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Scanning method and system of tracking type three-dimensional scanning device, storage medium and equipment

A technology of three-dimensional scanning and scanning method, applied in the field of three-dimensional scanning, can solve the problems of difficult data splicing and reconstruction, limited field of view, and tracking dead angle.

Active Publication Date: 2018-12-14
SCANTECH (HANGZHOU) CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The problem is that if the position of the tracker is fixed, its field of view is limited, and there will be tracking dead angles in some orientations and areas. In the tracking dead angles, it is difficult for the tracker to locate the 3D scanner, and it is difficult to perform data splicing and 3D reconstruction; if the position of the tracker moves, it will be difficult to stitch and reconstruct the data before and after the movement due to the change of the coordinate system of the tracker

Method used

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  • Scanning method and system of tracking type three-dimensional scanning device, storage medium and equipment
  • Scanning method and system of tracking type three-dimensional scanning device, storage medium and equipment
  • Scanning method and system of tracking type three-dimensional scanning device, storage medium and equipment

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Embodiment 2

[0137] Embodiment 2, transfer station, Figure 8 A schematic diagram of the stitching system of the tracking three-dimensional scanning system in Embodiment 1 of the present invention is shown.

[0138] Such as Figure 8 As shown, somewhere where the tracker 3 can capture the three-dimensional sensor 1, the third target feature 52 begins to appear; the three-dimensional sensor 1 recognizes the third target feature 52, and in this embodiment, the third target feature 52 adopts a marker point , the data scanned by the 3D sensor 1 can be matched through the marker points; the tracker 3 moves and sees the 3D sensor 1 again, because the data scanned by the 3D sensor 1 can be matched through the marker points, and the data tracked by the tracker can be matched through the 3D The pose matching of the sensor 1, that is, the data of the coordinate systems of the two trackers 3 before and after the movement can be indirectly matched through the marker points.

[0139] Hereinafter, in ...

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Abstract

The invention provides a scanning method of a tracking type three-dimensional scanning device. The scanning method comprises feature capturing, coordinates matching, conversion matrix calculating anddemarcation. The invention further relates to a scanning system of the tracking type three-dimensional scanning device. The scanning system comprises a three-dimensional sensor which comprises a firstimage acquisition device and a first target feature which can be captured of a tag point, a calibration reference machine which comprises a second target feature which can be captured of a tag point,a tracker and a computing element which comprises a two-dimensional image feature calculator, a coordinate matcher and a calibration calculator. The invention further relates to a storage medium andequipment. A tracking type capture mode is adopted, the calibration process is quick, positioning accuracy is high, stability is excellent, calibration is convenient and quick, and application range is wide. The scanning range is enlarged, scanning application flexibility is improved, and blind area scanning is achieved. Technical bases are provided for three-dimensional scanning and measuring operation of large and complex objects to be scanned based on the tracking type three-dimensional scanning device.

Description

technical field [0001] The invention relates to three-dimensional scanning, in particular to a scanning method and a scanning system of a tracking three-dimensional scanning device. Background technique [0002] In recent years, with the continuous increase of computer hardware performance and the continuous improvement of communication speed, 3D scanning technology has also been continuously updated and iterated. Tracking 3D scanning is one of the new 3D scanning technologies, which mainly uses 3D scanners and trackers to achieve 3D measurement of objects. Compared with the traditional point-based 3D scanning or photographic 3D scanning, the tracking 3D scanning technology is more convenient to use, has better stability, and a larger measurement range, which is convenient for users to easily and conveniently realize in the workshop, outdoors and various complex environments. Three-dimensional measurement is widely used in many fields such as machinery manufacturing, aerosp...

Claims

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Application Information

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IPC IPC(8): G01B11/24
CPCG01B11/24G01B21/042
Inventor 郑俊陈尚俭
Owner SCANTECH (HANGZHOU) CO LTD
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