System and method for efficient 3D reconstruction of objects with telecentric line-scan cameras

一种线扫描相机、线扫描的技术，应用在3D重建领域，能够解决妨碍图像正确校正、影响3D重建准确性等问题

Pending Publication Date: 2021-10-22
MVTEC SOFTWARE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Also, even if the lines could be aligned precisely relative to each other, if the sensor lines are not mounted exactly behind the principal point, lens distortion will again prevent the image from being properly corrected
Ignoring lens distortion can adversely affect the accuracy of 3D reconstruction

Method used

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  • System and method for efficient 3D reconstruction of objects with telecentric line-scan cameras
  • System and method for efficient 3D reconstruction of objects with telecentric line-scan cameras
  • System and method for efficient 3D reconstruction of objects with telecentric line-scan cameras

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Embodiment Construction

[0061] In a preferred embodiment of the invention, the system includes two telecentric line scan cameras 401 (see Figure 4 ) for acquiring an image of the 3D object 403 to be reconstructed. In an alternative embodiment of the invention, the system comprises a multi-view arrangement of at least two telecentric line scan cameras. A multi-view setup with more than two cameras might be helpful, for example, to expand areas in a reconstructable world. Therefore, the proportion of the occluded object parts can also be minimized. Alternatively or additionally, a higher number of cameras may improve the accuracy of the 3D reconstruction since certain parts of the object are viewed from multiple directions. Within the scope of this disclosure, "two or more cameras" does not necessarily mean that two or more physical cameras must be used. Instead, it is also possible to implement two or more cameras by using only a single physical camera and using this camera to acquire images from ...

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Abstract

Disclosed are a system and method for efficient 3d reconstruction of objects with telecentric line-scan cameras. In this invention, systems and methods are described that allow performing stereo reconstruction with line-scan cameras in general configurations. Consequently, the cumbersome exact alignment of the sensor lines becomes superfluous. The proposed method requires that telecentric lenses instead of perspective lenses are mounted on the line-scan cameras. In this case, the images can be accurately rectified with stereo rectification. The rectified images can be used to perform an efficient stereo matching. The method comprises a camera model and a calibration procedure that allow to precisely model the imaging process, also including the modelling of lens distortions even if the sensor lines are not exactly mounted behind the principal points. This ensures a high accuracy of the resulting 3D reconstruction.

Description

technical field [0001] The present invention relates generally to machine vision systems, and more particularly to 3D reconstruction of objects from 2D images. Background technique [0002] 3D reconstruction applications [0003] Efficient and accurate reconstruction of scenes (objects) from images is important for many computer vision, especially machine vision applications. For example, printed circuit boards (PCBs) can be robustly inspected for missing or incorrectly placed electronic components by using 3D reconstructions of the PCB (Steger et al., 2018, Chapter 3.10.1). Furthermore, 3D generated objects can be measured to check their correct shape or size, e.g. by comparing the reconstructed surface with a reference object (Steger et al., 2018, chapter 4.13). Another example is object recognition for pick-and-place applications, where the exact 3D pose (position and orientation) of the object must be determined in the 3D data in order to be able to grasp the object us...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G06T5/00H04N13/239H04N13/106
CPCG06T7/85H04N13/239H04N13/106G06T2207/10012G06T5/80G06T3/40G06T7/593G06T2200/08G06T7/0004G06T2207/20228G06T2207/30141G06T7/73H04N2013/0081H04N13/246H04N13/275G06T19/20G06T17/10
Inventor C·施特格M·乌利齐
Owner MVTEC SOFTWARE
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