Equipment and method for acquiring 3D coordinates and dimensions of object in moving process

Abstract

The embodiment of the invention provides an acquisition device and method in 3D modeling. Aplurality of images of a target object are acquired by using the acquisition device; (2) the calibration device acquires the position and attitude information of the acquisition device when the acquisition device acquires each image; and (3) the processor synthesizes a three-dimensional model of the target object according to the plurality of images, and obtains three-dimensional coordinates corresponding to the homonymous image points according to the position and attitude information of the acquisitionequipment, thereby obtaining a three-dimensional model point cloud with accurate three-dimensional coordinates. The absolute size calibration of the target object is realized through a method for acquiring the position and the posture of the camera, and a homonymous image point resolving mode is adopted, so that the target object does not need to be subjected to calibration object placement or calibration point projection in advance.

Description

technical field [0001] The invention relates to the technical field of shape measurement, in particular to the technical field of 3D shape measurement. Background technique [0002] At present, when using a visual method for 3D acquisition and measurement, the camera is usually rotated relative to the target object, or multiple cameras are set around the target object for simultaneous acquisition. For example, the DigitaL EmiLy project of the University of Southern California uses a spherical bracket to fix hundreds of cameras at different positions and angles on the bracket to achieve 3D acquisition and modeling of the human body. However, in either way, the distance between the camera and the target object needs to be short, at least within the range that can be arranged, so that the camera can collect images of the target object at different positions. [0003] However, in some applications, it is not possible to collect images around the target object. For example, whe...

AI Technical Summary

Problems solved by technology

However, in practical applications, it is found that unless there is an accurate angle measurement device, the user is not sensitive to the angle, and it is difficult to determine the angle accurately; the size of the target object is difficult to accurately determine, such as the scene constructed by the 3D model of the above-mentioned riverside house

And the measurement error leads to the camera position setting error, which will affect the acquisition and synthesis speed and effect; the accuracy and speed need to be further improved

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