Handheld laser three-dimension scanning method and handheld laser three-dimension scanning equipment based on mark point trajectory tracking

Abstract

The invention relates to a handheld laser three-dimension scanning method based on single-camera mark point trajectory tracking. The handheld laser three-dimension scanning method comprises the following steps: (1) identifying and extracting the two-dimension position information of mark points in an image shot by a single camera, pre-judging according to the motion trajectories of the mark points in frames with a preset amount to obtain target positions in a current frame, then searching around the target positions to obtain mark points corresponding to the target positions, and establishing an initial matching relationship between the mark points in the current frame and an original mark point library; (2) utilizing the initial matching relationship to calculate the RT transfer matrix of an instrument from a current relative coordinate system Oc to a world coordinate system Ow, and utilizing a reprojection method for checking the previous initial matching relationship; (3) extracting a laser projection contour in a current frame image, and converting to three-dimensional coordinates under the world coordinate system Ow through the RT transfer matrix. The invention also discloses handheld laser three-dimension scanning equipment. According to the method and the equipment, the requirement for system hardware configuration is reduced, the smoothness during moving and splicing is good, the precision is relatively high, and the cost is relatively low.

Description

technical field

[0001] The invention belongs to the technical field of three-dimensional scanning, and relates to a hand-held laser three-dimensional scanning method and equipment. Background technique

[0002] Existing dual-camera hand-held scanning technologies (such as Canada Xingchuang Co., Ltd. "3D Scanning Automatic Reference System and Equipment", invention patent application number: 200680014069.3; Shenyang Yake Technology Co., Ltd. "A Handheld 3D Surface Information Extraction Method and Extractor", Invention Patent Application No.: 201010173849.0) both use calibrated dual cameras to collect graphics of the measured object, and extract the feature marker points in the image for stereo vision matching, and reconstruct the marks in the common field of view of the left and right cameras The three-dimensional coordinates and topological structure of the points in the instrument coordinate system, using the topological structure of these marked points and the known marke...

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