Hand-held three-dimensional surface information extraction method and extractor thereof

Abstract

The invention relates to a hand-held three-dimensional surface information extraction method and an extractor thereof. The method comprises the following steps of: 1) randomly arranging a plurality of circular markers on a scanned object, symmetrically arranging two cameras on the left and right sides of a linear laser projector and arranging an image acquisition and processing card having two parallel paths of working threads; 2) acquiring left-eye and right-eye two-dimensional surface information captured by the cameras on the left and right sides by using one path of working thread in the image acquisition and processing card; 3) extracting the markers in the left-eye and right-eye two-dimensional surface information and performing stereoscopic vision matching to reconstruct three-dimensional coordinates and a topological structure of the markers in the left-eye and right-eye two-dimensional surface information by an elliptic object image processing method by using the other path of working thread in the image acquisition and processing card, computing a registration matrix of scanning data in the whole scanning data in a current posture by using the reconstructed topological structure of the three-dimensional markers, extracting laser streak points from the left-eye and right-eye two-dimensional surface information, reconstructing the three-dimensional coordinates of the laser streak points in the left-eye and right-eye two-dimensional surface information and performing left and right eye fusion on the three-dimensional coordinates of the two laser streak points and then registering the three-dimensional coordinates of the laser streak points subjected to the left and right eye fusion into the whole scanning data of the object to be scanned by using the registration matrix in the current posture; and 4) repeating the steps 2) to 3) till all the scanning data of the object to be scanned is acquired.

Description

technical field [0001] The invention relates to a method and an acquisition device for acquiring three-dimensional information of an object shape, in particular to a hand-held three-dimensional profile information extraction method and an extractor thereof. Background technique [0002] Digitization of physical appearance is a new auxiliary technology for product design that emerges with the continuous development of CAD / CAE technology. Through the digitization of the physical model, the advantages of digitization and computers can be fully utilized to improve the efficiency of product design, manufacturing and improvement. In recent years, physical shape digital technology has been widely used in many fields. For example, in product research and development, reverse engineering technology can understand the original design intention and mechanism through physical digital technology, and make improvements to the original design, thereby It can shorten the research and devel...

AI Technical Summary

Problems solved by technology

Although the method of surface structured light can obtain multiple pieces of 3D data in the field of view scene in one measurement, the data reverse process cannot meet the real-time requirements. Therefore, the camera must be fixed on a tripod to keep relatively still during the measurement process. Flexibility is very limited

In addition, due to the occlusion relationship of the object surface, it is difficult to determine the camera pose to be scanned in advance, and the scanning efficiency is very low

Theoretically, the disadvantage of the coded structured light measurement method lies in the discreteness of the measurement. Each grating has a discrete value, so only a limited number of stripes can be coded, which limits the accuracy of the measurement.

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