CN106296643A - Characteristic point replenishment system for multi-view geometry three-dimensional reconstruction - Google Patents
Characteristic point replenishment system for multi-view geometry three-dimensional reconstruction Download PDFInfo
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- CN106296643A CN106296643A CN201510316834.8A CN201510316834A CN106296643A CN 106296643 A CN106296643 A CN 106296643A CN 201510316834 A CN201510316834 A CN 201510316834A CN 106296643 A CN106296643 A CN 106296643A
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- lamp
- characteristic point
- photographic head
- image acquisition
- processing unit
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
- G06T2207/10012—Stereo images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30196—Human being; Person
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Abstract
The invention discloses a kind of characteristic point replenishment system for multi-view geometry three-dimensional reconstruction, it comprises multiple image acquisition and processing unit, embedded type micro-acquisition process unit that described image acquisition and processing unit is made up of image acquisition units and graphics processing unit；Described image acquisition and processing unit is connected to computer；Also comprise the frame assembly for installing photographic head；It is additionally provided with LED light supplement lamp and characteristic point towards target illumination to be scanned on described frame assembly and supplements lamp；Described characteristic point is supplemented lamp and is electrically connected to switch terminal；The plurality of image acquisition and processing unit is interconnected by switch；Described computer is connected with all image acquisition and processing unit concentration by router.It is the graphic pattern projection lamp for projecting random pattern in 2 D code that described characteristic point supplements lamp, or for being used for projecting the infrared projection lamp of Infrared pattern, or for being used for projecting the laser projecting lamp of laser interference pattern.
Description
Technical field
The present invention relates to spatial digitizer equipment, specifically for three dimensional data collection and the modeling reduction of object；
It comprises multiple photographic head.
Background technology
The most widely used have a three-dimensional scanning device:
1, hand-held scanner: this type of scanner requires that human body keeps resting state, to it according to all around
Successively tall and erect row scanning, then completes three-dimensional modeling by computer disposal, and sweep time is long；
2, panoramic human body scanning system: this type of scanning system is simple upright structures, the most artificial
Adjusting height and the angular range of scanning, it uses many group three dimensional depth photographic head to combine projection grating scanning
Mode gathers data, completes modeling by computer, there is structural instability, and debugging complexity, scanning blind spot is big.
Equipment cost is high, and the later stage processes complexity, and the threedimensional model of generation lacks the defects such as color texture；
We constitute the image acquisition also original system of a set of target to be scanned according to human visual difference principle；Institute
Stating sight equation and refer to that our system possesses multiple photographic head, the position, everywhere of target to be scanned is all to I haven't seen you for ages
There is two photographic head shooting, collecting image simultaneously；Its imaging reduction efficiency of the system of this principle is high, and quality is good；
But, in order to ensure high-quality information gathering, the pixel of the photographic head used in this current system is
Reach the rank of slr camera, but the camera lens price of entry level slr camera is all at 3000 yuan to 5000
Unit, cost is the highest.
Summary of the invention
The technical problem to be solved is for above-mentioned deficiency of the prior art, it is provided that Yi Zhongyong
In the characteristic point replenishment system of multi-view geometry three-dimensional reconstruction, it uses multiple camera collection target to be scanned,
It is provided simultaneously with characteristic point very reliably and supplements lamp, using the teaching of the invention it is possible to provide more characteristic point so that the picture of photographic head
Element requires to reduce, cost step-down；Whole system is rational in infrastructure, gathers reduction efficiency high.
The technical solution adopted for the present invention to solve the technical problems is: for multi-view geometry three-dimensional reconstruction
Characteristic point replenishment system, for gathering the image information of target to be scanned；Comprise multiple image acquisition and processing list
Unit, the embedding that described image acquisition and processing unit is made up of image acquisition units and graphics processing unit
Type micro-acquisition process unit；Multiple image acquisition and processing unit interconnect, concurrent working；Described image is adopted
Collection processing unit is connected to computer；
Described image acquisition units is photographic head, and described graphics processing unit is for using ARM chip as CPU
Embedded computer unit, the entirety of two unit composition image acquisition and processing unit；
Also comprise the frame assembly for installing photographic head；It is additionally provided with towards to be scanned on described frame assembly
LED light supplement lamp and the characteristic point of target illumination supplement lamp；
Described characteristic point is supplemented lamp and is electrically connected to switch terminal, and described switch terminal passes through image acquisition and processing list
Unit controls break-make；The plurality of image acquisition and processing unit is interconnected by switch；Described computer leads to
Cross router to be connected with all image acquisition and processing unit concentration.
