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A device and method for obtaining 3D coordinates and dimensions of objects during motion

A 3D and acquisition device technology, applied in the field of topography measurement and 3D topography measurement, can solve the problems of angle insensitivity, camera position setting error, difficulty in accurately determining the angle, etc., to improve synthesis accuracy, increase synthesis speed, and improve adaptive effect

Active Publication Date: 2021-07-13
天目爱视(北京)科技有限公司
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

However, in practical applications, it is found that unless there is an accurate angle measurement device, the user is not sensitive to the angle, and it is difficult to determine the angle accurately; the size of the target object is difficult to accurately determine, such as the scene constructed by the 3D model of the above-mentioned riverside house
And 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

Method used

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  • A device and method for obtaining 3D coordinates and dimensions of objects during motion
  • A device and method for obtaining 3D coordinates and dimensions of objects during motion
  • A device and method for obtaining 3D coordinates and dimensions of objects during motion

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Embodiment Construction

[0036] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0037] 3D Acquisition Calibration Process

[0038] When the target object to be collected is constantly changing, or the target object is far away, or the mark point cannot be placed on the target object, etc., you can:

[0039] Set the coordinate system xyz to collect the position and attitude of the device, and the coordinate system XYZ to calibrate the space.

[0040] Place a pose sensor on the acquisition device to measure t...

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Abstract

The embodiment of the present invention provides a collection device and method in 3D modeling, (1) using the collection device to collect multiple images of the target object; (2) the calibration device to obtain the position and location of the collection device when the collection device collects each image Attitude information; (3) The processor synthesizes the 3D model of the target object according to the above-mentioned multiple images, and at the same time obtains the 3D coordinates corresponding to the image points with the same name according to the position and posture information of the acquisition device, thereby obtaining a 3D model point cloud with accurate 3D coordinates. The absolute size calibration of the target object is realized through the method of obtaining the camera position and attitude, and the calculation method of the image point of the same name is adopted, so there is no need to place the calibration object on the target object in advance, or project the calibration point.

Description

technical field [0001] The invention relates to the technical field of shape measurement, in particular to the technical field of 3D shape measurement. Background technique [0002] At present, when using a visual method for 3D acquisition and measurement, the camera is usually rotated relative to the target object, or multiple cameras are set around the target object for simultaneous acquisition. 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 achieve 3D acquisition and modeling of the human body. However, in either way, the distance between the camera and the target object needs to be short, at least within the range that can be arranged, so that the camera can collect images of the target object at different positions. [0003] However, in some applications, it is not possible to collect images around the target object. For example, whe...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/60G06T7/73G06T17/20G06T15/04G06T5/00G01B11/00G01B11/24H04N13/243
CPCG01B11/00G01B11/002G01B11/24G06T5/002G06T7/60G06T15/04G06T17/20G06T2200/08G06T2207/10016G06T2207/20024G06T7/73H04N13/243
Inventor 左忠斌左达宇
Owner 天目爱视(北京)科技有限公司
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