482939 五、發明說明（1) 【發明之應用領域】 本發明係為一種單鏡頭三次元瞬間取像裝置及其方 法，可應用於數位影像處理。 【發明背景】 目前取得立體影像與三次元量測資料的方式可由單一 相機配合已校正的主動光源，例如：投影花樣 (projection pattern )、雷射掃描(laser scanning )，經多次取像後，以三角測距（t r i a n g u 1 a t i ο η)方式取 得三次元資訊；另一種方法則直接由二台相機從二個不同 的角度之立體視角（s t e r e〇s c〇p i c )取像，形成三角測距條 件，經由影像對應（i m a g e c 〇 r r e 1 a t i ο η )處理後得到物 體的表面因深度不同的對應向量（correlated vector)， 再經由此向量轉換為三度空間座標。 前揭技術取得三次元影像資訊之程序均需取得兩張以 上的影像以建構對應向量，並需經多重複雜k硬體系統與 演算法’無法達成「瞬間」取像；再者，為提高精確度通 常必須將兩視角角度加大或以重複取樣（over-samp 1 ing) 方式擷取多張影像，為達成「高精度」必須耗費時間及空 間才可完成。因此，如何兼顧「瞬間」、「高精度」、 「彩色」以及「輕巧」需求而取得三次元影像資訊乃一重 要而尚待解決之技術課題。 【發明之目的及概述】 有鏗於此，本發明提出一種兼顧「瞬間」、「高精 度」、「彩色」以及「輕巧」需求之單鏡頭三次元瞬間取482939 V. Description of the invention (1) [Application field of the invention] The present invention is a single-lens three-dimensional instant image capturing device and method, which can be applied to digital image processing. [Background of the Invention] Currently, the way to obtain stereoscopic images and three-dimensional measurement data can be a single camera with a corrected active light source, such as: projection pattern, laser scanning. After taking multiple images, Triangulation (triangu 1 ati ο η) is used to obtain three-dimensional information; the other method is to use two cameras to take images from two different perspectives (stereoscopic) to form a triangular ranging condition. , Correspondence vectors with different depths on the surface of the object are obtained after image correspondence (imagec 〇rre 1 ati ο η) processing, and then converted into three-dimensional space coordinates through this vector. The process of obtaining the three-dimensional image information by the front-revealing technology requires obtaining more than two images to construct the corresponding vector, and requires multiple complex k hardware systems and algorithms to achieve "instantaneous" image acquisition; further, in order to improve accuracy It is usually necessary to increase the angle of two viewing angles or capture multiple images by over-samp 1 ing. To achieve "high precision", it takes time and space to complete. Therefore, how to obtain the three-dimensional image information by taking into account the requirements of "instantaneous", "high precision", "color", and "lightweight" is an important and yet to be solved technical issue. [Objective and Summary of the Invention] With this in mind, the present invention proposes a single-lens three-dimensional instant acquisition that takes into account the needs of "instantaneous", "high precision", "color", and "lightweight"
像裝置及其方法。 本發j的主要目的即為提供一種單鏡頭三次元瞬間 像裝置及，、方法’以快速擷取三次元精確形狀及其色彩 訊。 貝 、 本& @所揭珞的單鏡頭三次元瞬間取像裝置及其方 去’於光圈设置特殊形狀之孔溝，將標的物表面之特徵 點投射至感測器而成像，利用影像上該孔溝之投影的大小 比例缺口位置、色彩而取得該標的物之三次元影像資 訊。 、 為使對本發明的目的、構造特徵及其功能有進—步 了解，茲配合圖示詳細說明如下： 、 【實施例詳細說明] 一個單感測器（如CCD或CMOS sensor )、單鏡組的相 機’透過二個以上角座標不同且偏離光軸 (off - optical-axis)的光圈（aperture)曝光一次，即 可同時將來自不同視角的影像投射到感測器上。只要實像 不在相機焦點平面（f 〇 c a 1 P 1 a n e )上，其投影於感測器 上之影像即會隨偏心光圈位置之不同而產生視差 (disparity )，利用此視差透過三角重建 (triangulation reconstruction)運算可以得到物體在 三次元座標系中之座標。 但因單一鏡頭中的兩個光圈孔通常因原來光圈直徑太 小無法拉大距離以增加視角（v i ew ang 1 e )提高解析度，相 對而言均較雙感測器所形成的視角來的小。因此，通常為Image device and method. The main purpose of the present invention is to provide a single-lens three-dimensional instantaneous image device and method to quickly capture the accurate three-dimensional shape and its color information. Bei, Ben & @ 解 揭 珞 's single-lens three-dimensional instantaneous image pickup device and its method to set a special shape of a hole in the aperture, project the characteristic points on the surface of the target to the sensor for imaging, and use the image The size of the projection of the hole is proportional to the position of the notch and the color to obtain the three-dimensional image