CN111023994A - Grating three-dimensional scanning method and system based on multiple measurements - Google Patents
Grating three-dimensional scanning method and system based on multiple measurements Download PDFInfo
- Publication number
- CN111023994A CN111023994A CN202010028698.3A CN202010028698A CN111023994A CN 111023994 A CN111023994 A CN 111023994A CN 202010028698 A CN202010028698 A CN 202010028698A CN 111023994 A CN111023994 A CN 111023994A
- Authority
- CN
- China
- Prior art keywords
- grating
- camera
- right camera
- point
- projector
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention provides a grating three-dimensional scanning method and a system based on multiple measurements, which comprises the steps of calibrating internal and external parameters of a left camera, a right camera and a grating projector according to a high-precision dot calibration plate; the left camera and the right camera synchronously acquire grating image groups projected on an object to be scanned by a grating projector, and perform phase decoding, denoising and compensation processing on the grating image groups to obtain phase encoding images of the left camera and the right camera; and calculating the three-dimensional coordinate of the object to be scanned according to the obtained calibration parameters, the phase coding patterns of the left camera and the right camera and the coding information of the grating projector, wherein the three-dimensional coordinate comprises an area where the left camera and the right camera are overlapped with the grating projector at the same time, an area where the left camera and the grating projector are overlapped but are not overlapped with the right camera, and an area where the right camera and the grating projector are overlapped but are not overlapped with the left camera. The invention can utilize multiple observations of the left camera, the right camera and the grating projector to realize rapid and fine three-dimensional scanning in a larger scanning range under the same equipment condition, and solves the problems of low matching speed of homonymy points and small effective scanning area caused by the occlusion of the visual angles of the left camera and the right camera in the traditional binocular grating three-dimensional scanning method.
Description
Technical Field
The invention belongs to the technical field of image three-dimensional information reconstruction, and relates to a grating three-dimensional scanning method and system based on multiple measurements.
Background
In recent years, the non-contact type grating three-dimensional scanning measurement technology has wide application and wide prospect in a plurality of fields such as industrial detection, reverse engineering, human body scanning, cultural relic protection, computer games, digital movies, physical simulation, home decoration and the like.
At present, three-dimensional reconstruction systems at home and abroad are roughly divided into three types: the first method is to shoot a plurality of angle images through a camera and reconstruct a three-dimensional structure of an object from a two-dimensional image sequence, and the method has low cost, low reconstruction result precision and complex calculation. The second type is based on direct measurement of three-dimensional information of an object by precision equipment, such as laser scanners, nuclear magnetic resonance apparatuses, and the like. The method is based on direct measurement of a precise sensor, so the precision is high, but the equipment is expensive and the limitation on the use scene is large. The third type is the most mature structured light reconstruction method in the current domestic and foreign markets, and the method is simple to operate, high in measurement accuracy, low in cost and wide in applicable scenes.
The traditional binocular grating three-dimensional scanning method is the most common structured light reconstruction method, and the method is based on a binocular structure, namely a left camera and a right camera with fixed postures and a middle grating projector structure, the structural schematic diagram of the method is shown in figure 1, and the left camera and the right camera are matched with the same-name point in the area where the fields of view of the cameras and the projectors are overlapped by shooting an image sequence of projection grating codes, so that three-dimensional points are reconstructed. However, the conventional binocular raster three-dimensional scanning method still has the following two disadvantages:
1. when the coordinates of three-dimensional points are calculated by the traditional binocular grating three-dimensional scanning method, the homonymous point matching of the left camera and the right camera needs to be searched in the whole epipolar line range, the search area is large, the time consumption is long, and the existing optimization strategies are not beneficial to algorithm parallelization.
2. In the traditional binocular grating three-dimensional scanning method, due to the limitation of the camera posture, under the condition of the existence of shielding, as shown in fig. 2, the overlapping area of a left camera, a right camera and projection is greatly reduced, and the effective scanning area is small.
