WO2021115301A1

WO2021115301A1 - Close-range target 3d acquisition apparatus

Info

Publication number: WO2021115301A1
Application number: PCT/CN2020/134763
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
Also published as: CN111076674B; CN111076674A

Abstract

A close-range target 3D acquisition apparatus, comprising: an acquisition region moving device used for driving the acquisition region of an image acquisition device (4) to move relative to a target; and the image acquisition device (4) used for acquiring a group of images of the target by means of relative motion, the acquisition position of the image acquisition device (4) satisfying a preset condition. A 3D acquisition and synthesis method for a small object is proposed for the first time. By configuring a background panel (5) to also rotate, it is ensured that both the synthesis speed and the synthesis accuracy can be improved.

Description

一种近距离目标物3D采集设备A 3D acquisition equipment for close-range targets

技术领域Technical field

本发明涉及形貌测量技术领域，特别涉及3D形貌测量技术领域。The invention relates to the technical field of shape measurement, in particular to the technical field of 3D shape measurement.

背景技术Background technique

在进行3D测量时，需要首先采集3D信息。目前常用的方法包括使用机器视觉的方式，采集物体不同角度的图片，并将这些图片匹配拼接形成3D模型。在采集不同角度图片时，可以待测物不同角度设置多个相机，也可以通过单个或多个相机旋转从不同角度采集图片。例如南加州大学的Digital Emily项目，采用球型支架，在支架上不同位置不同角度固定了上百个相机，从而实现人体的3D采集和建模。但是即使采用这样的设备，也只能采集人体大小的物体3D信息，并且只能用于室内。同时，大量的相机使用导致了整个设备安装、调试的难度非常大，并且设备非常昂贵。如果拍摄更小体积的目标物(例如指纹、甚至显微镜下的物体)，由于目标物体积过小，留给相机的空间比较有限，难以安装如此大量的相机。而且采集设备均是针对单一尺寸设计的，一旦物体尺寸有较大变化，就无法工作。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. For example, the Digital Emily project of the University of Southern California uses a spherical bracket to fix hundreds of cameras at different positions and angles on the bracket to realize 3D collection and modeling of the human body. But even with such a device, it can only collect 3D information on objects the size of a human body, and it can only be used indoors. At the same time, the use of a large number of cameras makes the installation and debugging of the entire equipment very difficult, and the equipment is very expensive. If shooting a smaller volume target (such as a fingerprint or even an object under a microscope), because the target volume is too small, the space left for the camera is relatively limited, and it is difficult to install such a large number of cameras. Moreover, the collection equipment is designed for a single size, once the size of the object changes greatly, it will not work.

而且，对于微小物体的3D采集而言，即使使用旋转方式拍摄，其拍摄位置任意选取也会导致合成时间和合成效果的劣化。Moreover, for the 3D collection of small objects, even if the rotation mode is used for shooting, the arbitrary selection of the shooting position will cause the degradation of the synthesis time and the synthesis effect.

另外，目前现有技术中提出使用包括旋转角度、目标物尺寸、物距的经验公式限定相机位置，从而兼顾合成速度和效果。而对于小尺寸目标物而言，测量目标物尺寸本身就是一件困难的事，如果每次进行3D采集合成之前均需要进行目标物测量，会带来额外的负担，且精度难以保证。同时，在实际应用中发现：除非有精确量角装置，否则用户对角度并不敏感，难以准确确定角度；目标物尺寸难以准确确定，特别是某些应用场合目标物需要频繁更换，每次测量带来大量额外工作量，并且需要专业设备才能准确测量不规则目标物。测量的误差导致相机位置设定误差，从而会影响采集合成速度和效果；准确度和速度还需要进一步提高。In addition, the current prior art proposes 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. For small-sized targets, measuring the size of the target itself is a difficult task. If the target measurement needs to be performed before each 3D acquisition and synthesis, it will bring additional burden and the accuracy is difficult to guarantee. At the same time, 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, every measurement Brings a lot of extra workload and requires professional equipment 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.

因此，目前急需解决以下技术问题：①对于微小物体3D采集合成而言，能够同时大幅度提高合成速度和合成精度；②方便操作，无需使用专业设备，无需过多测量，能够快速获得优化的相机位置。Therefore, there is an urgent need to solve the following technical problems: ①For the 3D acquisition and synthesis of small objects, it can greatly improve the synthesis speed and synthesis accuracy at the same time; ②It is convenient to operate, does not require the use of professional equipment, does not require excessive measurement, and can quickly obtain an optimized camera position.

发明内容Summary of the invention

鉴于上述问题，提出了本发明提供一种克服上述问题或者至少部分地解决上述问题的采集设备。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.

本发明提供了一种近距离目标物3D采集设备，The present invention provides a 3D acquisition device for a close-range target,

采集区域移动装置，用于驱动图像采集装置的采集区域与目标物产生相对运动；The acquisition area moving device is used to drive the acquisition area of the image acquisition device to move relative to the target;

图像采集装置，用于通过上述相对运动采集目标物一组图像；An image acquisition device for acquiring a set of images of the target object through the above-mentioned relative motion;

图像采集装置的采集位置符合如下条件：The collection position of the image collection device meets the following conditions:

其中L为相邻两个采集位置图像采集装置光心的直线距离；f为图像采集装置的焦距；d为图像采集装置感光元件(CCD)的矩形长度或宽度；T为图像采集装置感光元件沿着光轴到目标物表面的距离；δ为调整系数。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.

