Foot-type three-dimensional reconstruction and measurement method based on Kinect and binocular vision

A binocular vision and 3D reconstruction technology, applied in the field of 3D reconstruction, can solve the problems of low measurement accuracy, low reconstruction accuracy, and difficulty in obtaining point clouds, etc., and achieve the effect of low hardware cost, improved accuracy and efficiency

Active Publication Date: 2018-03-06
ZHEJIANG UNIV OF TECH
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Problems solved by technology

Although the price is cheap, the measurement accuracy based on stereo vision is generally not high, a

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  • Foot-type three-dimensional reconstruction and measurement method based on Kinect and binocular vision
  • Foot-type three-dimensional reconstruction and measurement method based on Kinect and binocular vision
  • Foot-type three-dimensional reconstruction and measurement method based on Kinect and binocular vision

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Embodiment Construction

[0022] In order to have a deeper understanding of the method of the present invention, first of all, we will specifically describe the relevant principles and algorithms of the present invention in conjunction with the accompanying drawings.

[0023] Such as figure 1 Shown is the device figure that the inventive method is used, and the structure design of Kinect sensor and binocular camera system is up and down structure, it is fixed together, can be regarded as rigid structure, then Kinect and binocular camera are calibrated, it can be known that Kinect The coordinate center of and the coordinate center of the binocular system have the following conversion relationship:

[0024]

[0025] In the above formula, (X k ,Y k ,Z k ) is the center of the coordinate system of Kinect, (x b ,y b ,z b ) is the center of the coordinate system of the binocular camera system, R kb ,T kb Rotation and translation matrices for coordinate transformations.

[0026] Such as figure 2...

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Abstract

A foot-type three-dimensional reconstruction and measurement method based on Kinect and binocular vision comprises the following steps of: the step S1, shooting a human body foot type from different angles, and obtaining a plurality of foot-type images and a plurality of foot-type depth images; the step S2, performing conversion from the depth images to three-dimensional coordinates; the step S3,performing feature matching of binocular images obtained from different directions, and obtaining three-dimensional coordinates of correct matching feature points through a binocular camera system; the step S4, solving an optimum rotation translation matrix by employing the correct matching feature points of the binocular images of different views through adoption of an ICP algorithm; the step S5,employing parameters obtained in the step S4 to perform point-to-point splicing of three-dimensional point cloud obtained by a Kinect sensor; and the step S6, performing surface reconstruction and rendering for the d three-dimensional point cloud splice in the step S5, obtaining a three-dimensional model of a foot, and performing measurement and extraction of feature parameters of the reconstructed foot model. The method provided by the invention is low in hardware cost, simple to operate, and accurate and rapid.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional reconstruction, and more specifically relates to a method for three-dimensional reconstruction and measurement of foot shape based on Kinect and binocular vision. Background technique [0002] A mismatch between shoes and feet can cause a lot of discomfort and even disease. At present, the domestic classification of shoe size is only limited to the length of the foot, which is not enough. Nowadays, the footwear industry should not only pay attention to the shape design and popularity of shoes, but also the function and comfort. Customization is imperative. The shoe last is the model of shoemaking, and the accuracy of the shoe last determines the comfort of the shoe. [0003] Accurate and efficient foot shape measurement method is the premise of making shoe lasts. The existing foot shape measurement methods are divided into two types: contact measurement and non-contact measurement. Amo...

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Application Information

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IPC IPC(8): G06T17/00G06T3/40G06T15/00G06T17/20G06K9/46G06K9/62G06T5/00G06T7/194G01B11/24
Inventor 杨海清何力徐春燕郭更新
Owner ZHEJIANG UNIV OF TECH
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