Disclosure of Invention
The invention provides a grating three-dimensional scanning method based on multiple measurements, aiming at the problems of slow matching of homonymy points and small effective scanning area under the condition of shielding in the reconstruction process of the traditional binocular grating three-dimensional scanning method, and the process comprises the following steps:
step 1, calibrating internal and external parameters of a left camera, a right camera and a grating projector according to a high-precision dot calibration plate;
step 2, the left camera and the right camera synchronously acquire grating image groups projected on an object to be scanned by a grating projector, and perform phase decoding, denoising and compensation processing on the grating image groups to obtain phase encoding images of the left camera and the right camera;
and 3, calculating the three-dimensional coordinate of the object to be scanned according to the calibration parameters obtained in the step 1, the phase encoding patterns of the left camera and the right camera obtained in the step 2 and the encoding information of the grating projector.
Moreover, the implementation of step 1 specifically includes the following steps:
step 1.1, synchronously acquiring calibration images of a high-precision dot calibration plate under different angles by a left camera and a right camera;
step 1.2, extracting center coordinates of dots on calibration images of a left camera and a right camera, identifying the same-name points of the left camera and the right camera according to positioning points on a dot calibration plate, solving internal and external calibration parameters of the left camera and the right camera by using the same-name points of the angle calibration images and size parameters of the calibration plate, and reconstructing object space coordinates of the centers of the dots on the calibration plate;
step 1.3, performing phase decoding on the calibration image in the step 1.1 to obtain the coding information of each image point, and converting the coding information into row and column coordinates of a grating projector;
step 1.4, according to the dot centers extracted in the step 1.2, respectively interpolating the raster projector row-column coordinates corresponding to the dot centers from the raster projector row-column information of the calibration images of the left camera and the right camera obtained in the step 1.3, and averaging the raster projector row-column coordinates of the same-name point obtained by the left camera and the right camera to obtain the raster projector row-column coordinates corresponding to the dot centers;
step 1.5, calibrating internal and external calibration parameters of the grating projector by using a rear intersection method according to the camera calibration parameters and object space coordinates of the center of the dot in the step 1.2 and the row and column coordinates of the grating projector at the center of the dot obtained in the step 1.4;
and step 1.6, carrying out integral beam adjustment according to the initial values of the internal and external calibration parameters of the left camera, the right camera and the grating projector, the image coordinates of the calibration board dots on the calibration image, the row and column coordinates of the calibration board dots on the grating projector and the initial values of the object space coordinates of the calibration board dots, which are obtained in the steps 1.1-1.5, so as to obtain the internal and external calibration parameters of the left camera, the right camera and the grating projector after the precision optimization.
Moreover, the step 3 specifically comprises the following steps:
step 3.1, an image point CL is taken from the breadth of the left camera, a homonymy point P in the breadth of the grating projector is directly obtained according to grating coding information, forward intersection is carried out by combining calibration parameters of the left camera and the grating projector, and an object space coordinate L corresponding to the image point is obtained;
step 3.2, back-projecting the point L to the right camera according to the calibration parameters of the right camera to obtain a projection point L _ofthe point L to the right camera, searching a same-name point CR of the CL along a epipolar line of the right camera near the point L _, wherein the same-name rule is that phase encoding values of the point CR and the epipolar line CR are equal, if the same-name point CR is found, marking a pixel where the CR is located as being reconstructed, and performing forward intersection by the CL and the CR to obtain a final object space coordinate O; if the same-name point is not found, L is the final object point O;
step 3.3, repeating the steps 3.1 and 3.2 to traverse all the image points of the left camera;
step 3.4, traversing the image point CR of the right camera, and skipping if the CR is marked as reconstructed; if the object space point is not marked, directly obtaining the homonymous point P of the object space point on the grating projector according to the grating coding information, carrying out front intersection by combining the calibration parameters of the right camera and the grating projector, and obtaining an object space point R, wherein the R is the final object space point;
and 3.5, repeating the step 3.4 to traverse the image point of the right camera, and finally combining the object space points O and R to obtain the final object space three-dimensional coordinate of the object to be scanned.
In the stereo matching in step 3.2, the traditional method needs to search the whole epipolar line region, but the invention reduces the search region to the vicinity of the epipolar line where the projection point L _ is located, even does not need to search, and greatly accelerates the stereo matching process.