本发明还提供了一种近距离目标物3D采集设备，The present invention also provides a 3D acquisition device for a short-distance target,

多个图像采集装置，设置于目标物周围，用于采集目标物不同方向的多个图像；Multiple image acquisition devices, arranged around the target, used to acquire multiple images of the target in different directions;

可选的，图像采集装置对侧设置有背景板。Optionally, a background board is provided on the opposite side of the image acquisition device.

可选的，采集区域移动装置为转动装置，驱动图像采集装置和/或目标物转动。Optionally, the collection area moving device is a rotating device that drives the image collection device and/or the target to rotate.

可选的，所述转动装置为转盘和/或转臂。Optionally, the rotating device is a turntable and/or a rotating arm.

可选的，所述图像采集装置镜头为微距镜头或显微镜头。Optionally, the lens of the image acquisition device is a macro lens or a microscope lens.

可选的，还包括载物台，载物台为可分区域升降的同心结构。Optionally, it also includes a stage, and the stage is a concentric structure that can be lifted and lowered in different areas.

可选的，δ<0.412，优选，δ<0.335。Optionally, δ<0.412, preferably, δ<0.335.

本发明还提供了一种使用任一所述设备的3D合成装置或方法，或，3D识别/比对装置或方法。The present invention also provides a 3D synthesis device or method using any of the equipment, or a 3D recognition/comparison device or method.

本发明还提供了一种使用任一所述设备的附属物制作方法或装置。The invention also provides a method or device for making an accessory using any of the equipment.

发明点及技术效果Invention points and technical effects

1、首次提出针对微小物体3D采集合成方法。1. For the first time, a 3D acquisition and synthesis method for small objects is proposed.

2、通过设置背景板一起转动的方式，保证能够同时提高合成速度和合成精度。2. By setting the background plate to rotate together, it is guaranteed that the synthesis speed and synthesis accuracy can be improved at the same time.

3、针对微小物体3D采集合成，通过优化相机采集图片的位置，保证能够同时提高合成速度和合成精度。优化位置时，无需测量角度，无需测量目标尺寸，适用性更强。3. Aiming at 3D collection and synthesis of small objects, by optimizing the position of the camera to collect pictures, it is guaranteed that the synthesis speed and synthesis accuracy can be improved at the same time. When optimizing the position, there is no need to measure the angle, no need to measure the target size, the applicability is stronger.

4、设置了方便微距采集的载物台结构，使得可以适应多种尺寸的目标物。4. A stage structure is set up to facilitate macro collection, which makes it suitable for targets of various sizes.

附图说明Description of the drawings

通过阅读下文优选实施方式的详细描述，各种其他的优点和益处对于本领域普通技术人员将变得清楚明了。附图仅用于示出优选实施方式的目的，而并不认为是对本实用新型的限制。而且在整个附图中，用相同的参考符号表示相同的部件。在附图中：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:

图1为本发明实施例提供的图像采集设备图像采集装置旋转方式的结构示意图；FIG. 1 is a schematic structural diagram of a rotation mode of an image acquisition device of an image acquisition device provided by an embodiment of the present invention;

图2为本发明实施例提供的同心圆载物台的结构示意图；2 is a schematic diagram of the structure of a concentric circle stage provided by an embodiment of the present invention;

图3为本发明实施例提供的同心圆载物台收起状态的俯视图；3 is a top view of the concentric circle stage provided by the embodiment of the present invention in a retracted state;

图4为本发明实施例提供的图像采集设备目标物旋转方式的结构示意图；FIG. 4 is a schematic structural diagram of a target rotation mode of an image acquisition device provided by an embodiment of the present invention;

图5为图像采集设备多台相机方式的结构示意图；Figure 5 is a schematic diagram of the structure of the image acquisition device with multiple cameras;

图6为本发明实施例提供的图像采集设备设置背景板的结构示意图；FIG. 6 is a schematic structural diagram of a background board provided by an image acquisition device according to an embodiment of the present invention;

附图标记与设备各部件的关系如下：The relationship between the reference signs and the components of the equipment is as follows:

1载物台，2旋转装置，3底座，4图像采集装置，5背景板。1 stage, 2 rotating device, 3 base, 4 image acquisition device, 5 background board.

具体实施方式Detailed ways

下面将参照附图更详细地描述本公开的示例性实施例。虽然附图中显示了本公开的示例性实施例，然而应当理解，可以以各种形式实现本公开而不应被这里阐述的实施例所限制。相反，提供这些实施例是为了能够更透彻地理解本公开，并且能够将本公开的范围完整的传达给本领域的技术人员。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.

为解决上述技术问题，本实用新型的一实施例提供了一种近距离目标物3D采集设备，包括图像采集装置、旋转装置。图像采集装置用于通过图像采集装置的采集区域与目标物相对运动采集目标物一组图像；采集区域移动装置，用于驱动图像采集装置的采集区域与目标物产生相对运动。采集区域为图像采集装置的有效视场范围。In order to solve the above technical problems, an embodiment of the present invention provides a close-range target 3D acquisition device, which includes 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.

图像采集装置旋转方式Rotation method of image acquisition device

请参考图1，设备包括圆形载物台1，用于承载微小的目标物；旋转装置2，可以为旋转臂，旋转臂为弯折形状，水平下段部转动固定于底座3，使得竖直上段部绕载物台1转动；图像采集装置4，用于采集目标物图像，安装于旋转臂上段部，特别的图像采集装置4可以沿旋转臂上下俯仰转动，以调节采集角度。Please refer to Figure 1. The equipment includes a circular stage 1 for carrying tiny objects; the rotating device 2 can be a rotating arm, the rotating arm is in a bent shape, and the horizontal lower section is rotated and fixed to the base 3 to make it vertical The upper section rotates around the stage 1; the image acquisition device 4 is used to acquire images of the target and is installed on the upper section of the rotating arm. The special image acquisition device 4 can be rotated up and down along the rotating arm to adjust the acquisition angle.

