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Camera position real-time repositioning method of handheld three-dimensional scanning system

A technology of three-dimensional scanning and camera position, which is applied in computer parts, character and pattern recognition, image data processing, etc. It can solve the problems of excessive calculation, loss of adjacency relationship, and large impact of light to achieve real-time performance and accuracy Improve, eliminate image distortion, and improve accuracy

Active Publication Date: 2020-04-03
武汉易维晟医疗科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Violent matching needs to match each frame, and the amount of calculation is too large to meet the real-time requirements
The bag-of-words model based on two-dimensional image feature points loses three-dimensional information, and loses the adjacency relationship between each feature point, is not sensitive enough to rotation and scaling, and is greatly affected by illumination, so misjudgment often occurs when using this method

Method used

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  • Camera position real-time repositioning method of handheld three-dimensional scanning system
  • Camera position real-time repositioning method of handheld three-dimensional scanning system
  • Camera position real-time repositioning method of handheld three-dimensional scanning system

Examples

Experimental program
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Effect test

Embodiment 1

[0081]A handheld 3D scanning system equipped with this algorithm is installed on the Intel Core i5 general-purpose computing platform for continuous scanning. Due to user operation errors, the scanning is interrupted, such as figure 2 As shown, the repositioning function is triggered at this time, and the user points the scanning device at any part scanned before, such as image 3 As shown, after the algorithm is executed, the camera position is relocated in about 50ms (from figure 2 Middle A is relocated to image 3 center B) to allow the scan to continue. Figure 4 In order to verify the two-dimensional image matching results after successful relocation, Figure 5 In order to verify the point cloud matching results, it can be found that the two-dimensional image and point cloud matching results are in line with the actual situation.

[0082] Using the traditional bag-of-words model algorithm for relocation, there will be misjudgment, for example, it is actually the same...

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Abstract

The invention provides a camera position real-time repositioning method of a handheld three-dimensional scanning system. The camera position real-time repositioning method comprises the following execution processes: collecting m frames of RGB images I in advance before an algorithm is executed to obtain an image set A, A = {I1, I2,..., Im}, and point clouds P corresponding to the I one to one, and obtaining a point cloud set B, B = {P1, P2,..., Pm} and P = {p1, p2,..., pN}, wherein p = (x, y, z); before three-dimensional features are extracted, carrying out decentration and principal component analysis of point clouds, so that all the point clouds are located at the origin of world coordinates, and the principal directions are kept consistent, and differences among poses of all the pointclouds are eliminated as much as possible.

Description

technical field [0001] The invention relates to the technical field of hand-held three-dimensional scanners, in particular to a real-time camera position repositioning method for a hand-held three-dimensional scanning system. Background technique [0002] Three-dimensional scanning using structured light can only scan one side of the object at a time. To obtain the complete shape information of the object, it is often necessary to scan from different angles of the object, and then rely on the overlap of two adjacent sets of data to scan the data scanned on each side After coordinate transformations are carried out sequentially, a set of data in the same coordinate system is synthesized, that is, data splicing. This requires that the overlapping procedure of two adjacent sets of data is very high, but due to image noise, too fast camera movement, camera motion blur and other reasons, the degree of overlap between the newly collected data and the original data is often too low...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G06K9/62G06K9/46
CPCG06T7/74G06T7/75G06T2207/10024G06T2207/10028G06T2207/30244G06V10/50G06V10/462G06F18/2135Y02T10/40
Inventor 刘洋汉李荣军
Owner 武汉易维晟医疗科技有限公司
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