It is the graphic pattern projection lamp for projecting random pattern in 2 D code that described characteristic point supplements lamp, or for being used for
The infrared projection lamp of projection Infrared pattern, or for being used for projecting the laser projecting lamp of laser interference pattern；
It is multiple that described characteristic point supplements the quantity of lamp and photographic head；All characteristic points supplement the pattern of lamp projection
Cover described target to be scanned；The union of the coverage of all photographic head covers whole target to be scanned equally；
Same characteristic point supplements the pattern of lamp projection at least by the most complete shooting of two photographic head；
The shooting angle of described photographic head can adjust；Described characteristic point is supplemented the projecting direction of lamp and can be adjusted.
Further improvement of the present invention point is:
(1) described graphic pattern projection lamp comprise high-brightness LED lamp and be located in high-brightness LED lamp light path for adjusting
The optical lens of high-brightness LED lamp throw light focal length；Light between described optical lens and high-brightness LED lamp light
It is additionally provided with imaging eyeglass on road, described imaging eyeglass is provided with random Quick Response Code；Described projecting lamp projects
Go out the pattern of corresponding random Quick Response Code；Described random Quick Response Code is made up of the square speckle with certain density；
Described infrared projection lamp is the infrared projection lamp for projecting white light or blue light, and it includes infrared emission
Device；
Described laser projection comprises laser generator.
(2) optical lens of described graphic pattern projection lamp is meniscus combination；Described characteristic point is supplemented lamp and is comprised
Lamp housing and lamp housing frame；Described lamp housing frame comprises the mounting rod for fixing lamp housing, and one end of mounting rod is for being used for
The fixed plate being arranged on frame assembly, the other end of mounting rod passes through mounting rod regulating part and can level adjust
The horizontal rotation part of whole angle connects；By pitch regulation part, pitch lever is installed on described horizontal rotation part,
Described lamp housing is installed on pitch lever top.
Further: described mounting rod regulating part, pitch regulation part are articulated elements, and this articulated elements is permissible
Carry out locked after having adjusted angle by trip bolt；It is provided with fin on described lamp housing；Described lamp housing
The camera lens that one end is printing opacity, this camera lens can be focused by rotation.
(3) all photographic head composition camera array；Described frame assembly is support；Described camera array
In each photographic head rack-mount, and by the horizontal conveyor parts arranged on support and vertical transmission
Parts realize the rotation of angle with respect to the horizontal plane and respectively relative to the rotation of the angle on vertical direction；
Described horizontal conveyor parts and vertical drive disk assembly all comprise driving motor；Described driving motor is electrically connected to control
Device processed；Described controller controls described driving motor and realizes mesh to be collected described in the midpoint alignment of camera array
Mark midpoint；
Described support comprises pillar, and pillar is installed multiple horizontal conveyor parts, each horizontal conveyor parts with
Pillar central axis is that rotary shaft rotates, and described vertical drive disk assembly is arranged on horizontal conveyor parts, described
Vertically drive disk assembly comprises the rotating shaft of level, and the driving motor-driven rotatable shaft of vertical drive disk assembly rotates, shooting
The back side of head is fixedly mounted in rotating shaft；Described characteristic point supplements the fixing peace of fixed plate of the mounting rod end of lamp
It is contained on described pillar.
Further: described horizontal conveyor parts comprise driving motor and gear-driven assembly, electricity is driven
Machine is fixedly mounted on pillar, drives the output shaft of motor to install driving gear, driven gear and driving gear
Engagement, driven gear turning set is contained on pillar, and the flank of tooth of driven gear is connected with described vertical drive disk assembly,
Drive the overall rotation along horizontal direction angle of described vertical drive disk assembly.
Moreover: also comprise the range finding for measuring camera array and the spacing of target to be collected
Device, described range unit is electrically connected to described controller, and described range unit comprises infrared range-measurement system, super
Sound wave and depth camera；Also comprise the angle sensor of the rotational angle of angle for measuring described photographic head
Device, described angular transducer is electrically connected to described controller.
(4) described frame assembly comprises the housing of sphere structure；Shell inner surface is provided with described photographic head；
It is additionally provided with the described LED light supplement lamp irradiated towards enclosure interior on described housing and characteristic point supplements lamp；
The housing of described frame assembly comprises outer framework and internal layer framework；Ectonexine framework comprises 48 altogether
Splicing flat board；Wherein internal layer framework comprises the pentagon splicing flat board 6 that contiguous concatenation assembles, and hexagon is spelled
Connect flat board 14, tetragon splicing flat board 4；What outer framework was corresponding comprises pentagon splicing flat board 6,
Hexagon splicing flat board 14, tetragon splicing flat board 4；
Described characteristic point is supplemented within the optical lens of lamp stretches to internal layer framework, and characteristic point supplements lamp away from light
Learn one end of camera lens to supplement lamp hole through the characteristic point of described outer framework and be placed on outside outer framework；Described
Characteristic point is supplemented the fixed plate of lamp mounting rod end and is fixedly mounted on described internal layer framework.