目标物固定于载物台1上，旋转装置2驱动图像采集装置4围绕目标物转动。旋转装置2可以通过旋转臂带动图像采集装置4围绕目标物转动。当然这种转动并不一定是完整的圆周运动，可以根据采集需要只转动一定角度。并且这种转动也不一定必须为圆周运动，图像采集装置4的运动轨迹可以为其它曲线轨迹，只要保证相机从不同角度拍摄物体即可。The target is fixed on the stage 1, and the rotating device 2 drives the image acquisition device 4 to rotate around the target. The rotating device 2 can drive the image acquisition device 4 to rotate around the target 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.

旋转装置2也可以为转台、轨道等多种形态，使得图像采集装置4能够产生运动即可。The rotating device 2 can also be in various forms such as a turntable, a track, etc., so that the image acquisition device 4 can move.

图像采集装置4用于采集目标物的图像，其可以为定焦相机，或变焦相机。特别是即可以为可见光相机，也可以为红外相机。图像采集装置4的镜头为微距镜头，拍摄时距离目标物距离非常短。特别的，图像采集装置4的镜头可以为显微镜头，从而使得该装置能够合成显微尺寸的目标物的3D模型。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. The lens of the image acquisition device 4 is a macro lens, and the distance to the target is very short when shooting. In particular, the lens of the image acquisition device 4 may be a microscope lens, so that the device can synthesize a 3D model of a micro-sized target.

载物台1台面为同心圆结构，如图2-图3，可以根据目标物大小选择载物台台面的尺寸。例如目标物尺寸为1cm时，载物台保留直径为2cm的台面升起， ***大于2cm的台面下降至底座。由于图像采集装置4距离物体较近，这样设置可以给图像采集装置留出足够的旋转空间。台面可以根据需要设置多种直径尺寸的同心圆，例如1cm、2cm、5cm、10cm等。这也是本发明的发明点之一。The surface of the stage 1 is a concentric circle structure, as shown in Figure 2-Figure 3. The size of the stage can be selected according to the size of the target. For example, when the size of the target is 1 cm, the table top with a diameter of 2 cm is raised, and the table top with the outer periphery greater than 2 cm is lowered to the base. Since the image capture device 4 is relatively close to the object, this arrangement can leave enough space for the image capture device to rotate. The table can be set with concentric circles of various diameters, such as 1cm, 2cm, 5cm, 10cm and so on. This is also one of the invention points of the present invention.

旋转臂包括至少两段，水平下段部和竖直上段部。水平下段部的顶端通过轴承安装于底座，用于围绕底座中心转动。水平下段部可以为伸缩结构，方便调整旋转臂的转动半径。竖直上段部由水平下段部带动，绕载物台1旋转，从而带动其上的图像采集装置4进行采集。竖直上段部也可以为伸缩结构，方便调整采集高度。水平下段部和竖直上段部并不限于严格的水平和竖直，可以在合理的范围内倾斜。例如水平下段部可以从底座中心沿向上倾角向外延伸。The rotating arm includes at least two sections, a horizontal lower section and a vertical upper section. The top of the horizontal lower section is mounted on the base through a bearing, and is used to rotate around the center of the base. The horizontal lower section can be a telescopic structure, which is convenient for adjusting the turning radius of the rotating arm. The upper vertical section is driven by the lower horizontal section and rotates around the stage 1, thereby driving the image acquisition device 4 on it to perform acquisition. The vertical upper section can also be a telescopic structure to facilitate adjustment of the collection height. The horizontal lower section and the vertical upper section are not limited to strictly horizontal and vertical, and can be inclined within a reasonable range. For example, the horizontal lower section may extend outward from the center of the base along an upward inclination angle.

目标物旋转方式Rotation method of target

除了上述方式，在某些情况下也可以将相机固定，请参考图4，承载目标物的载物台1转动，使得目标物面向图像采集装置的方向时刻变化，从而使得图像采集装置能够从不同角度采集目标物图像。In addition to the above methods, the camera can also be fixed in some cases. Please refer to Figure 4. The stage 1 carrying the target rotates so that the direction of the target facing the image capture device changes from time to time, so that the image capture device can be different from one another. Acquire the target image at an angle.

此时旋转臂固定在底座上，而载物台可以通过转轴与底座连接，从而进行旋转。At this time, the rotating arm is fixed on the base, and the stage can be connected to the base through a rotating shaft to rotate.

此时计算时，仍然可以按照转化为图像采集装置运动的情况下来进行计算，从而使得运动符合相应经验公式(具体下面将详细阐述)。例如，载物台转动的场景下，可以假设载物台不动，而图像采集装置旋转。通过利用经验公式设定图像采集装置旋转时拍摄位置的距离，从而推导出其转速，从而反推出载物台转速，以方便进行转速控制，实现3D采集。At this time, when calculating, the calculation can still be performed according to the situation converted into the movement of the image acquisition device, 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 rotates, it can be assumed that the stage does not move but the image capture device rotates. By using the empirical formula to set the distance of the shooting position of the image acquisition device when it rotates, the rotation speed is deduced, and the rotation speed of the stage is deduced to facilitate the rotation speed control and realize 3D acquisition.

处理器，也称处理单元，用以根据图像采集装置采集的多个图像，根据3D合成算法，合成目标物3D模型，得到目标物3D信息。The processor, also called a processing unit, is used to synthesize 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.