information of the target. In order to further understand the purpose, structural features and functions of the present invention, the detailed description with the illustration is as follows: [Detailed description of the embodiment] A single sensor (such as a CCD or CMOS sensor), a single lens group Camera's exposure through two apertures with different angular coordinates and off-optical-axis apertures can project images from different perspectives onto the sensor at the same time. As long as the real image is not on the focal plane of the camera (f 0ca 1 P 1 ane), the image projected on the sensor will generate disparity with the position of the eccentric aperture, and use this parallax to triangulation reconstruction ) Operation can get the coordinates of the object in the three-dimensional coordinate system. However, because the two aperture holes in a single lens are usually too small for the original aperture diameter to extend the distance to increase the viewing angle (vi ew ang 1 e) to improve the resolution, relatively speaking, they are relatively better than those formed by the dual sensor. small. Therefore, usually
482939 五、發明說明（3) ―一… 達成Y輕巧」及「瞬間」之需求將犧牲「高精度」解析能 力。右經由重複取樣（oversampl ing)而擷取較多的取樣點 將可大幅改善因視角太小而造成較低解析度的結果，但較 多之取樣資料將犧牲「瞬間」的優點。 本务明所提出之裝置及方法，經由光圈孔溝之特殊設 計可達成與不同位置單孔光圈多次取像之相同效果。 請芩照「第1圖」，單鏡頭三次元瞬間取像裝置之組 成圖。 本發明係一種單鏡頭三次元瞬間取像裝置，用以瞬間 取得一標的物之三次元影像資訊，包含：鏡頭1〇、光圈 2 0、感測器3 0。 鏡頭1 0係用以擷取該標的物瞬間反射所產生之輸入 光。 光圈20係設置於輸入光之光學路徑上，光圈20包含孔 溝21用以提供輸入光通過，孔溝21具有至少一缺口 22。光 圈2 0之孔溝2 1設計為特殊之幾何形狀，例如：圓環形、多 邊環形、方框形。 ，感測器3 0係設置於輸入光之光學路徑上，用以接收通 過光圈2 0之輸入光而感光成像，依據影像上孔溝2丨之投影 而取得標的物之三次元影像資訊。 感測器3 0依據影像上孔溝2 1之投影而取得標的物之三 次元影像資訊之方法有幾種： 1、依據影像上孔溝2 1之投影的大小比例而取得標的 物之特徵光點的深度。 、 482939 五、發明說明（4) 一一" ——— 2、 依據影像上孔溝2丨之投影的缺口方向而取得標的 物之特徵光點與具焦點之前後相對位置關係。 3、 依據影像上孔溝2丨之投影的色彩而取得標的物之 特徵光點的色彩。 例如：光圈2 0之孔溝2 1為具有一缺口 2 2之圓環形，標 的物表面之特徵光點A、B、c，經由鏡頭10、光圈20而投 射成像為A ’ 、B，、C，。 A與鏡頭1 0之聚焦點的距離小於B與鏡頭1 〇之聚焦點的 距離’因此A’所呈現之圓環形比B，所呈現之圓環形小，而 C位於鏡頭1 〇之聚焦點上，所投射成像c，為一點。因此感 測裔3 0可依據投射成像之圓環形的大小比例而取得標的物 之特徵光點的深度。 B位於鏡頭1 〇之聚焦點的内侧，其投射成像b，之缺口 方向與孔溝2 1之缺口 2 2的方向相同。A位於鏡頭1 〇之聚焦 點的外侧，其投射成像A，之缺口方向與孔溝2 1之缺口 22的 方向相反。而C之投射成像為一點，無需判斷缺口方向。 因此感測器3 0可依據圓環形的缺口方向而取得標的物之特 徵光點的與具焦點之前後關係。 投射成像A ’ 、B ’ 、C，之色彩會反應特徵光點a、b、c 之色彩。因此感測器3 〇可依據圓環形的色彩而取得標 之特徵光點的色彩。 不 請參照「第2圖」，單鏡頭三次元瞬間取像裝置 射成像路徑圖。 & 標的物表面之特徵光點C、d、E，投射成像為c，、 482939 五、發明說明（5) D 、E ’ 。由投射成像上孔溝之形 聚焦點之距離。由投射成像上^ CD、E與聚焦點之前後關係。 請參照「第3圖」，單鏡頭· 程圖。 、一 本發明提出一種單鏡頭三二欠 間取得一標的物之三次元影像資 控制輸入光5 0、取得影像6 〇、譽 投射光點步驟4 0係以一補助 射特徵光點。 控制輸入光步驟5 0係以—& 圈包含具有至少一缺口之一孔溝 %形或方框形。 取得影像步驟6 0係以感測器 感光成像，依據影像上孔溝之投 影像資訊。 取得影像處理步驟70係依據 比例而取得標的物之特徵光點的 投影的缺口位置而取得標的物之 像上孔溝之投影的色彩而取得標 【達成之功效】 經由光圈之孔溝形之特殊設 特徵光點投射至感測器而形成與 狀，以一次瞬間取像取得不同位 狀大小可取得C、丨 溝形狀之缺〇方^ -次元瞬間取像方 元瞬間取像方法， 訊，包含：投射为 像處理70等步驟。 光點投射器於標白+ 圈控制輸入光通遇 。孔溝可為圓環形 接收通過光圈之輪 影而取得標的物之 影像上孔溝之投影 深度，依據影像上 特徵光點的方向， 的物之特徵光點的 計，本發明可將標 光圈形狀等比例之 置單孔光圈重複取 、E輿 可取得 用以瞬 點4 〇、 物上投 ’該光 、多邊 入光而 三次元 的大小 孔溝之 依據影 色彩。 的物之 相似形 像之相 五、發明說7(6)^ 同致要 狀的比例t於孔溝形狀：：^知’根據投射成像之孔溝形 料，㈡：”可迅速： = 算出特徵光點之深度資 :次元資料之精確度而達到「輕电子式的切換）即可增加 态上特殊形狀的色彩呈現，會反二，而求。投射於感測 可達_「彩色」之需求。本身色彩，因此 「輕巧」、「彩色」及「瞬間」m;:r度」、 計上將具有競爭性及特殊性。 未來於產品没 露如上，然其並非 在不脫離本發明之 飾，因此本發明之 定者為準。482939 V. Explanation of the invention (3) ―One ... Achieving Y lightweight and instantaneous requirements will sacrifice the "high precision" analysis ability. The right acquisition of more sampling points through oversampling will greatly improve the results of lower resolution due to too small viewing angles, but more sampling data will sacrifice the advantage of "instantaneous". The device and method proposed in this matter can achieve the same effect as multiple images of a single aperture at different positions through the special design of the aperture slot. Please refer to "Figure 1" for a single-lens three-dimensional instantaneous image capture device. The