Method and system for automatically acquiring complete three-dimensional data of object surface

Abstract

The invention is applicable to the technical field of three-dimensional measurement, and provides a method and a system for automatically acquiring complete three-dimensional data of an object surface. According to the system, a plurality of three-dimensional sensors are arranged along the one-dimensional direction for acquiring the three-dimensional depth data of the object surface; a tested object is placed on a transparent platform; and the transparent platform can drive the tested object to rotate, so that the sensors measure the bottom surface data of the object. According to the method and the system, high-accuracy calibration of a multi-sensor array without visual field overlapping is realized; automatic matching of a plurality of angle depth images is finished using calibration information by adopting a rotation angle presetting method according to the characteristic of high repeated rotation accuracy of a rotary table, so that the error caused by uncertainty of a rotating shaft is avoided and the rotating shaft is not required to be calibrated; and since the transparent platform is utilized, system can measure the bottom surface data of the object and can finally obtain the complete three-dimensional data of the surface of the tested object. In addition, the system can be used for measuring the instep of a human body.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional measurement, and in particular relates to a method and system for automatically acquiring complete three-dimensional data on an object surface. Background technique [0002] With the development of three-dimensional imaging and measurement technology, various three-dimensional sensors, such as three-dimensional sensors based on various structured light, laser, fringe projection and other methods, have achieved long-term development. However, for all kinds of different objects, especially all kinds of special shapes and objects of different scales, the fully automatic, fast and complete three-dimensional imaging and measurement technology still needs to be further improved and developed. Due to the self-occlusion of the surface of the object and the limitation of the field of view of the 3D sensor, it is difficult to obtain the complete 3D data of the surface of the object. First of all,...

AI Technical Summary

Problems solved by technology

Due to the self-occlusion of the surface of the object and the limitation of the field of view of the 3D sensor, it is difficult to obtain the complete 3D data of the surface of the object

First of all, for a single sensor, it is necessary to move the sensor to collect three-dimensional data on the surface of the object from multiple fields of view, and to perform matching and splicing processing on these data. Paste the marker points or use the robot to complete the matching

Secondly, using multiple sensors to form a measurement network that can cover the entire measured object can ensure that the 3D data on the surface of the object can be automatically obtained without moving the object, but often requires a large number of 3D sensors, which will bring measurement problems. With the increase of hardware costs, on-site operations are also more cumbersome and complicated. Moreover, because objects usually need to be supported below, it is difficult to obtain data on the bottom surface

[0003] In short, there is currently a lack of a technology that can automatically and completely measure the surface of a three-dimensional object

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