光轴旋转方式Optical axis rotation method

为了使得图像采集装置能够采集目标物不同方向的图像，也可以保持图像采集装置和目标物均静止，通过旋转图像采集装置的光轴来实现。例如：采集区域移动装置为光学扫描装置，使得图像采集装置不移动或转动的情况下，图像采集装置的采集区域与目标物产生相对运动。采集区域移动装置还包括光线偏转单元，光线偏转单元被机械驱动发生转动，或被电学驱动导致光路偏折，或本身为多组在空间的排布，从而实现从不同角度获得目标物的图像。光线偏转单元典型地可以为反射镜，通过转动使得目标物不同方向的图像被采集。或直接于空间布置环绕目标物的反射镜，依次使得反射镜的光进入图像采集装置中。与前述类似，这种情况下光轴的转动可以看作是图像采集装置虚拟位置的转动，通过这种转换的方法，假设为图像采集装置转动，从而利用下述经验公式进行计算。In order to enable the image capture device to capture images of the target object in different directions, it is also possible to keep both the image capture device and the target still, by rotating the optical axis of the image capture device. For example, the acquisition area moving device is an optical scanning device, so that when the image acquisition device does not move or rotate, the acquisition area of the image acquisition device moves relative to the target. 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 may typically be a mirror, which rotates so that images of the target object in different directions are collected. Or directly arrange the mirror around the target in space, so that the light from the mirror enters the image capture device 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 acquisition device. Through this conversion method, assuming that the image acquisition device rotates, the following empirical formula is used for calculation.

多相机方式Multi-camera method

可以了解，除了通过相机与目标物相对运动从而使得相机可以拍摄目标物不同角度的图像外，如图5，还可以在目标物周围不同位置设置多个相机，从而可以实现同时拍摄目标物不同角度的图像。It can be understood that in addition to the relative movement of the camera and the target, the camera can take images of different angles of the target, as shown in Figure 5, multiple cameras can also be set at different positions around the target, so that different angles of the target can be photographed at the same time. Image.

设置背景板Set the background board

在旋转设置时，还可以在设备中加入背景板5。如图6所示，背景板5位于图像采集装置4对面，并且在图像采集装置转动时同步转动，在图像采集装置4静止时保持静止。例如在安装图像采集装置4的旋转臂对侧安装另一个结构相同的旋转臂，用于承载背景板5，两个旋转臂同步旋转。当然上述两个旋转臂可以一体构造。In the rotation setting, you can also add a background board 5 in the device. As shown in FIG. 6, the background board 5 is located opposite to the image acquisition device 4, and it rotates synchronously when the image acquisition device rotates, and remains still when the image acquisition device 4 is stationary. For example, another rotating arm with the same structure is installed on the opposite side of the rotating arm where the image acquisition device 4 is installed to carry the background board 5, and the two rotating arms rotate synchronously. Of course, the above two rotating arms can be constructed in one piece.

从而使得图像采集装置4采集的目标物图像都是以背景板5为背景的。背景板全部为纯色，或大部分(主体)为纯色。特别是可以为白色板或黑色板，具体颜色可以根据目标物主体颜色来选择。背景板5通常为平板，优选也可以为曲面板，例如凹面板、凸面板、球形板，甚至在某些应用场景下，可以为表面为波浪形的背景板；也可以为多种形状拼接板，例如可以用三段平面进行拼接，而整体呈现凹形，或用平面和曲面进行拼接等。As a result, the target images collected by the image collecting device 4 are all based on the background board 5. 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 5 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.

光源light source

通常情况下，光源位于图像采集装置4的镜头周边分散式分布，例如光源为在镜头周边的环形LED灯。由于在一些应用中，被采集对象为人体，因此需要控制光源强度，避免造成人体不适。特别是可以在光源的光路上设置柔光装置，例如为柔光外壳。或者直接采用LED面光源，不仅光线比较柔和，而且发光更为均匀。更佳地，可以采用OLED光源，体积更小，光线更加柔和，并且具有柔性特性，可以贴附于弯曲的表面。光源也可以设置于其他能够为目标物提供均匀照明的位置。光源也可以为智能光源，即根据目标物及环境光的情况自动调整光源参数。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 object and ambient light conditions.

图像采集装置位置优化Image capture device location optimization

在进行3D采集时，图像采集装置在不同采集位置光轴方向相对于目标物发生变化，此时相邻两个图像采集装置的位置，或图像采集装置相邻两个采集位置满足如下条件：When performing 3D acquisition, the optical axis direction of the image acquisition device changes relative to the target at different acquisition positions. At this time, the positions of two adjacent image acquisition devices, or two adjacent image acquisition positions of the image acquisition device, meet the following conditions:

当上述两个位置是沿图像采集装置感光元件长度方向时，d取矩形长度；当上述两个位置是沿图像采集装置感光元件宽度方向时，d取矩形宽度。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.

图像采集装置在两个位置中的任何一个位置时，感光元件沿着光轴到目标物表面的距离作为T。除了这种方法外，在另一种情况下，L为A _n、A _n+1两个图像采集装置光心的直线距离，与A _n、A _n+1两个图像采集装置相邻的A _n-1、A _n+2两个图像采集装置和A _n、A _n+1两个图像采集装置各自感光元件沿着光轴到目标物表面的距离分别为T _n-1、T _n、T _n+1、T _n+2，T＝(T _n-1+T _n+T _n+1+T _n+2)/4。当然可以不只限于相邻4个位置，也可以用更多的位置进行平均值计算。 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.

