Indoor self-positioning three-dimensional scanning method and system

Abstract

The invention relates to an indoor self-positioning three-dimensional scanning method and system. The method comprises the following steps: obtaining coordinates of mark light-reflecting points on anindoor wall in a first coordinate system, and obtaining pose information of a tracking camera and a stereoscopic camera in a tracking scanner in a second coordinate system; obtaining imaging point positions of the mark light-reflecting points in the tracking camera, and obtaining coordinates of scanning points formed by scanning a target object by the stereoscopic camera in the second coordinate system; determining the coordinates of the scanning points in the first coordinate system, and fusing the scanning points in the first coordinate system; and repeating till the overall scanning of thetarget object is completed, obtaining a fusion result of the coordinates of different scanning points in the first coordinate system, constructing the surface of the target object in the first coordinate system according to the fusion result corresponding to the different scanning points, and generating a three-dimensional model of the target object. The scanning method provided by the invention can prevent mark points from being pasted on the object surface, and realize omnidirectional, high-precision, high-efficiency and convenient three-dimensional reconstruction, and an indoor measuring scene can be used repeatedly.

Description

technical field [0001] The invention relates to the technical field of optical scanning, in particular to an indoor self-positioning three-dimensional scanning method and system. Background technique [0002] The 3D optical scanner has been able to conveniently solve the high-precision measurement of most objects with poor surface texture, but it must paste a large number of uniformly distributed reflective marker points on the surface of the object to be measured for frame splicing in scanning, and in each The process of pasting markers on the surface of the object to be measured is cumbersome and takes a lot of time, which increases the workload of scanning measurement. Contents of the invention [0003] The technical problem to be solved by the present invention is to provide an indoor self-positioning three-dimensional scanning method and system for the deficiencies of the above-mentioned prior art. [0004] The technical scheme of the present invention to solve the a...

AI Technical Summary

Problems solved by technology

[0002] The 3D optical scanner has been able to conveniently solve the high-precision measurement of most objects with poor surface texture, but it must paste a large number of uniformly distributed reflective marker points on the surface of the object to be measured for frame splicing in scanning, and in each The process of pasting markers on the surface of the object to be measured is cumbersome and takes a lot of time, which increases the workload of scanning measurement

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