Further: described frame assembly also comprises the base for supporting described housing；Described base is adopted
Designing with the hollow cuboid angle of falling R, mid portion place apparatus power pack, base upper surface arranges four
Position, camera hole.
Further: same layer splicing flat board edgewise is mutual by metal connecting sheet and interior six side's mechanical screws
Connect and compose half football dome-shaped；Pass through angle bar between ectonexine splicing flat board and interior six side's mechanical screws are mutual
Connect and compose the interlayer that can place components and parts and connecting line；Described base is connected by metal with top half
Sheet and interior six side's mechanical screws interconnect.
The present invention compared with prior art has the advantage that
1, the present invention is by the process share tasks of computer to numerous acquisition process unit, and one single chip is former
Hindering most a part of task impaired, and other machine will not be affected, systematic entirety can be reliable；
Multiple stage acquisition process unit of the present invention processes similar tasks simultaneously, solves same problem within the shorter time,
Give full play to computing unit performance, the efficiency improving Digital Image Processing and effect, significantly more efficient raising meter
Calculate the utilization rate of unit；This structure can be reduced expenses, and single computing unit is just not required to the highest configuration
Can complete a part of task amount, multiple identical low cost computing unit clusters are thrown than separate unit high-performance computer
Enter lower.
The present invention supplements lamp also by characteristic point increases condition code, and image information is carried out condition code extraction, face
Tone is whole, brightness adjustment, eliminates image flaw, thus is significantly improved by texture of image and make it more
Add and meet post-production demand.
Concrete: the photographic head of the present invention is configured with characteristic point and supplements lamp；If this feature point supplements lamp pattern
Projecting lamp, then increase the characteristic point of human body by projecting random pattern in 2 D code, and this feature point can allow meter
Calculation machine identifies the profile of human body quickly and accurately, it is not necessary to characteristic point carries out accurate coordinate calculating and shape
Design；At least two photographic head gathers the random Quick Response Code of projection simultaneously, it is possible to the eyes of simulation people observe thing
The effect of body, it is possible to more direct, real reduction collects somatic data；Random Quick Response Code uses square
Speckle ensure that the final corner angle gathering information are clearly demarcated, collection the most accurate；Possess characteristic point to supplement
After lamp, the pixel of our photographic head can be substantially reduced, and in our actual tests, uses 5,000,000 pictures
Element just can reach to use at present the effect of the scanning system of Dan Fanji rank；It is very big that cost reduces amplitude, warp
Ji benefit and social benefit are the highest；If it is infrared projection lamp that this feature point supplements lamp, then by projection
Colored infrared light projects, extremely effective when this is human body for target to be scanned, because to be scanned
Object will not produce discomfort at heart because of there is the patterns such as random Quick Response Code, and infrared light is for object to be scanned
Itself being invisible, but our photographic head can accurately identify, computer also can reliable treatments；With
The laser projecting lamp of sample is capable of very easy pattern by projection laser interference figure and generates process；Every kind
Projecting lamp all cuts both ways；But we implement for using the concrete scheme of the projecting lamp of random Quick Response Code
After, find that its effect is optimum, because Quick Response Code generation process is very convenient, the square speckle of Quick Response Code is the most very
Being easily recognizable to the computer, the cost of this projecting lamp is the lowest simultaneously, it is possible to effectively reduce holistic cost；
The graphic pattern projection lamp of the present invention, comprise high-brightness LED lamp and be located in high-brightness LED lamp light path for adjusting
The optical lens of whole high-brightness LED lamp throw light focal length；Between described optical lens and high-brightness LED lamp light
It is additionally provided with imaging eyeglass in light path, described imaging eyeglass is provided with random Quick Response Code；Described projecting lamp is thrown
The pattern of the corresponding random Quick Response Code of injection；Described random Quick Response Code is made up of the square speckle with certain density；
Random Quick Response Code can use existing two-dimension code generator to generate the most easily, and can guarantee that combination
Multiformity and the Quick Response Code of different projecting lamp projection be different；Prevent computer by identical Quick Response Code
Part is identified as same person body position, causes reduction mistake；Avoid all to synthesize left and right arm and be reduced to
The phenomenon of one arm occurs；
It is multiple that the described characteristic point of the present invention supplements the quantity of lamp and photographic head；All characteristic points are supplemented lamp and are thrown
The pattern covers penetrated is positioned at target to be scanned；The union of the coverage of all photographic head covers whole to be scanned
Target；Same characteristic point supplements the pattern of lamp projection at least by the most complete shooting of two photographic head；So
One ensure that basic layout quantity；And the frame of the sphere structure in preferred implementation in the present invention
Frame modular construction completely reliable can meet the layout of this quantity, is the concrete reality that a kind of creativeness is the highest
Execute mode；
The shooting angle of the described photographic head of the present invention can adjust；Described characteristic point supplements the projecting direction of lamp
Can adjust；It is easy to the reliable adjustment of initial position.