如上所述，L应当为两个图像采集装置光心的直线距离，但由于图像采集装置光心位置在某些情况下并不容易确定，因此在某些情况下也可以使用图像采集装置的感光元件中心、图像采集装置的几何中心、图像采集装置与云台(或平台、支架)连接的轴中心、镜头近端或远端表面的中心替代，经过试验发现由此带来的误差是在可接受的范围内的，因此上述范围也在本发明的保护范围之内。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 photosensitive of the image capture devices can also be used in some cases. The center of the component, 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), the center of the proximal or distal lens surface instead of Within the acceptable range, therefore, the above-mentioned range is also within the protection scope of the present invention.

通常情况下，现有技术中均采用物体尺寸、视场角等参数作为推算相机位置的方式，并且两个相机之间的位置关系也采用角度表达。由于角度在实际使用过程中并不好测量，因此在实际使用时较为不便。并且，物体尺寸会随着测量物体的变化而改变。例如，在进行一个成年人头部3D信息采集后，再进行儿童头部采集时，就需要重新测量头部尺寸，重新推算。上述不方便的测量以及多次重新测量都会带来测量的误差，从而导致相机位置推算错误。而本方案根据大量实验数据，给出了相机位置需要满足的经验条件，不仅避免测量难以准确测量的角度，而且不需要直接测量物体大小尺寸。经验条件中d、f均为相机固定参数，在购买相机、镜头时，厂家即会给出相应参数，无需测量。而T仅为一个直线距离，用传统测量方法，例如直尺、激光测距仪均可以很便捷的测量得到。因此，本发明的经验公式使得准备过程变得方便快捷，同时也提高了相机位置的排布准确度，使得相机能够设置在优化的位置中，从而在同时兼顾了3D合成精度和速度，具体实验数据参见下述。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, which will lead to 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.

相机：MER-2000-19U3M/CCamera: MER-2000-19U3M/C

序号Serial number	δ值δ value	合成时间Synthesis time	合成区域面积 Composite area area
11	0.69780.6978	2.2min2.2min	//
22	0.58180.5818	2.8min2.8min	65％65%
33	0.41120.4112	3.0min3.0min	90％90%
44	0.33410.3341	3.5min3.5min	100％100%

从上述实验结果及大量实验经验可以得出，δ的值应当满足δ<0.582，此时已经能够合成部分3D模型，虽然有一部分无法自动合成，但是在要求不高的情况下也是可以接受的，并且可以通过手动或者更换算法的方式弥补无法合成的部分。特别是δ的值满足δ<0.412时，能够最佳地兼顾合成效果和合成时间的平衡；为了获得更好的合成效果可以选择δ<0.334，此时合成时间会上升，但合成质量更好。而当δ为0.697时，已经无法合成。但这里应当注意，以上范围仅仅是最佳实施例，并不构成对保护范围的限定。From the above experimental results and a large amount of experimental experience, it can be concluded that the value of δ should satisfy δ<0.582. 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<0.412, the balance between synthesis effect and synthesis time can be optimally taken into account; in order to obtain a better synthesis effect, δ<0.334 can be selected, and the synthesis time will increase at this time, but the synthesis quality will be better. When δ is 0.697, 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.

并且从上述实验可以看出，对于相机拍照位置的确定，只需要获取相机参数(焦距f、CCD尺寸)、相机CCD与物体表面的距离T即可根据上述公式得到，这使得在进行设备设计和调试时变得容易。由于相机参数(焦距f、CCD尺寸)在相机购买时就已经确定，并且是产品说明中就会标示的，很容易获得。因此根据上述公式很容易就能够计算得到相机位置，而不需要再进行繁琐的视场角测量和物体尺寸测量。特别是在一些场合中，需要更换相机镜头，那么本发明的方法直接更换镜头常规参数f计算即可得到相机位置；同理，在采集不同物体时，由于物体大小不同，对于物体尺寸的测量也较为繁琐。而使用本发明的方法，无需进行物体尺寸测量，能够更为便捷地确定相机位置。并且使用本发明确定的相机位置，能够兼顾合成时间和合成效果。因此，上述经验条件是本发明的发明点之一。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 both the synthesis time and the synthesis effect. Therefore, the above empirical condition is one of the invention points of the present invention.

以上数据仅为验证该公式条件所做实验得到的，并不对发明构成限定。即使没有这些数据，也不影响该公式的客观性。本领域技术人员可以根据需要调整设备参数和步骤细节进行实验，得到其他数据也是符合该公式条件的。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.

3D合成方法3D synthesis method

在图像采集设备通过图像采集装置4采集到目标物多个方向的图像后，通过数据传输方式将多张图像传输至处理器。处理器可以在本地设置，也可以将图像上传至云平台利用远程处理器。在处理器中使用如下方法进行3D模型的合成。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.

根据上述采集方法，图像采集装置4通过与目标物相对运动而采集目标物一组图像；According to the above-mentioned acquisition method, the image acquisition device 4 acquires a set of images of the target object by moving relative to the target object;

处理单元根据上述一组图像中的多个图像得到目标物的3D信息。具体算法如下。当然，处理单元可以直接设置在图像采集装置4所在的壳体内，也可以通过数据线或通过无线方式与图像采集装置4连接。例如可以使用独立的计算机、服务器及集群服务器等作为处理单元，图像采集装置4采集到的图像数据传输至其上，进行3D合成。同时，也可以将图像采集装置4的数据传输至云平台，利用云平台的强大计算能力进行3D合成。The processing unit obtains the 3D information of the target object according to the multiple images in the above-mentioned set of images. The specific algorithm is as follows. Of course, the processing unit can be directly arranged in the housing where the image acquisition device 4 is located, or it can be connected to the image acquisition device 4 through a data line or in a wireless manner. For example, an independent computer, server, cluster server, etc. can be used as the processing unit, and the image data collected by the image acquisition device 4 is transmitted to it for 3D synthesis. At the same time, the data of the image acquisition device 4 can also be transmitted to a cloud platform, and the powerful computing power of the cloud platform can be used for 3D synthesis.

