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Full-automatic 3D scanning method and system based on rotary table

A scanning method and fully automatic technology, applied in the field of 3D scanning, can solve problems such as data quality deterioration and increased noise, and achieve the effect of improving efficiency and imaging quality

Pending Publication Date: 2022-03-01
BEIJING YINGPU TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Simply changing the camera of the 3D scanner to a color camera will increase noise and make the data quality worse

Method used

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  • Full-automatic 3D scanning method and system based on rotary table
  • Full-automatic 3D scanning method and system based on rotary table
  • Full-automatic 3D scanning method and system based on rotary table

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0039] see figure 1 and figure 2 , providing a fully automatic 3D scanning method based on a turntable, comprising the following steps:

[0040] S1. Construct a three-dimensional target, each surface of the three-dimensional target has a triangular array, and a coding pattern is preset inside a specified triangle of the triangular array, and the corner points of the triangles in the triangular array are indexed by the coding pattern to obtain Unique triangle corner ID;

[0041] S2. Depth camera and color camera calibration, fix the positions of the depth camera and color camera, use the depth camera and color camera to shoot the specified orientation of the stereo target, and detect the 2D pixel coordinates of the triangular corner points with indexes, according to the advance The defined physical size obtains the 3D coordinates corresponding to the corner points of the triangle under each 2D pixel;

[0042] S3, turntable calibration, place the stereoscopic target on a tur...

Embodiment 2

[0088] see image 3 , Embodiment 2 of the present invention also provides a fully automatic 3D scanning device based on a turntable, including:

[0089] A three-dimensional target, each side of the three-dimensional target has a triangle array, and a coding pattern is preset inside a specified triangle of the triangle array, and the corner points of the triangles in the triangle array are indexed by the coding pattern to obtain a unique triangle corner ID;

[0090] The depth camera and the color camera, by fixing the positions of the depth camera and the color camera, use the depth camera and the color camera to shoot the specified orientation of the stereo target; detect the 2D pixel coordinates of the triangular corner points with the index, according to the predefined The physical size obtains the 3D coordinates corresponding to the corner points of the triangle under each 2D pixel;

[0091] Turntable, the three-dimensional target is placed on the turntable at a fixed pos...

Embodiment 3

[0103] Embodiment 3 of the present invention provides a non-transitory computer-readable storage medium, the computer-readable storage medium stores a program code for a fully automatic 3D scanning method based on a turntable, and the program code includes the program code used to implement Embodiment 1. Instructions for a fully automatic 3D scanning method based on a turntable, or any possible implementation thereof.

[0104] The computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device such as a server, a data center, etc. integrated with one or more available media. The available medium may be a magnetic medium (for example, a floppy disk, a hard disk, or a magnetic tape), an optical medium (for example, DVD), or a semiconductor medium (for example, a solid state disk (SolidState Disk, SSD)).

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Abstract

According to the full-automatic 3D scanning method and device based on the rotary table, a coding pattern is preset in a specified triangle of a three-dimensional target triangular array, and indexing is carried out through coding pattern angular points to obtain a unique angular point ID; a depth camera and a color camera are used for shooting a specified direction of a stereoscopic target, 2D pixel coordinates of angular points with indexes are detected, and 3D coordinates corresponding to lower angular points of all the 2D pixels are obtained according to predefined physical sizes; obtaining angular point 3D coordinates of the three-dimensional target with the index under the camera coordinate system according to data collected by the depth camera every time, and obtaining the rotation center of the rotary table according to the angular point 3D coordinates of the three-dimensional target; an object to be scanned is placed on the calibrated rotary table, the depth camera and the color camera are triggered to collect data once in each rotation process, and the color depth map of the object is converted into the 3D point cloud of the object. According to the invention, full-automatic three-dimensional scanning of the object is realized, and the three-dimensional scanning efficiency and the imaging quality are improved.

Description

technical field [0001] The invention relates to a fully automatic 3D scanning device based on a turntable, belonging to the technical field of 3D scanning. Background technique [0002] In computer vision, 3D reconstruction refers to the process of reconstructing 3D information from single-view or multi-view images. Since the information of a single video is incomplete, 3D reconstruction needs to utilize empirical knowledge. The multi-view 3D reconstruction (similar to human binocular positioning) is relatively easy. The method is to calibrate the camera first, that is, calculate the relationship between the camera's image coordinate system and the world coordinate system, and then use multiple 2D images to information to reconstruct three-dimensional information. [0003] The 3D scanner projects stripes onto the surface of the object, and then collects images with a black and white camera. By calculating the deformation of the stripes on the surface of the object, the thr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/55G06T7/70G06T7/30
CPCG06T7/55G06T7/70G06T7/30G06T2207/10028
Inventor 王俊翔
Owner BEIJING YINGPU TECH CO LTD
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