果：
受口内三维扫描的体积限制，利用单摄像头结合一个额外的光学分光装置(平面镜组)来获得双目立体视觉三维扫描的效果，借助于这些分光装置，被测物体表面图像可通过左右两条不同的光路同时到达摄像头的左右靶面。通过分析这些子图像，可以获得物体表面的三维点云数据。
附图说明
图1为单摄像头口内三维扫描***光路原理图。
具体实施方式
如图1所示，一种单摄像头口内三维扫描***，包括单摄像头，在单摄像头与被测物体P之间设有两个互相垂直的反射镜M2、M3，该两个反射镜的角平分线与单摄像头的镜头L垂直，且两个反射镜的镜面朝向所述镜头L，在反射镜M2左侧设有反射镜M1，在反射镜M3右侧设有反射镜M4；所述四个反射镜M1、M2、M3和M4处于同一平面内。
所述四个反射镜M1、M2、M3和M4为5mm的正方形状；所述镜头到反射镜M2和M3的交点处的距离为1mm；反射镜M1与M2、M4与M3之间的距离均为3mm；反射镜M1和M4分别与所述角平分线的夹角为30度。

Claims (5)

1.一种单摄像头口内三维扫描***，其特征在于：包括单摄像头，在单摄像头与被测物体之间设有两个互相垂直的反射镜M2、M3，该两个反射镜的角平分线与单摄像头的镜头垂直，且两个反射镜的镜面朝向所述镜头，在反射镜M2左侧设有反射镜M1，在反射镜M3右侧设有反射镜M4；所述四个反射镜M1、M2、M3和M4处于同一平面内。
2.如权利要求1所述的一种单摄像头口内三维扫描***，其特征在于：所述四个反射镜M1、M2、M3和M4为2～5mm的正方形状。
3.如权利要求1所述的一种单摄像头口内三维扫描***，其特征在于：所述镜头到反射镜M2和M3的交点处的距离为1mm。
4.如权利要求1所述的一种单摄像头口内三维扫描***，其特征在于：反射镜M1与M2、M4与M3之间的距离均为3～5mm。
5.如权利要求1所述的一种单摄像头口内三维扫描***，其特征在于：反射镜M1和M4分别与所述角平分线的夹角为25～40度。
CN201910947140.2A 2019-09-29 2019-09-29 一种单摄像头口内三维扫描*** Pending CN110500959A (zh)

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US17/036,183 US11375888B2 (en) 2019-09-29 2020-09-29 Intraoral three-dimensional scanning system based on stereo vision using a monocular camera

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CN115268199A (zh) * 2022-09-29 2022-11-01 深圳市海塞姆科技有限公司 一种单目三维机器视觉光路***及方法

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CN113776785B (zh) * 2021-09-14 2024-01-30 中国石油大学(华东) 一种单目立体视觉***三维光路分析方法
CN114264249B (zh) * 2021-12-14 2023-06-16 中国石油大学(华东) 深孔狭小内腔三维测量***及方法
CN115250346A (zh) * 2022-09-22 2022-10-28 深圳市海塞姆科技有限公司 一种单目三维视觉传感器

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