利用上述采集到的图片进行3D合成时，可以采用现有算法实现，也可以采用本发明提出的优化的算法，主要包括如下步骤：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:

步骤1：对所有输入照片进行图像增强处理。采用下述滤波器增强原始照片的反差和同时压制噪声。Step 1: Perform image enhancement processing on all input photos. The following filters are used to enhance the contrast of the original photo and suppress noise at the same time.

式中：g(x，y)为原始影像在(x，y)处灰度值，f(x，y)为经过Wallis滤波器增强后该处的灰度值，m _g为原始影像局部灰度均值，s _g为原始影像局部灰度标准偏差，m _f为变换后的影像局部灰度目标值，s _f为变换后影像局部灰度标准偏差目标值。c∈(0，1)为影像方差的扩展常数，b∈(0，1)为影像亮度系数常数。 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.

该滤波器可以大大增强影像中不同尺度的影像纹理模式，所以在提取影像的点特征时可以提高特征点的数量和精度，在照片特征匹配中则提高了匹配结果可靠性和精度。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.

步骤2：对输入的所有照片进行特征点提取，并进行特征点匹配，获取稀疏特征点。采用SURF算子对照片进行特征点提取与匹配。SURF特征匹配方法主要包含三个过程，特征点检测、特征点描述和特征点匹配。该方法使用Hessian矩阵来检测特征点，用箱式滤波器(Box Filters)来代替二阶高斯滤波，用积分图像来加速卷积以提高计算速度，并减少了局部影像特征描述符的维数，来加快匹配速度。主要步骤包括①构建Hessian矩阵，生成所有的兴趣点，用于特征提取，构建Hessian矩阵的目的是为了生成图像稳定的边缘点(突变点)；②构建尺度空间特征点定位，将经过Hessian矩阵处理的每个像素点与二维图像空间和尺度空间邻域内的26个点进行比较，初步定位出关键点，再经过滤除能量比较弱的关键点以及错误定位的关键点，筛选出最终的稳定的特征点；③特征点主方向的确定，采用的是统计特征点圆形邻域内的harr小波特征。即在特征点的圆形邻域内，统计60度扇形内所有点的水平、垂直harr小波特征总和，然后扇形以0.2弧度大小的间隔进行旋转并再次统计该区域内harr小波特征值之后，最后将值最大的那个扇形的方向作为该特征点的主方向；④生成64维特征点描述向量,特征点周围取一个4*4的矩形区域块，但是所取得矩形区域方向是沿着特征点的主方向。每个子区域统计25个像素的水平方向和垂直方向的haar小波特征，这里的水平和垂直方向都是相对主方向而言的。该haar小波特征为水平方向值之后、垂直方向值之后、水平方向绝对值之后以及垂直方向绝对值之和4个方向，把这4个值作为每个子块区域的特征向量，所以一共有4*4*4＝64维向量作为Surf特征的描述子；⑤特征点匹配，通过计算两个特征点间的欧式距离来确定匹配度，欧氏距离越短，代表两个特征点的匹配度越好。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 Generate a 64-dimensional feature point description vector, and take a 4*4 rectangular area block 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. .

步骤3：输入匹配的特征点坐标，利用光束法平差，解算稀疏的人脸三维点云和拍照相机的位置和姿态数据，即获得了稀疏人脸模型三维点云和位置的模型坐标值；以稀疏特征点为初值，进行多视照片稠密匹配，获取得到密集点云数据。该过程主要有四个步骤：立体像对选择、深度图计算、深度图优化、深度图融合。针对输入数据集里的每一张影像，我们选择一张参考影像形成一个立体像对，用于计算深度图。因此我们可以得到所有影像的粗略的深度图，这些深度图可能包含噪声和错误，我们利用它的邻域深度图进行一致性检查，来优化每一张影像的深度图。最后进行深度图融合，得到整个场景的三维点云。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.

步骤4：利用密集点云进行人脸曲面重建。包括定义八叉树、设置函数空间、创建向量场、求解泊松方程、提取等值面几个过程。由梯度关系得到采样点和指示函数的积分关系，根据积分关系获得点云的向量场，计算指示函数梯度场的逼近，构成泊松方程。根据泊松方程使用矩阵迭代求出近似解，采用移动方体算法提取等值面，对所测点云重构出被测物体的模型。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, the vector field of the point cloud is obtained according to the integral relationship, and the approximation of the indicator function gradient field 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.

步骤5：人脸模型的全自动纹理贴图。表面模型构建完成后，进行纹理贴图。主要过程包括：①纹理数据获取通过图像重建目标的表面三角面格网；②重建模型三角面的可见性分析。利用图像的标定信息计算每个三角面的可见图像集以及最优参考图像；③三角面聚类生成纹理贴片。根据三角面的可见图像集、最优参考图像以及三角面的邻域拓扑关系，将三角面聚类生成为若干参考图像纹理贴片；④纹理贴片自动排序生成纹理图像。对生成的纹理贴片，按照其大小关系进行排序，生成包围面积最小的纹理图像，得到每个三角面的纹理映射坐标。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.

