Compact panoramic scanning device with multiple depth cameras

A technology of depth camera and scanning equipment, which is applied in the field of 3D panoramic scanning and imaging equipment, can solve the problem that the panoramic camera has no 3D depth information and is not suitable for panoramic modeling, and achieves the effect of low cost, small size and compact overall structure.

Inactive Publication Date: 2017-08-29
碰海科技(北京)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In order to overcome the problem that the existing 3D scanning equipment is not suitable for panoramic modeling in a narrow environment, and the panoramic camera can only take panoramic photos or videos without 3D depth information, the present invention provides a compact panoramic scanning with multiple depth cameras The equipment integrates multiple small depth cameras and cooperates with a single-axis servo turntable to realize 3D panoramic scanning. Considering the cost performance of the comprehensive platform, the structure of the equipment is made as compact as possible, suitable for 3D panoramic modeling in narrow environments, and easy to use

Method used

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  • Compact panoramic scanning device with multiple depth cameras

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Embodiment 1

[0038] Compact panorama scanning devices with multiple depth cameras such as figure 1 As shown, it includes a group of first depth camera 1, second depth camera 2, and third depth camera 3 closely arranged from top to bottom. 5 electrical connection (such as figure 2 ), the hub 5 is electrically connected with a system-on-chip 6; the system-on-chip 6 includes processing units for depth and color images; the system-on-chip 6 is electrically connected with a servo driver 7, and the servo driver 7 is again It is electrically connected with the single-axis servo turntable 8 , and the stator of the servo turntable 8 is fixedly connected to the bottom surface of the inner cavity of the housing 4 .

[0039] Such as image 3 As shown, the first depth camera 1 integrates a depth sensor 101 and a color sensor 102, and can simultaneously capture a depth image and a color image. The optical center 103 of the first depth camera refers to the photosensitive center of the color sensor 10...

Embodiment 2

[0050] In this embodiment, the rotor 803 of the servo turntable will be fixed on a mobile platform, such as a robot, by screws. The robot can automatically or remotely move to a certain position and stop, and automatically start the servo controller 7 to drive the servo turntable 8 to rotate to perform a panoramic scan at this position; then the robot automatically or remotely moves to the next position and stops, and then automatically Start the servo controller 7, repeat the process of rotation and panoramic scanning; and so on.

[0051] All aspects of this embodiment can be combined with any non-conflicting aspects of Embodiment 1 to form further embodiments without losing the desired effect.

Embodiment 3

[0053] The present invention includes at least one group of depth cameras (that is, at least three depth cameras), and the specific number of groups is not limited. In this embodiment, two groups of depth cameras will be used. Each group of depth cameras is evenly distributed on the side of the inner cavity of the housing 4 with the rotation axis 801 of the single-axis servo turntable 8 as the center of rotational symmetry. That is, if one group of depth cameras rotates 180° around the rotation axis 801 of the servo turntable 8 , the positions of the other group of depth cameras coincide. Because there are two sets of depth cameras in this embodiment, the number of interfaces of the hub 5 increases accordingly, that is, there are six interfaces; and the rotation angle controlled by the servo driver 7 is correspondingly reduced, that is, it only needs to rotate half a circle by 180°.

[0054] Aspects of this embodiment can be combined with any non-conflicting aspects of Embodim...

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Abstract

The invention discloses a compact panoramic scanning device with multiple depth cameras. The compact panoramic scanning device comprises at least one group of three depth cameras that are densely arranged from top to bottom, these depth cameras are fixedly connected to a side face of the inner cavity of a shell and are electrically connected with a concentrator, and the concentrator is electrically connected with a system on chip; the system on chip comprises processing units of depth and color images, namely, a fixed point panoramic splicing unit, a movement position estimation unit and an overall network generating unit, which are electrically connected in series; and the system on chip is fixedly connected to a servo driver, the servo driver is fixedly connected to a single-axis servo turntable, and a stator of the servo turntable is fixedly connected to a bottom surface of the inner cavity of the shell. The device is small in volume, is compact in overall structure, is suitable for performing three-dimensional panoramic scanning on narrow environments such as the interior of a sedan carriage, and can output depth and color panoramas of a plurality of positions and three-dimensional grids with colored veins of the overall scene.

Description

technical field [0001] The invention relates to a 3D panoramic scanning and imaging device, in particular to a small-volume compact panoramic scanning device with multiple depth cameras. Background technique [0002] In virtual reality (VR) technology, 3D panoramic modeling of real environments is often required, and many of them have narrow environments, such as the interior of a car or the cockpit of an airplane. It is not very convenient to scan or photograph these small environments. For example, when using a handheld device, the human body holding the device may be scanned, or some places cannot be photographed, and the operation is not flexible and fast enough. [0003] The equipment for panoramic modeling in VR includes panoramic cameras, usually using multiple cameras. For example, the Chinese invention patent "a panoramic camera ball" with the notification number CN106506925A uses multiple cameras to achieve 360° panoramic photography. This type of panoramic camer...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04N13/02
CPCH04N13/243
Inventor 王兆仲
Owner 碰海科技(北京)有限公司
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