The final object point obtained in step 3 includes a point in a range of a region where the left camera and the right camera overlap with the grating projector at the same time, a region where the left camera and the grating projector overlap but do not overlap with the right camera, and a region where the right camera and the grating projector overlap but do not overlap with the left camera. Under the condition of occlusion, as shown in fig. 2, the conventional method can only reconstruct the region a, and the method provided by the present invention can reconstruct the region A, B, C, so that the effective reconstruction region under the condition of occlusion is increased.
The invention provides a grating three-dimensional scanning method and a system based on multiple measurements, which comprises the steps of calibrating internal and external parameters of a left camera, a right camera and a grating projector according to a high-precision dot calibration plate; the left camera and the right camera synchronously acquire grating image groups projected on an object to be scanned by a grating projector, and perform phase decoding, denoising and compensation processing on the grating image groups to obtain phase encoding images of the left camera and the right camera; and calculating the three-dimensional coordinate of the object to be scanned according to the obtained calibration parameters, the phase coding patterns of the left camera and the right camera and the coding information of the grating projector, wherein the three-dimensional coordinate comprises an area where the left camera and the right camera are overlapped with the grating projector at the same time, an area where the left camera and the grating projector are overlapped but are not overlapped with the right camera, and an area where the right camera and the grating projector are overlapped but are not overlapped with the left camera. The invention can utilize multiple observations of the left camera, the right camera and the grating projector to realize rapid and fine three-dimensional scanning in a larger scanning range under the same equipment condition, and solves the problems of low matching speed of homonymy points and small effective scanning area caused by the occlusion of the visual angles of the left camera and the right camera in the traditional binocular grating three-dimensional scanning method.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a binocular grating three-dimensional scanning system.
FIG. 2 is a schematic view of scanning of a binocular grating three-dimensional scanning system under an occlusion condition.
Fig. 3 is a schematic diagram of a third image of the raster image group captured by the left camera.
Fig. 4 is a schematic diagram of a third image of the group of raster images captured by the right camera.
Fig. 5 is a schematic diagram of a phase encoding diagram after decoding a left camera grating image group.
Fig. 6 is a schematic diagram of a phase encoding diagram after decoding a right camera grating image group.
Fig. 7 is a schematic diagram of three-dimensional reconstruction of a binocular raster three-dimensional scanning system.
Fig. 8 is a schematic view of a point cloud of an object to be scanned reconstructed by a conventional binocular raster three-dimensional scanning method.
Fig. 9 is a schematic diagram of the point cloud of the object to be scanned reconstructed by the present invention.
Detailed Description
The technical solution of the present invention is described in detail below with reference to the accompanying drawings and examples.
Aiming at the problems that homonymous point matching is slow in the reconstruction process of the traditional binocular grating three-dimensional scanning method and the effective scanning area is small under the shielding condition, the invention develops a grating three-dimensional scanning method research based on multiple measurements, and aims to accelerate the homonymous point matching process of left and right cameras in the traditional method and increase the effective scanning area under the shielding condition. According to the method provided by the patent, the same equipment (the schematic structural diagram is shown in fig. 1) as the traditional binocular grating three-dimensional scanning method can be adopted, the projector is also virtualized into a camera in the reconstruction process on the basis of a binocular triangulation model constructed by a double camera in the traditional binocular grating three-dimensional scanning method, and two new binocular triangulation models of a left camera-grating projector and a right camera-grating projector are added. The initial values of object space points can be directly intersected by utilizing a triangulation model of a camera-grating projector, and the positions of the homonymous points of the dual-camera measurement model are predicted, so that the search ranges of the homonymous points of the left camera and the right camera are reduced, and the three-dimensional reconstruction process is accelerated; meanwhile, in the area which can not be observed by the dual-camera triangulation model, the triangulation model of the camera-grating projector is used for directly meeting object space point supplement, so that the problem that the effective scanning area of the dual-camera structure is small under the shielding condition is solved.
The embodiment of the invention provides a grating three-dimensional scanning method based on multiple measurements, which comprises the following steps:
step 1, calibrating internal and external parameters of a left camera, a right camera and a grating projector according to a high-precision dot calibration board.