应当注意，上述算法是本发明的优化算法，本算法与图像采集条件相互配合，使用该算法兼顾了合成的时间和质量，是本发明的发明点之一。当然，使用现有技术中常规3D合成算法也可以实现，只是合成效果和速度会受到一定影响。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.

附属物的匹配及制作Matching and production of attachments

在采集目标物的3D信息，合成3D模型后，可以根据3D数据为目标物制作与其配套的附属物。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.

例如，利用显微镜头拍摄细胞360°的图像，从而合成细胞的三维模型，利用该三维模型数据可以同比例放大制作该细胞的实体模型，用于科研和教学。For example, a microscope lens is used to take a 360° image of a cell to synthesize a three-dimensional model of the cell. The three-dimensional model data can be used to enlarge the same scale to make a solid model of the cell for scientific research and teaching.

本发明所述的转动运动，为在采集过程中前一位置采集平面和后一位置采集平面发生交叉而不是平行，或前一位置图像采集装置光轴和后一位置图像采集位置光轴发生交叉而不是平行。也就是说，图像采集装置的采集区域环绕或部分环绕目标物运动，均可以认为是两者相对转动。虽然本发明实施例中列举更多的为有轨道的转动运动，但是可以理解，只要图像采集设备的采集区域和目标物之间发生非平行的运动，均是转动范畴，均可以使用本发明的限定条件。本发明保护范围并不限定于实施例中的有轨道转动。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.

本发明所述的相邻采集位置是指，在图像采集装置相对目标物移动时，移动轨迹上的发生采集动作的两个相邻位置。这通常对于图像采集装置运动容易理解。但对于目标物发生移动导致两者相对移动时，此时应当根据运动的相对性，将目标物的运动转化为目标物不动，而图像采集装置运动。此时再衡量图像采集装置在转化后的移动轨迹中发生采集动作的两个相邻位置。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.

虽然上述实施例中记载图像采集装置采集图像，但不应理解为仅适用于单张图片构成的图片组，这只是为了便于理解而采用的说明方式。图像采集装置也可以采集视频数据，直接利用视频数据或从视频数据中截取图像进行3D合成。但合成时所利用的视频数据相应帧或截取的图像的拍摄位置，依然满足上述经验公式。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.

上述目标物体、目标物、及物体皆表示预获取三维信息的对象。可以为一实体物体，也可以为多个物体组成物。例如可以为头部、手部等。所述目标物的三维信息包括三维图像、三维点云、三维网格、局部三维特征、三维尺寸及一切带有目标物三维特征的参数。本实用新型里所谓的三维是指具有XYZ三个方向信息，特别是具有深度信息，与只有二维平面信息具有本质区别。也与一些称为三维、全景、全息、三维，但实际上只包括二维信息，特别是不包括深度信息的定义有本质区别。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.

本发明所说的采集区域是指图像采集装置(例如相机)能够拍摄的范围。本发明中的图像采集装置可以为CCD、CMOS、相机、摄像机、工业相机、监视器、摄像头、手机、平板、笔记本、移动终端、可穿戴设备、智能眼镜、智能手表、智能手环以及带有图像采集功能所有设备。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.

在此处所提供的说明书中，说明了大量具体细节。然而，能够理解，本实用新型的实施例可以在没有这些具体细节的情况下实践。在一些实例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。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.

类似地，应当理解，为了精简本公开并帮助理解各个发明方面中的一个或多个，在上面对本发明的示例性实施例的描述中，本发明的各个特征有时被一起分组到单个实施例、图、或者对其的描述中。然而，并不应将该公开的方法解释成反映如下意图：即所要求保护的本发明要求比在每个权利要求中所明确记载的特征更多的特征。更确切地说，如下面的权利要求书所反映的那样，发明方面在于少于前面公开的单个实施例的所有特征。因此，遵循具体实施方式的权利要求书由此明确地并入该具体实施方式，其中每个权利要求本身都作为本发明的单独实施例。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.

本领域那些技术人员可以理解，可以对实施例中的设备中的模块进行自适应性地改变并且把它们设置在与该实施例不同的一个或多个设备中。可以把实施例中的模块或单元或组件组合成一个模块或单元或组件，以及此外可以把它们分成多个子模块或子单元或子组件。除了这样的特征和/或过程或者单元中的至少一些是相互排斥之外，可以采用任何组合对本说明书(包括伴随的权利要求、摘要和附图)中公开的所有特征以及如此公开的任何方法或者设备的所有过程或单元进行组合。除非另外明确陈述，本说明书(包括伴随的权利要求、摘要和附图)中公开的每个特征可以由提供相同、等同或相似目的的替代特征来代替。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.

此外，本领域的技术人员能够理解，尽管在此的一些实施例包括其它实施例中所包括的某些特征而不是其它特征，但是不同实施例的特征的组合意味着处于本发明的范围之内并且形成不同的实施例。例如，在权利要求书中，所要求保护的实施例的任意之一都可以以任意的组合方式来使用。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.

本发明的各个部件实施例可以以硬件实现，或者以在一个或者多个处理器上运行的软件模块实现，或者以它们的组合实现。本领域的技术人员应当理解，可以在实践中使用微处理器或者数字信号处理器(DSP)来实现根据本发明实施例的基于本发明装置中的一些或者全部部件的一些或者全部功能。本发明还可以实现为用于执行这里所描述的方法的一部分或者全部的设备或者装置程序(例如，计算机程序和计算机程序产品)。这样的实现本发明的程序可以存储在计算机可读介质上，或者可以具有一个或者多个信号的形式。这样的信号可以从因特网网站上下载得到，或者在载体信号上提供，或者以任何其他形式提供。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.