invention is a single-lens three-dimensional instantaneous image capturing device for instantaneously obtaining three-dimensional image information of a target object, including: a lens 10, an aperture 20, and a sensor 30. The lens 10 is used to capture the input light generated by the instantaneous reflection of the target. The iris 20 is disposed on the optical path of the input light. The iris 20 includes a hole 21 for providing input light to pass through. The hole 21 has at least one notch 22. The aperture 2 1 of the aperture 2 0 is designed as a special geometric shape, such as a circular ring, a polygonal ring, and a box shape. The sensor 30 is arranged on the optical path of the input light, and is used for receiving and imaging through the input light of the aperture 20, and obtaining the three-dimensional image information of the target object according to the projection of the hole 2 in the image. There are several methods for the sensor 30 to obtain the three-dimensional image information of the target object according to the projection of the hole 21 on the image: 1. The characteristic light of the target object is obtained according to the size ratio of the projection of the hole 21 on the image. The depth of the point. 482939 V. Explanation of the invention (4) One by one " ——— 2, According to the direction of the notch of the projection of the hole 2 in the image, the characteristic position of the target object and the relative position of the front and back with the focus are obtained. 3. Obtain the color of the characteristic light point of the target according to the color of the projection of the holes 2 in the image. For example, the aperture 21 of the aperture 20 is a circular ring with a gap 22, and the characteristic light points A, B, and c on the surface of the target are projected and imaged as A ′, B through the lens 10 and the aperture 20. C ,. The distance between A and the focal point of lens 10 is smaller than the distance between B and the focal point of lens 10. Therefore, the circle shape presented by A is smaller than that of B, and C is located in the focus of lens 10. At the point, the projected image c is a point. Therefore, the sensor 30 can obtain the depth of the characteristic light spot of the target object according to the size ratio of the circular shape of the projection image. B is located on the inner side of the focal point of the lens 10, and its projection image b, the direction of the notch is the same as the direction of the notch 22 of the hole 2 1. A is located outside the focal point of the lens 10, and its projection image A has a notch direction opposite to the direction of the notch 22 of the hole 21. The projection image of C is one point, and there is no need to judge the direction of the notch. Therefore, the sensor 30 can obtain the relationship between the characteristic light point of the target object and the focal point according to the direction of the circular gap. The colors of the projection images A ', B', and C will reflect the colors of the characteristic light spots a, b, and c. Therefore, the sensor 30 can obtain the color of the target characteristic light spot according to the color of the circular ring. Please refer to "Figure 2" for a single-lens three-dimensional instantaneous imaging device. & The characteristic light points C, d, and E on the surface of the object, the projection imaging is c, 482939 V. Description of the invention (5) D, E '. The distance from the focal point in the shape of a hole in the projection image. The relationship between CD, E and the focal point from the projection image. Please refer to "Fig. 3" for single lens and stroke diagram. 