Step 1.1, synchronously acquiring calibration images of a high-precision dot calibration plate under different angles by a left camera and a right camera;
step 1.2, extracting center coordinates of dots on calibration images of a left camera and a right camera, identifying the same-name points of the left camera and the right camera according to positioning points on a dot calibration plate, solving internal and external calibration parameters of the left camera and the right camera by using the same-name points of the angle calibration images and size parameters of the calibration plate, and reconstructing object space coordinates of the centers of the dots on the calibration plate;
step 1.3, performing phase decoding on the calibration image in the step 1.1 to obtain the coding information of each image point, and converting the coding information into row and column coordinates of a grating projector;
step 1.4, according to the dot centers extracted in the step 1.2, respectively interpolating the raster projector row-column coordinates corresponding to the dot centers from the raster projector row-column information of the calibration images of the left camera and the right camera obtained in the step 1.3, and averaging the raster projector row-column coordinates of the same-name point obtained by the left camera and the right camera to obtain the raster projector row-column coordinates corresponding to the dot centers;
step 1.5, calibrating internal and external calibration parameters of the grating projector by using a rear intersection method according to the camera calibration parameters and object space coordinates of the center of the dot in the step 1.2 and the row and column coordinates of the grating projector at the center of the dot obtained in the step 1.4;
and step 1.6, carrying out integral beam adjustment according to the initial values of the internal and external calibration parameters of the left camera, the right camera and the grating projector, the image coordinates of the calibration board dots on the calibration image, the row and column coordinates of the calibration board dots on the grating projector and the initial values of the object space coordinates of the calibration board dots, which are obtained in the steps 1.1-1.5, so as to obtain the internal and external calibration parameters of the left camera, the right camera and the grating projector after the precision optimization.
And 2, synchronously acquiring grating image groups projected on the object to be scanned by the grating projectors by the left camera and the right camera, and performing phase decoding, denoising and compensation processing on the grating image groups to obtain phase encoding images of the left camera and the right camera. FIG. 3 is a schematic diagram of a third image of the raster image group captured by the left camera; FIG. 4 is a schematic diagram of a third image of the group of raster images captured by the right camera; FIG. 5 is a schematic diagram of a phase encoding diagram after decoding a left camera raster image group; fig. 6 is a schematic diagram of the phase encoding diagram after decoding the right camera raster image group.
And 3, calculating the three-dimensional coordinate of the object to be scanned according to the calibration parameters obtained in the step 1, the phase encoding patterns of the left camera and the right camera obtained in the step 2 and the encoding information of the grating projector.
The subsequent detailed implementation content of the reconstruction process of the method and the system provided by the invention can be understood by combining the three-dimensional reconstruction process of a single object space point. As shown in fig. 7, point O is a certain object point within the range of the projector projection grating and captured by at least one camera; the point OL, the point OC and the point OR are respectively the optical centers of the left camera, the grating projector and the right camera; CL, P, CR are the corresponding points of O on the breadth of the left camera, the projector, the right camera respectively; and L and R are three-dimensional points reconstructed by the left camera-grating projector binocular model and the right camera-grating projector binocular model respectively.
And 3.1, performing stereo matching based on a binocular model formed by the left camera and the grating projector, taking an image point CL from the breadth of the left camera as shown in FIG. 3, directly obtaining a homonymous point P of the image point in the breadth of the grating projector according to grating coding information, performing front intersection by combining calibration parameters, and obtaining a three-dimensional coordinate of a corresponding object space point L. The method has the advantages that the stereo matching of the traditional method needs to search the homonymy point on the whole breadth epipolar line, and the homonymy point can be directly obtained from the breadth of the grating projector, so that the matching process is greatly accelerated.
Step 3.2, according to the calibration parameters of the right camera, the point L is back-projected to the right camera as shown in fig. 7, a projection point L _ofthe point L on the right camera is obtained, a homonymous point CR of the CL is searched along a epipolar line of the CL on the right camera near the point L _, the homonymous rule is that the phase code values of the point CR and the homonymous point CR are equal, if the homonymous point CR is found, the pixel where the CR is marked is reconstructed, and forward intersection is carried out by the CL and the CR to obtain a final object space coordinate O; if the homonymous point is not found (point O is in the area C in fig. 2, and the right camera cannot capture the point), L is the final object point O. The advantage of this step is that stereo matching in the conventional method always requires searching for the homonymous point on the whole epipolar line, whereas in the present invention, the prediction of the back projected point can be performed by the binocular model formed by the left camera-grating projector in step 3.1, reducing the homonymous point search range of the bi-phase model.
