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Edge detection method and system based on handheld three-dimensional scanner

An edge detection and scanner technology, applied in instruments, measuring devices, optical devices, etc., can solve the problems of edge mismatch, inaccurate edge detection and recognition, long response time, etc., to avoid mismatches, respond quickly, and detect high precision effect

Pending Publication Date: 2019-02-15
SCANTECH (HANGZHOU) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] Based on this, the present invention provides an edge detection method and system based on a hand-held three-dimensional scanner, which can precisely detect the edge of the scanned object, so as to solve the problem of inaccurate edge detection and identification, long response time, and easy There is a problem with edge mismatch

Method used

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  • Edge detection method and system based on handheld three-dimensional scanner
  • Edge detection method and system based on handheld three-dimensional scanner
  • Edge detection method and system based on handheld three-dimensional scanner

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Experimental program
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Embodiment 2

[0071] This embodiment is based on a handheld 3D scanner for positioning using marker points, and the handheld 3D scanner includes at least one structured light projector, at least two cameras, and a calculator for 3D digital image processing. The scanner comes with one or more light sources capable of simultaneously illuminating the mark point and the edge of the workpiece under test. The mark point can be a diffuse reflective mark point, a retroreflective mark point or a self-luminous mark point.

[0072] see figure 2 , the scanning steps of this embodiment are:

[0073] S11. Control the two cameras of the scanner to shoot synchronously, and obtain two 2D images of the scanned object at different viewing angles.

[0074] S12. According to the two 2D images, respectively identify and acquire edge curves of the scanned object, and extract marker points;

[0075] Specifically, under the illumination of the light source, the 2D image is converted into a feature image, and the...

Embodiment 3

[0084] This embodiment is based on a handheld 3D scanner that utilizes a tracker for positioning. The handheld 3D scanner includes at least one structured light projector, at least two cameras, a number of positioning features that can be captured by the tracker, and three-dimensional digital Image processing computer. The tracker includes at least one tracking camera capable of capturing and recording the pose and position of the handheld 3D scanner in real time.

[0085] see image 3 , the scanning steps of this embodiment are:

[0086] S21. Control the two cameras of the scanner to shoot synchronously, and obtain two 2D images of the same scanned object at different viewing angles.

[0087] S22. According to the two 2D images, respectively identify and acquire edge curves of the scanned workpiece;

[0088] Under the illumination of the light source, the 2D image is converted into a feature image, and the image is segmented, then processed by an edge extraction algorithm,...

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Abstract

The invention discloses an edge detection method and system based on a handheld three-dimensional scanner. The method comprises the following steps of acquiring 2D images of a scanned object at different visual angles; based on the acquired 2D images, recognizing an edge curve of the scanned object; performing three-dimensional reconstruction on the edge curve of the scanned object, obtaining three-dimensional coordinates of the edge of the scanned object in a coordinate system of the scanner, and taking the three-dimensional coordinates as an alternative three-dimensional point set; screeningout a real three-dimensional point set which is correctly matched with the edge of the scanned object is screened out from the alternative three-dimensional point set; and obtaining global position coordinates of the current scanner, performing coordinate conversion, and obtaining global coordinates of real three-dimensional points on the edge curve of the scanned object. By means of the edge detection method and system, the outer contours and the edges of grooves, key grooves, holes and the like of workpieces can be accurately identified and measured, so that accurate three-dimensional datacan be obtained. The edge detection method and system have the advantages that the detection precision is high, the identification is accurate, the response is fast, and the problem of mismatching canbe effectively avoided.

Description

technical field [0001] The invention relates to the technical field of image detection, in particular to an edge detection method and system based on a hand-held three-dimensional scanner. Background technique [0002] A handheld 3D scanner is a portable device that uses the principle of optical imaging to obtain 3D data information of the measured object. It usually includes at least one structured light projector, at least two cameras, and a computing unit for 3D digital image processing. Handheld 3D scanners are widely used in industrial product inspection, reverse engineering, simulation, positioning and other fields. When performing three-dimensional scanning of precision parts, it is often necessary to accurately identify and detect the edge of the part, such as its outer contour, groove, hole, fillet, shaft shoulder, keyway, etc., in order to accurately analyze the part error. [0003] Edge detection of digital images is an important basis for image processing such a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/25
CPCG01B11/2518
Inventor 郑俊
Owner SCANTECH (HANGZHOU) CO LTD