1. The present invention proposes a single-lens three-dimensional acquisition of three-dimensional image data of a target object to control the input light 50, obtain the image 60, and the projected light spot step 40 is to shoot a characteristic light spot with a subsidy. Controlling the input light step 50 is based on a circle containing at least one notch in a groove shape or a square shape. Step 6 of obtaining the image is to use the sensor to form the image. It is based on the image information of the holes in the image. Obtaining the image processing step 70 is to obtain the projected gap position of the target's characteristic light spot according to the ratio and obtain the color of the projection of the hole on the image of the target to obtain the target. Suppose that the characteristic light spot is projected to the sensor to form a shape, and the difference between the shape of the C and groove can be obtained by taking a momentary image to obtain different position sizes. ^-Dimensional instantaneous image acquisition method. Contains: Projection as image processing 70 and other steps. The light spot projector controls the input light flux at the white + circle. The hole can be a circular ring to receive the projection depth of the hole on the image of the target object obtained through the shadow of the aperture. According to the direction of the characteristic light point on the image and the characteristic light point of the object, the present invention can convert the target aperture. A single aperture aperture of equal shape is repeatedly selected, and E can obtain the shadow color of the three-dimensional aperture of the three-dimensional aperture, which is used to cast the light on the object at a instant of time, and enter the light on multiple sides. The similarity of the objects is similar to the fifth aspect of the invention. 7 (6) ^ The proportion of the same shape t is in the shape of the pores and grooves :: ^ Know 'According to the pores and grooves of the projection imaging, ㈡: "can quickly: = calculate Depth data of characteristic light points: The accuracy of the dimensional data can be achieved by "light electronic switching" to increase the color presentation of special shapes in the state, which will be reversed. demand. Because of its own color, "lightweight", "color" and "instantaneous" m :: r degrees "will be competitive and special. In the future, the product is not exposed as above, but it is not inseparable from the decoration of the present invention, so the set of the present invention shall prevail.
雖然本發明以前述之較佳實施例揭 用以限定本發明，任何熟習此技藝者， 精神和範圍内，當可作些許之更動與潤 保護範圍當視後附之申請專利範圍所界Although the present invention is disclosed in the foregoing preferred embodiments to limit the present invention, anyone skilled in the art, within the spirit and scope, can make some changes and maintain the protection scope as the scope of the attached patent application.
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482939 圖式簡單說明 - 【圖式簡單說明】 第1圖為單鏡頭三次元瞬間取像裝置之組成圖。 第2圖為單鏡頭三次元瞬間取像裝置之投射成像路徑圖。 第3圖為單鏡頭三次元瞬間取像方法之流程圖。 【圖式符號說明】 ’ 10 鏡頭 · · 20 光圈 21 孔溝 2 2 缺口 30感測器 籲 40 投射光點 50 控制輸入光 60 取得影像 7 0 影像處理482939 Schematic description-[Schematic description] Figure 1 shows the composition of a single-lens three-dimensional instantaneous imaging device. Fig. 2 is a projection imaging path diagram of a single-lens three-dimensional instantaneous image capturing device. Figure 3 is a flow chart of the single-lens three-dimensional instant image acquisition method. [Illustration of Symbols] ’10 lens · · 20 aperture 21 hole groove 2 2 notch 30 sensor 30 projection light spot 50 control input light 60 acquisition image 7 0 image processing
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