And 3.3, repeating the step 3.1 and the step 3.2 to traverse the image point of the left camera, wherein the obtained object point range is shown as A and C in the graph 2.
And 3.4, traversing the image point CR of the right camera based on a binocular model formed by the right camera and the grating projector. If the image point is marked as reconstructed, it is indicated that the point O is in the area a in fig. 2 (both the left and right cameras and the projector can see), reconstructed, and skipped; if the point O is not marked, the point O is shown in the area B in the graph 2 (only seen from the right camera and the grating projector), the homonymous point P of the point O on the projector is directly obtained according to the grating coding information, forward intersection is carried out by combining the calibration parameters of the right camera and the grating projector, and the corresponding object space point R is directly obtained, wherein at the moment, R is the final three-dimensional coordinate of the object space point
And 3.5, repeating the step 3.4 to process the image point of the right camera in a traversing way, and finally combining the object space points O and R to obtain the final object space three-dimensional coordinate of the object to be scanned.
Compared with the traditional binocular grating three-dimensional scanning method, the method has two remarkable advantages.
Firstly, in the three-dimensional reconstruction process of object space points, the stereo matching of the traditional method needs to search homonymous points on the whole epipolar line region, but the stereo matching of the method can reduce the search range of the epipolar line, thereby accelerating the stereo matching speed.
Second, the three-dimensional reconstruction method proposed by the present invention is significantly superior to the conventional method in the presence of occlusion. As shown in fig. 2, there is a blocked three-dimensional scanning situation, and the conventional method can reconstruct a region of three-dimensional data, which is only a region represented by a; the three-dimensional reconstruction method provided by the invention can reconstruct a region which is commonly represented by A, B, C and is of three-dimensional data. Fig. 8 is a schematic view of a point cloud of an object to be scanned reconstructed by a conventional binocular raster three-dimensional scanning method; as shown in fig. 9, which is a schematic view of the point cloud of the object to be scanned reconstructed by the present invention, it can be seen that, under the same data, the number of the point cloud of the object to be scanned reconstructed by the present invention is one third more than that of the point cloud of the object to be scanned by the conventional method, and the area where the data cannot be obtained by the conventional method, such as the sidewall of the object to be scanned, can also be obtained by the present invention.
In specific implementation, the above processes can be automatically operated by adopting a computer software mode, and a system device for operating the method also needs to be in a protection range.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (6)
1. A grating three-dimensional scanning method based on multiple measurements is characterized in that: the grating three-dimensional scanning method based on multiple measurements comprises the following steps:
step 1, calibrating internal and external parameters of a left camera, a right camera and a grating projector according to a high-precision dot calibration plate;
step 2, the left camera and the right camera synchronously acquire grating image groups projected on an object to be scanned by a grating projector, and perform phase decoding, denoising and compensation processing on the grating image groups to obtain phase encoding images of the left camera and the right camera;
and 3, calculating the three-dimensional coordinate of the object to be scanned according to the calibration parameters obtained in the step 1, the phase encoding patterns of the left camera and the right camera obtained in the step 2 and the encoding information of the grating projector.