应该注意的是上述实施例对本发明进行说明而不是对本发明进行限制，并且本领域技术人员在不脱离所附权利要求的范围的情况下可设计出替换实施例。在权利要求中，不应将位于括号之间的任何参考符号构造成对权利要求的限制。单词“包含”不排除存在未列在权利要求中的元件或步骤。位于元件之前的单词“一”或“一个”不排除存在多个这样的元件。本发明可以借助于包括有若干不同元件的硬件以及借助于适当编程的计算机来实现。在列举了若干装置的单元权利要求中，这些装置中的若干个可以是通过同一个硬件项来具体体现。单词第一、第二、以及第三等的使用不表示任何顺序。可将这些单词解释为名称。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.

至此，本领域技术人员应认识到，虽然本文已详尽示出和描述了本发明的多个示例性实施例，但是，在不脱离本发明精神和范围的情况下，仍可根据本发明公开的内容直接确定或推导出符合本发明原理的许多其他变型或修改。因此，本发明的范围应被理解和认定为覆盖了所有这些其他变型或修改。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

一种近距离目标物3D采集设备，其特征在于：A 3D acquisition device for a short-range target, which is characterized in:

采集区域移动装置，用于驱动图像采集装置的采集区域与目标物产生相对运动；The acquisition area moving device is used to drive the acquisition area of the image acquisition device to move relative to the target;

图像采集装置，用于通过上述相对运动采集目标物一组图像；An image acquisition device for acquiring a set of images of the target object through the above-mentioned relative motion;

图像采集装置的采集位置符合如下条件：The collection position of the image collection device meets the following conditions:

δ<0.582δ<0.582

其中L为图像采集装置在相邻两个采集位置时光心的直线距离；f为图像采集装置的焦距；d为图像采集装置感光元件的矩形长度或宽度；T为图像采集装置感光元件沿着光轴到目标物表面的距离；δ为调整系数。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.
如权利要求1所述的设备，其特征在于：图像采集装置对侧设置有背景板。The device according to claim 1, wherein a background board is provided on the opposite side of the image acquisition device.
如权利要求1所述的设备，其特征在于：采集区域移动装置为转动装置，驱动图像采集装置和/或目标物转动。The device according to claim 1, wherein the collection area moving device is a rotating device, which drives the image collection device and/or the target to rotate.
如权利要求3所述的设备，其特征在于：所述转动装置为转盘和/或转臂。The device according to claim 3, wherein the rotating device is a turntable and/or a rotating arm.
如权利要求1所述的设备，其特征在于：所述图像采集装置镜头为微距镜头或显微镜头。The device according to claim 1, wherein the lens of the image acquisition device is a macro lens or a microscope lens.
如权利要求1所述的设备，其特征在于：还包括载物台，载物台为可分区域升降的同心结构。5. The device according to claim 1, further comprising a stage, the stage is a concentric structure that can be lifted and lowered in different areas.
如权利要求1所述的设备，其特征在于：δ<0.412。The device according to claim 1, characterized in that: δ<0.412.
如权利要求1所述的设备，其特征在于：δ<0.335。The device according to claim 1, characterized in that: δ<0.335.
一种3D合成装置，其特征在于，使用权利要求1-8任一所述设备。A 3D synthesis device, characterized in that it uses any one of claims 1-8.
一种3D识别装置，其特征在于，使用权利要求1-8任一所述设备。A 3D recognition device, which is characterized in that the device described in any one of claims 1-8 is used.
一种3D识别方法，其特征在于，使用权利要求1-8任一所述设备。A 3D recognition method, characterized in that the device described in any one of claims 1-8 is used.
一种近距离目标物3D采集设备，其特征在于：A 3D acquisition device for a short-range target, which is characterized in:

多个图像采集装置，设置于目标物周围，用于采集目标物不同方向的多个图像；Multiple image acquisition devices, arranged around the target, used to acquire multiple images of the target in different directions;

图像采集装置的采集位置符合如下条件：The collection position of the image collection device meets the following conditions:

δ<0.582δ<0.582

其中L为相邻两个采集位置图像采集装置光心的直线距离；f为图像采集装置的焦距；d为图像采集装置感光元件的矩形长度或宽度；T为图像采集装置感光元件沿着光轴到目标物表面的距离；δ为调整系数。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.
如权利要求12所述的设备，其特征在于：图像采集装置对侧设置有背景板。The device according to claim 12, wherein a background board is provided on the opposite side of the image acquisition device.
如权利要求12所述的设备，其特征在于：所述图像采集装置镜头为微距镜头或显微镜头。The device according to claim 12, wherein the lens of the image acquisition device is a macro lens or a microscope lens.
如权利要求12所述的设备，其特征在于：还包括载物台，载物台为可分区域升降的同心结构。The device according to claim 12, further comprising an object table, the object table being a concentric structure that can be lifted and lowered in different areas.
如权利要求12所述的设备，其特征在于：δ<0.412。The device according to claim 12, characterized in that: δ<0.412.
如权利要求12所述的设备，其特征在于：δ<0.335。The device according to claim 12, characterized in that: δ<0.335.
一种3D合成装置，其特征在于，使用权利要求12-17任一所述设备。A 3D synthesis device, characterized in that it uses any one of claims 12-17.
一种3D识别装置，其特征在于，使用权利要求12-17任一所述设备。A 3D recognition device, which is characterized in that the device described in any one of claims 12-17 is used.
一种3D识别方法，其特征在于，使用权利要求12-17任一所述设备。A 3D recognition method, characterized in that the device described in any one of claims 12-17 is used.