2, in the preferred embodiment of the present invention, each photographic head in camera array is rack-mount,
And realize angle with respect to the horizontal plane respectively by horizontal conveyor parts and the vertical drive disk assembly arranged on support
The rotation of degree and relative to the rotation of the angle on vertical direction；Described horizontal conveyor parts and vertical driving section
Part all comprises driving motor；Consequently, it is possible to photographic head can carry out the automatically controlled of angle on two degree of freedom
Adjusting, very convenient, adjusting range disclosure satisfy that actual operation requirements；
In the preferred embodiment for the present invention, motor is driven to be electrically connected to described controller, the most whole controller
Can control to drive motor to realize mid-point to be collected described in the midpoint alignment of camera array；For difference
For the target to be collected of specification, the automatic adjustment of all photographic head can be realized by controller, non-
Normal convenient accurately.
In the preferred embodiment of the present invention, support comprises pillar, and pillar is installed multiple horizontal conveyor parts,
Each horizontal conveyor parts rotate with pillar central axis for rotary shaft, and described vertical drive disk assembly is arranged on water
Flating pass on dynamic component, described vertical drive disk assembly comprises the rotating shaft of level, the driving motor of vertical drive disk assembly
Drive shaft rotates, and the back side of photographic head is fixedly mounted in rotating shaft；Photographic head composition one on each pillar
Row, multiple row photographic head very reliably can be fixed on target proximity to be collected easily by pillar, it is achieved treats
Gather the omnidirectional image information collection of target；
In the preferred embodiment of the present invention, described horizontal conveyor parts comprise driving motor and gear drive
Assembly, drives motor to be fixedly mounted on pillar, drives the output shaft of motor to install driving gear, passive tooth
Wheel engage with driving gear, driven gear turning set is contained on pillar, the flank of tooth of driven gear and described vertically
Drive disk assembly connects, and drives the overall rotation along horizontal direction angle of described vertical drive disk assembly；The water being somebody's turn to do
Dynamic component of flating pass uses gear engagement structure to realize, and the most reliably, adjusts process the most accurate；
To sum up, the present invention in a preferred embodiment, uses controller to combine motor and has driven concentrating type
The function of photographic head automatic camera；It, by the angle of the image recognition regulation photographic head of controller, reaches figure
As synthesis is seamless spliced；In concentrating type camera array, the position of each photographic head is fixed, but each photographic head
Visual angle can move by two degree of freedom.The midpoint alignment of concentrating type camera array is by according to target to be collected
Midpoint, (can lead to according to the distance of concentrating type camera array to target to be collected and the parameter of target to be collected
Cross sensor to obtain), can be according to calculating the position that in concentrating type camera array, each photographic head should deflect
Put；After carrying out coarse adjustment, the picture composite calulation obtained according to photographic head, the angle of fine tuning calibration photographic head；
It should be noted that the rotation of angle with respect to the horizontal plane of the present invention is relative to vertical direction
On the rotation of angle might not be horizontally oriented and vertical direction, and be not relatively to gather target, its
It is to define the function that photographic head can carry out two-dimensional directional adjustment；Concrete, may be generally understood to be with
X that photographic head plane is mutually orthogonal and the two-dimensional directional of Y-direction, ordinary circumstance is regarded as horizontally and vertically
Direction, spherical or other structures then make an exception.
3, in sum, projecting lamp is supplemented lamp as a kind of characteristic point by the present invention, in graphic pattern projection lamp,
It is provided with the imaging eyeglass with random Quick Response Code in light path, so can increase a lot of characteristic point；Its principle
It is similar to a blank sheet of paper and the figuratum paper of print, puts together for two, find out figuratum at a glance
Characteristic point is many；Inventive feature point supplements lamp by the light of high-brightness LED lamp by being carved with random Quick Response Code
Imaging eyeglass, is then passed through meniscus combination and reaches an optimal drop shadow effect；Make human body surface black
The most alternate, characteristic point is clearly.