2. The grating three-dimensional scanning method based on multiple measurements as claimed in claim 1, wherein: the calibration parameters in the step 1 comprise internal and external calibration parameters of a left camera, a right camera and a grating projector, and the method specifically comprises the following steps:
step 1.1, synchronously acquiring calibration images of a high-precision dot calibration plate under different angles by a left camera and a right camera;
step 1.2, extracting center coordinates of dots on calibration images of a left camera and a right camera, identifying the same-name points of the left camera and the right camera according to positioning points on a dot calibration plate, solving internal and external calibration parameters of the left camera and the right camera by using the same-name points of the angle calibration images and size parameters of the calibration plate, and reconstructing object space coordinates of the centers of the dots on the calibration plate;
step 1.3, performing phase decoding on the calibration image in the step 1.1 to obtain the coding information of each image point, and converting the coding information into row and column coordinates of a grating projector;
step 1.4, according to the dot centers extracted in the step 1.2, respectively interpolating the raster projector row-column coordinates corresponding to the dot centers from the raster projector row-column information of the calibration images of the left camera and the right camera obtained in the step 1.3, and averaging the raster projector row-column coordinates of the same-name point obtained by the left camera and the right camera to obtain the raster projector row-column coordinates corresponding to the dot centers;
step 1.5, calibrating internal and external calibration parameters of the grating projector by using a rear intersection method according to the camera calibration parameters and object space coordinates of the center of the dot in the step 1.2 and the row and column coordinates of the grating projector at the center of the dot obtained in the step 1.4;
and step 1.6, carrying out integral beam adjustment according to the initial values of the internal and external calibration parameters of the left camera, the right camera and the grating projector, the image coordinates of the calibration board dots on the calibration image, the row and column coordinates of the calibration board dots on the grating projector and the initial values of the object space coordinates of the calibration board dots, which are obtained in the steps 1.1-1.5, so as to obtain the internal and external calibration parameters of the left camera, the right camera and the grating projector after the precision optimization.
3. The grating three-dimensional scanning method based on multiple measurements as claimed in claim 1, wherein: the step 3 specifically comprises the following steps:
step 3.1, an image point CL is taken from the breadth of the left camera, a homonymy point P in the breadth of the grating projector is directly obtained according to grating coding information, forward intersection is carried out by combining calibration parameters of the left camera and the grating projector, and an object space coordinate L corresponding to the image point is obtained;
step 3.2, back-projecting the point L to the right camera according to the calibration parameters of the right camera to obtain a projection point L _ofthe point L to the right camera, searching a same-name point CR of the CL along a epipolar line of the right camera near the point L _, wherein the same-name rule is that phase encoding values of the point CR and the epipolar line CR are equal, if the same-name point CR is found, marking a pixel where the CR is located as being reconstructed, and performing forward intersection by the CL and the CR to obtain a final object space coordinate O; if the same-name point is not found, L is the final object point O;
step 3.3, repeating the steps 3.1 and 3.2 to traverse all the image points of the left camera;
step 3.4, traversing the image point CR of the right camera, and skipping if the CR is marked as reconstructed; if the object space point is not marked, directly obtaining the homonymous point P of the object space point on the grating projector according to the grating coding information, carrying out front intersection by combining the calibration parameters of the right camera and the grating projector, and obtaining an object space point R, wherein the R is the final object space point;
and 3.5, repeating the step 3.4 to traverse the image point of the right camera, and finally combining the object space points O and R to obtain the final object space three-dimensional coordinate of the object to be scanned.
4. A raster three-dimensional scanning method based on multiple measurements as claimed in claim 3, characterized in that: in the step 3.2, the search area is narrowed from the whole epipolar line range to the vicinity of the epipolar line where the projection point L _ is located by matching the homonymous points of the left camera and the right camera.
5. A raster three-dimensional scanning method based on multiple measurements as claimed in claim 3, characterized in that: the obtained object space points comprise points in the range of an area where the left camera and the right camera are overlapped with the grating projector at the same time, an area where the left camera and the grating projector are overlapped but not overlapped with the right camera, and an area where the right camera and the grating projector are overlapped but not overlapped with the left camera.