4, in the preferred embodiment of the present invention, the housing of sphere structure is used to image first-class parts as installing
Framework, it is so that camera becomes dome type to be distributed so that the photographic head in human body three-dimensional scanner can
Fully scan all positions in space, from various visual angles, comprehensive collection photographic intelligence, thus obtain high-precision
The parameter of degree；In the frame assembly of the present invention, each piece can become an independent circuit module, can
The most assembled, dismounting, transport；The frame assembly of the present invention is reasonable in design, provides to support for photographing unit and determines
Position coordinate, multiple photographing unit are combined as dot matrix camera system, and the attitude adapting to adjust sweep object becomes
Changing, the outline multi-angle being rapidly completed target body to be scanned is taken pictures, it is adaptable to 3-D view process work
The data acquisition stood, image quality is high, and scanning speed is fast, and relative inexpensiveness has splendid practicality
And application value.
Accompanying drawing explanation
Fig. 1 is the system structure principle schematic of the present invention；
Fig. 2 is the planar structure schematic diagram of a kind of detailed description of the invention of the present invention；
Fig. 3 is the structural representation of the single photographic head of detailed description of the invention shown in Fig. 2；
Fig. 4 is the structural representation that the single characteristic point of detailed description of the invention shown in Fig. 2 supplements lamp；
Fig. 5 is the schematic diagram of the single photographic head horizontal direction adjustment angle of detailed description of the invention shown in Fig. 2；
Fig. 6 is the structural representation of a kind of detailed description of the invention of the frame assembly of the present invention；
Fig. 7 is the structural representation of a kind of detailed description of the invention of the internal layer framework of the present invention；
Fig. 8 is the structural representation of a kind of detailed description of the invention of the outer framework corresponding with Fig. 7；
Fig. 9 is the structure principle chart that inventive feature point supplements a kind of detailed description of the invention of lamp；
Figure 10 is the effect schematic diagram that characteristic point shown in Fig. 9 supplements the random Quick Response Code on the imaging eyeglass of lamp.
Description of reference numerals:
101-support, 102-photographic head, 103-target to be scanned, 111-pillar, 112-horizontal conveyor parts,
The vertical drive disk assembly of 113-；
Pentagon around 10-internal layer, 20-internal layer top pentagon, 30-internal layer hexagon, 40-internal layer four limit
Shape, pentagon around 50-outer layer, 60-outer top pentagon, 70-outer layer hexagon, 80-outer layer four limit
Shape, 90-base, 100-opening；200-high-brightness LED lamp, 300-imaging eyeglass, 400-optical lens, 500-
Outer framework, 600-internal layer framework, 700-characteristic point supplements lamp, 800-switch terminal；
31-camera installing hole, 32-characteristic point supplements lamp hole, 33-LED lamp hole；
701-fixed plate, 702-mounting rod, 703-mounting rod regulating part, 704-horizontally rotates part, and 705-bows
Face upward regulating part, 706-pitch lever, 707-lamp housing, 708-printing opacity camera lens.
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment describes the specific embodiment of the invention:
As shown in Fig. 1～10, it illustrates the detailed description of the invention of the present invention, the present invention is several for multi views
The characteristic point replenishment system of what three-dimensional reconstruction, for gathering the image information of target 103 to be scanned；Comprise many
Individual image acquisition and processing unit, described image acquisition and processing unit is by image acquisition units and image procossing list
One embedded type micro-acquisition process unit of unit's composition；Multiple image acquisition and processing unit interconnect, parallel
Work；Described image acquisition and processing unit is connected to computer；
As it can be seen, described image acquisition units is photographic head 102, described graphics processing unit is for using ARM
Chip is as the embedded computer unit of CPU, the entirety of two unit composition image acquisition and processing unit；
As it can be seen, also comprise the frame assembly for installing photographic head；It is additionally provided with on described frame assembly
Lamp is supplemented towards LED light supplement lamp and the characteristic point of target illumination to be scanned；
As it can be seen, described characteristic point supplements lamp is electrically connected to switch terminal 800, described switch terminal is by figure
As acquisition process unit controls break-make；Characteristic point supplements the image that the switching process of lamp can be formed by photographic head
Acquisition process unit reliably controls, it is ensured that characteristic point supplement lamp and photographic head to inductive switch relation and open
Close order；The plurality of image acquisition and processing unit is interconnected by switch；Described computer passes through road
It is connected with all image acquisition and processing unit concentration by device.
As it can be seen, it is the graphic pattern projection lamp for projecting random pattern in 2 D code that described characteristic point supplements lamp,
Or for being used for projecting the infrared projection lamp of Infrared pattern, or for for projecting laser interference pattern
Laser projecting lamp；
As it can be seen, it is multiple that described characteristic point supplements the quantity of lamp and photographic head；All characteristic points supplement lamp
Target to be scanned described in the pattern covers of projection；The union of the coverage of all photographic head covers whole equally
Target to be scanned；Same characteristic point supplements the pattern of lamp projection at least by the most complete shooting of two photographic head；
As it can be seen, the shooting angle of described photographic head can adjust；Described characteristic point supplements the projection side of lamp
To adjusting.
Preferably, as it can be seen, described graphic pattern projection lamp comprises high-brightness LED lamp 200 and is located at highlighted LED
The optical lens 400 for adjusting high-brightness LED lamp throw light focal length on light road；Described optical lens and
It is additionally provided with imaging eyeglass 300 in light path between high-brightness LED lamp light, described imaging eyeglass is provided with random
Quick Response Code；Described projecting lamp projects the pattern of corresponding random Quick Response Code；Described random Quick Response Code is by having one
Determine the square speckle composition of density；
Described infrared projection lamp is the infrared projection lamp for projecting white light or blue light, and it includes infrared emission
Device；
Described laser projection comprises laser generator.
Preferably, as it can be seen, the optical lens of described graphic pattern projection lamp is meniscus combination；Described spy
Levy a little supplementary lamp and comprise lamp housing and lamp housing frame；Described lamp housing frame comprises the mounting rod 702 for fixing lamp housing, peace
One end of dress bar is the fixed plate 701 for being arranged on frame assembly, and the other end of mounting rod passes through mounting rod
Regulating part 703 with can the horizontal rotation part 704 of horizontal adjustment angle be connected；Lead on described horizontal rotation part
Crossing pitch regulation part 705 and be provided with pitch lever 706, described lamp housing 707 is installed on pitch lever top.
Preferably, as it can be seen, described mounting rod regulating part, pitch regulation part are articulated elements, this is hinged
Part can carry out locked by trip bolt after having adjusted angle；It is provided with fin on described lamp housing；Institute
Stating the camera lens that one end is printing opacity of lamp housing, this camera lens can be focused by rotation.
Preferably, as it can be seen, all photographic head form camera array；Described frame assembly is support 101；
Each photographic head in described camera array is rack-mount, and by the horizontal conveyor arranged on support
Parts 112 and vertical drive disk assembly 113 realize the rotation of angle with respect to the horizontal plane and respectively relative to perpendicular
The rotation of Nogata angle upwards；Described horizontal conveyor parts and vertical drive disk assembly all comprise driving motor；
Described driving motor is electrically connected to controller；Described controller controls described driving motor and realizes camera array
Midpoint alignment described in mid-point to be collected；
As it can be seen, described support comprises pillar 111, pillar is installed multiple horizontal conveyor parts, Mei Geshui
Dynamic component of flating pass rotates with pillar central axis for rotary shaft, and described vertical drive disk assembly is arranged on horizontal conveyor
On parts, described vertical drive disk assembly comprises the rotating shaft of level, and the driving motor of vertical drive disk assembly drives and turns
Axle rotates, and the back side of photographic head is fixedly mounted in rotating shaft；Described characteristic point supplements the mounting rod end of lamp
Fixed plate is fixedly mounted on described pillar.
Preferably, as it can be seen, described horizontal conveyor parts comprise driving motor and gear-driven assembly,
Drive motor to be fixedly mounted on pillar, drive the output shaft of motor that driving gear, driven gear and master are installed
Moving gear engages, and driven gear turning set is contained on pillar, the flank of tooth of driven gear and described vertical driving section
Part connects, and drives the overall rotation along horizontal direction angle of described vertical drive disk assembly.
Preferably, as it can be seen, also comprise for measuring the camera array spacing with target to be collected
Range unit, described range unit is electrically connected to described controller, and described range unit comprises infrared range-measurement system,
Ultrasound wave and depth camera；The angle of the rotational angle also comprising the angle for measuring described photographic head passes
Sensor, described angular transducer is electrically connected to described controller.
Preferably, as it can be seen, described frame assembly comprises the housing of sphere structure；Shell inner surface is arranged
There is described photographic head；The described LED light supplement lamp and spy irradiated towards enclosure interior it is additionally provided with on described housing
Levy a little supplementary lamp；
As it can be seen, the housing of described frame assembly comprises outer framework 500 and internal layer framework 600；Ectonexine
Framework comprises 48 splicing flat boards altogether；The pentagon splicing that wherein internal layer framework comprises contiguous concatenation assembling is put down
Plate 6, hexagon splicing flat board 14, tetragon splicing flat board 4；What outer framework was corresponding comprises five
Limit shape splicing flat board 6, hexagon splicing flat board 14, tetragon splicing flat board 4；
As it can be seen, described characteristic point is supplemented within the optical lens of lamp stretches to internal layer framework, characteristic point is mended
Fill lamp to supplement lamp hole away from one end of optical lens through the characteristic point of described outer framework and be placed on outer framework
Outside；Described characteristic point is supplemented the fixed plate of lamp mounting rod end and is fixedly mounted on described internal layer framework.
Preferably, as it can be seen, described frame assembly also comprises the base 90 for supporting described housing；Institute
State base and use the design of the hollow cuboid angle of falling R, mid portion place apparatus power pack, base upper surface
Position, four camera holes is set.
Preferably, as it can be seen, same layer splicing flat board edgewise is by metal connecting sheet and interior six side's machinery spiral shells
Nail interconnects and constitutes half football dome-shaped；By angle bar and interior six side's machinery spiral shells between ectonexine splicing flat board
Nail interconnects and constitutes the interlayer that can place components and parts and connecting line；Described base and top half are by gold
Belong to and connect sheet and interior six side's mechanical screws interconnections.
Above in conjunction with accompanying drawing, the preferred embodiment for the present invention is explained in detail, but on the invention is not restricted to
State embodiment, in the ken that those of ordinary skill in the art are possessed, it is also possible to without departing from this
Make a variety of changes on the premise of invention objective.
Many other can be made without departing from the spirit and scope of the present invention to change and remodeling.Should be appreciated that this
Invention is not limited to specific embodiment, and the scope of the present invention is defined by the following claims.
Claims (10)
1. for the characteristic point replenishment system of multi-view geometry three-dimensional reconstruction, for gathering the figure of target to be scanned
As information；It is characterized in that: comprise multiple image acquisition and processing unit, described image acquisition and processing unit is
The embedded type micro-acquisition process unit being made up of image acquisition units and graphics processing unit；Multiple images
Acquisition process unit interconnects, concurrent working；Described image acquisition and processing unit is connected to computer；
Described image acquisition units is photographic head, and described graphics processing unit is for using ARM chip as CPU
Embedded computer unit, the entirety of two unit composition image acquisition and processing unit；
Also comprise the frame assembly for installing photographic head；It is additionally provided with towards to be scanned on described frame assembly
LED light supplement lamp and the characteristic point of target illumination supplement lamp；
Described characteristic point is supplemented lamp and is electrically connected to switch terminal, and described switch terminal passes through image acquisition and processing list
Unit controls break-make；The plurality of image acquisition and processing unit is interconnected by switch；Described computer leads to
Cross router to be connected with all image acquisition and processing unit concentration.
It is the graphic pattern projection lamp for projecting random pattern in 2 D code that described characteristic point supplements lamp, or for being used for
The infrared projection lamp of projection Infrared pattern, or for being used for projecting the laser projecting lamp of laser interference pattern；
It is multiple that described characteristic point supplements the quantity of lamp and photographic head；All characteristic points supplement the pattern of lamp projection
Cover described target to be scanned；The union of the coverage of all photographic head covers whole target to be scanned equally；
Same characteristic point supplements the pattern of lamp projection at least by the most complete shooting of two photographic head；
The shooting angle of described photographic head can adjust；Described characteristic point is supplemented the projecting direction of lamp and can be adjusted.
2. the characteristic point replenishment system for multi-view geometry three-dimensional reconstruction as claimed in claim 1, it is special
Levy and be: described graphic pattern projection lamp comprise high-brightness LED lamp and be located in high-brightness LED lamp light path for adjusting
The optical lens of high-brightness LED lamp throw light focal length；Light between described optical lens and high-brightness LED lamp light
It is additionally provided with imaging eyeglass on road, described imaging eyeglass is provided with random Quick Response Code；Described projecting lamp projects
Go out the pattern of corresponding random Quick Response Code；Described random Quick Response Code is made up of the square speckle with certain density；
Described infrared projection lamp is the infrared projection lamp for projecting white light or blue light, and it includes infrared emission
Device；
Described laser projection comprises laser generator.
3. the characteristic point replenishment system for multi-view geometry three-dimensional reconstruction as claimed in claim 2, it is special
Levy and be: the optical lens of described graphic pattern projection lamp is meniscus combination；Described characteristic point is supplemented lamp and is comprised
Lamp housing and lamp housing frame；Described lamp housing frame comprises the mounting rod for fixing lamp housing, and one end of mounting rod is for being used for
The fixed plate being arranged on frame assembly, the other end of mounting rod passes through mounting rod regulating part and can level adjust
The horizontal rotation part of whole angle connects；By pitch regulation part, pitch lever is installed on described horizontal rotation part,
Described lamp housing is installed on pitch lever top.
4. the characteristic point replenishment system for multi-view geometry three-dimensional reconstruction as claimed in claim 3, it is special
Levying and be: described mounting rod regulating part, pitch regulation part are articulated elements, this articulated elements can be by fastening
Screw carries out locked after having adjusted angle；It is provided with fin on described lamp housing；One end of described lamp housing is
The camera lens of printing opacity, this camera lens can be focused by rotation.
5. the characteristic point replenishment system for multi-view geometry three-dimensional reconstruction as claimed in claim 3, it is special
Levy and be: all photographic head composition camera array；Described frame assembly is support；Described camera array
In each photographic head rack-mount, and by the horizontal conveyor parts arranged on support and vertical transmission
Parts realize the rotation of angle with respect to the horizontal plane and respectively relative to the rotation of the angle on vertical direction；
Described horizontal conveyor parts and vertical drive disk assembly all comprise driving motor；Described driving motor is electrically connected to control
Device processed；Described controller controls described driving motor and realizes mesh to be collected described in the midpoint alignment of camera array
Mark midpoint；
Described support comprises pillar, and pillar is installed multiple horizontal conveyor parts, each horizontal conveyor parts with
Pillar central axis is that rotary shaft rotates, and described vertical drive disk assembly is arranged on horizontal conveyor parts, described
Vertically drive disk assembly comprises the rotating shaft of level, and the driving motor-driven rotatable shaft of vertical drive disk assembly rotates, shooting
The back side of head is fixedly mounted in rotating shaft；Described characteristic point supplements the fixing peace of fixed plate of the mounting rod end of lamp
It is contained on described pillar.
6. the characteristic point replenishment system for multi-view geometry three-dimensional reconstruction as claimed in claim 5, it is special
Levy and be: described horizontal conveyor parts comprise driving motor and gear-driven assembly, drive the fixing peace of motor
Being contained on pillar, drive the output shaft of motor to install driving gear, driven gear engages with driving gear, quilt
Moving gear turning set is contained on pillar, and the flank of tooth of driven gear is connected with described vertical drive disk assembly, drives institute
State the overall rotation along horizontal direction angle of vertical drive disk assembly.
7. the characteristic point replenishment system for multi-view geometry three-dimensional reconstruction as claimed in claim 5, it is special
Levy and be: also comprise the range unit for measuring camera array and the spacing of target to be collected, described
Range unit is electrically connected to described controller, and described range unit comprises infrared range-measurement system, ultrasound wave and the degree of depth
Photographic head；Also comprise the angular transducer of the rotational angle of angle for measuring described photographic head, described angle
Degree sensor is electrically connected to described controller.
8. the characteristic point replenishment system for multi-view geometry three-dimensional reconstruction as claimed in claim 3, it is special
Levy and be: the housing that described frame assembly comprises sphere structure；Shell inner surface is provided with described photographic head；
It is additionally provided with the described LED light supplement lamp irradiated towards enclosure interior on described housing and characteristic point supplements lamp；
The housing of described frame assembly comprises outer framework and internal layer framework；Ectonexine framework comprises 48 altogether
Splicing flat board；Wherein internal layer framework comprises the pentagon splicing flat board 6 that contiguous concatenation assembles, and hexagon is spelled
Connect flat board 14, tetragon splicing flat board 4；What outer framework was corresponding comprises pentagon splicing flat board 6,
Hexagon splicing flat board 14, tetragon splicing flat board 4；
Described characteristic point is supplemented within the optical lens of lamp stretches to internal layer framework, and characteristic point supplements lamp away from light
Learn one end of camera lens to supplement lamp hole through the characteristic point of described outer framework and be placed on outside outer framework；Described
Characteristic point is supplemented the fixed plate of lamp mounting rod end and is fixedly mounted on described internal layer framework.
9. the characteristic point replenishment system for multi-view geometry three-dimensional reconstruction as claimed in claim 8, it is special
Levy and be: described frame assembly also comprises the base for supporting described housing；Described base uses hollow length
The cube angle of falling R is designed, and mid portion place apparatus power pack, base upper surface arranges position, four camera holes.
10. the characteristic point replenishment system for multi-view geometry three-dimensional reconstruction as claimed in claim 8, it is special
Levy and be: same layer splicing flat board edgewise is interconnected constituted by metal connecting sheet and interior six side's mechanical screws
Half football dome-shaped；Interconnect constitute by angle bar and interior six side's mechanical screws between ectonexine splicing flat board
The interlayer of components and parts and connecting line can be placed；Described base and top half are by metal connecting sheet and interior six
Side's mechanical screw interconnects.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510316834.8A CN106296643A (en) | 2015-06-10 | 2015-06-10 | Characteristic point replenishment system for multi-view geometry three-dimensional reconstruction |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510316834.8A CN106296643A (en) | 2015-06-10 | 2015-06-10 | Characteristic point replenishment system for multi-view geometry three-dimensional reconstruction |
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| CN106296643A true CN106296643A (en) | 2017-01-04 |
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| CN201510316834.8A Pending CN106296643A (en) | 2015-06-10 | 2015-06-10 | Characteristic point replenishment system for multi-view geometry three-dimensional reconstruction |
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