6. A grating three-dimensional scanning system based on multiple measurements is characterized in that: a raster three-dimensional scanning method based on multiple measurements for use in accordance with claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010028698.3A CN111023994B (en) | 2020-01-11 | 2020-01-11 | Grating three-dimensional scanning method and system based on multiple measurement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010028698.3A CN111023994B (en) | 2020-01-11 | 2020-01-11 | Grating three-dimensional scanning method and system based on multiple measurement |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111023994A true CN111023994A (en) | 2020-04-17 |
| CN111023994B CN111023994B (en) | 2023-06-23 |
Family
ID=70198977
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010028698.3A Active CN111023994B (en) | 2020-01-11 | 2020-01-11 | Grating three-dimensional scanning method and system based on multiple measurement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111023994B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115289997A (en) * | 2022-08-01 | 2022-11-04 | 合肥国际应用超导中心 | Binocular camera three-dimensional contour scanner and using method thereof |
| CN115661226A (en) * | 2022-12-08 | 2023-01-31 | 深圳市华汉伟业科技有限公司 | Three-dimensional measuring method of mirror surface object, computer readable storage medium |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108020175A (en) * | 2017-12-06 | 2018-05-11 | 天津中医药大学 | A kind of more optical grating projection binocular vision tongue body surface three dimension entirety imaging methods |
| CN108665535A (en) * | 2018-05-10 | 2018-10-16 | 青岛小优智能科技有限公司 | A kind of three-dimensional structure method for reconstructing and system based on coding grating structured light |
| CN110044301A (en) * | 2019-03-29 | 2019-07-23 | 易思维（天津）科技有限公司 | Three-dimensional point cloud computing method based on monocular and binocular mixed measurement |
-
2020
- 2020-01-11 CN CN202010028698.3A patent/CN111023994B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108020175A (en) * | 2017-12-06 | 2018-05-11 | 天津中医药大学 | A kind of more optical grating projection binocular vision tongue body surface three dimension entirety imaging methods |
| CN108665535A (en) * | 2018-05-10 | 2018-10-16 | 青岛小优智能科技有限公司 | A kind of three-dimensional structure method for reconstructing and system based on coding grating structured light |
| CN110044301A (en) * | 2019-03-29 | 2019-07-23 | 易思维（天津）科技有限公司 | Three-dimensional point cloud computing method based on monocular and binocular mixed measurement |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115289997A (en) * | 2022-08-01 | 2022-11-04 | 合肥国际应用超导中心 | Binocular camera three-dimensional contour scanner and using method thereof |
| CN115289997B (en) * | 2022-08-01 | 2024-02-20 | 合肥国际应用超导中心 | Binocular camera three-dimensional contour scanner and application method thereof |
| CN115661226A (en) * | 2022-12-08 | 2023-01-31 | 深圳市华汉伟业科技有限公司 | Three-dimensional measuring method of mirror surface object, computer readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111023994B (en) | 2023-06-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111145238B (en) | Three-dimensional reconstruction method and device for monocular endoscopic image and terminal equipment | |
| Sagawa et al. | Dense 3D reconstruction method using a single pattern for fast moving object | |
| CN111566437B (en) | Three-dimensional measurement system and three-dimensional measurement method | |
| CN104335005B (en) | 3D is scanned and alignment system | |
| US8452081B2 (en) | Forming 3D models using multiple images | |
| US20120176380A1 (en) | Forming 3d models using periodic illumination patterns | |
| CN111144213B (en) | Object detection method and related equipment | |
| CN103796004A (en) | Active binocular depth sensing method of structured light | |
| CN111028295A (en) | 3D imaging method based on coded structured light and dual purposes | |
| CN106155299B (en) | A kind of pair of smart machine carries out the method and device of gesture control | |
| Furukawa et al. | One-shot entire shape acquisition method using multiple projectors and cameras | |
| JP2011242183A (en) | Image processing device, image processing method, and program | |
| CN112184793B (en) | Depth data processing method and device and readable storage medium | |
| CN111023994B (en) | Grating three-dimensional scanning method and system based on multiple measurement | |
| Gu et al. | Dot-coded structured light for accurate and robust 3D reconstruction | |
| JP7432793B1 (en) | Mapping methods, devices, chips and module devices based on three-dimensional point clouds | |
| US20220012905A1 (en) | Image processing device and three-dimensional measuring system | |
| CN108645353B (en) | Three-dimensional data acquisition system and method based on multi-frame random binary coding light field | |
| CN109064536B (en) | Page three-dimensional reconstruction method based on binocular structured light | |
| CN108895979B (en) | Line segment coded structured light depth acquisition method | |
| CN117495975A (en) | Zoom lens calibration method and device and electronic equipment | |
| Bai et al. | Scanning-based 3D reconstruction of large-scale objects | |
| Ye et al. | Research on flame location and distance measurement method based on binocular stereo vision | |
| Furukawa et al. | Simultaneous shape registration and active stereo shape reconstruction using modified bundle adjustment | |
| CN113706692A (en) | Three-dimensional image reconstruction method, three-dimensional image reconstruction device, electronic device, and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |