Three-dimensional scanning method and device, electronic equipment and storage medium

Abstract

The invention provides a three-dimensional scanning method and device, electronic equipment and a storage medium, and belongs to the technical field of scanning, and the method comprises the steps: obtaining first original data obtained through scanning when a scanning head scans a first surface of a target object, and splicing the first original data to obtain first scanning data; in the turn-over process, second original data obtained through scanning are obtained, the second original data are spliced to obtain second scanning data, and the initial transformation relation from the second surface to the first surface is determined; when the scanning head scans the second surface of the target object, acquiring third original data obtained by scanning, splicing the third original data, and performing initial alignment on the third original scanning data based on the initial transformation relation to obtain third scanning data; and accurately aligning the first scanning data with the third scanning data to obtain a complete scanning model. According to the invention, the problems of low scanning automation degree and low efficiency in the turn-over scanning process of the existing three-dimensional scanning method can be solved.

Description

Technical Field

[0001] The present invention relates to the field of scanning technology, and in particular to a three-dimensional scanning method, device, electronic equipment and storage medium. Background Art

[0002] 3D scanning aims to obtain the complete 3D model data of the target, but it is often impossible to scan the entire object in one go due to occlusion, invisible position, etc., even by changing stations or pasting markers. Existing 3D scanning methods include target point pasting, scanner tracking, laser scanning, etc., all of which require that the object cannot move (although the point pasting method can achieve overall scanning by pasting points on all surfaces, there are also cases where markers cannot be transitioned and have to be scanned in multiple groups). Currently, the main method is to flip the target object, scan in multiple groups, and then manually specify the same-name points at the overlapping points of multiple groups for initial stitching, and then use algorithms such as ICP for precise stitching.

[0003] The existing multi-group scanning method determines that it has the following problems: 1. The same target needs to be scanned in groups, which is not flexible enough; 2. There is a manual intervention process and the degree of automation is not high; 3. Multiple group scans may have omissions and need to be re-scanned; 4. The efficiency is low; 5. It is easier to identify corner points when manually finding corresponding points, but in targets with curved surfaces, it is sometimes difficult to find suitable feature points, resulting in the inability to complete the initial stitching.

[0004] In summary, the existing three-dimensional scanning methods have the problems of low scanning automation and low efficiency during the flip scanning process. Summary of the invention

[0005] In view of this, it is necessary to provide a three-dimensional scanning method, device, electronic device and storage medium to solve the technical problems of low scanning automation and low efficiency in the flip scanning process of the existing three-dimensional scanning method.

[0006] In order to solve the above problems, on the one hand, the present invention provides a three-dimensional scanning method, comprising: When the scanning head scans the first surface of the target object, first original data obtained by the scanning head is acquired, and the first original data is spliced ​​by using the auxiliary system positioning scanning head method to obtain first scanning data; During the flipping process, second original data obtained by scanning with a scanning head is acquired in real time, and the second original data is spliced ​​by using a geometric feature splicing method to obtain second scan data, and an initial transformation relationship from the second surface to the first surface is determined based on the second scan data; When the scanning head scans the second surface of the target object, third original data obtained by the scanning head is obtained, and the third original data is spliced ​​using the auxiliary system positioning scanning head method, and the third original scanning data is initially aligned based on the initial transformation relationship to obtain third scanning data; The first scan data is precisely aligned with the third scan data to obtain a complete scan model.

[0007] In a possible implementation, the second original data is spliced ​​by splicing with geometric features to obtain the second scan data, including: During the flipping process, the fused data of the previous frame is spliced ​​with the original data of the current frame in the second original data to obtain the spliced ​​data of the current frame; The original data of the current frame is transformed to the coordinate system of the previous frame fusion data through the current frame stitching data, and fused with the previous frame fusion data to obtain the current frame fusion data until the last frame fusion data in the flipping process is obtained, and the second scanning data is obtained based on the last frame fusion data.

[0008] In a possible implementation, the fused data at the initial moment of the flipping process is the first scanning data.

[0009] In a possible implementation, the second original data is spliced ​​by splicing with geometric features to obtain the second scan data, further comprising: During the flipping process, when it is determined that the current frame spliced ​​data obtained by splicing the previous frame fusion data with the current frame original data in the second original data has a splicing anomaly, the previous frame fusion data and the current frame original data in the second original data are rasterized to obtain a voxel space; Project the point cloud in voxel space into the normal distribution field to obtain the optimal transformation matrix; The point cloud in the voxel space is transformed based on the optimal transformation matrix to implement a splicing operation on the second original data to obtain second scan data.

[0010] In a possible implementation, the point cloud in the voxel space is projected into a normal distribution field to obtain an optimal transformation matrix, including: Construct a Gaussian distribution model based on the mean and variance of the point cloud in voxel space; Based on the Gaussian distribution model, the point cloud in the voxel space is projected into the normal distribution field to obtain the optimal transformation matrix.

[0011] In a possible implementation, based on a Gaussian distribution model, the point cloud in the voxel space is projected into a normal distribution field to obtain an optimal transformation matrix, including: Based on the Gaussian distribution model, the point cloud in the voxel space is projected into the normal distribution field, and the Newton method optimization algorithm or the gradient descent method is used to iteratively solve the transformation matrix of the projection in the normal distribution field until the transformation amount of the transformation matrix is ​​less than the preset threshold or the number of iterations reaches the maximum number of iterations, and the final transformation matrix is ​​determined as the optimal transformation matrix.

[0012] In a possible implementation, the first scan data and the third scan data are accurately aligned to obtain a complete scan model, including: The first scan data and the third scan data are accurately aligned using a closest point iteration algorithm to obtain a complete scan model.

[0013] On the other hand, the present invention also provides a three-dimensional scanning device, comprising: A first splicing module is used to obtain first raw data scanned by the scanning head when the scanning head scans the first surface of the target object, and to splice the first raw data using the auxiliary system positioning scanning head method to obtain first scanning data; A transformation relationship determination module is used to obtain the second original data scanned by the scanning head in real time during the flipping process, and to splice the second original data by means of geometric feature splicing to obtain second scan data, and to determine the initial transformation relationship from the second surface to the first surface based on the second scan data; A second stitching module is used to obtain third original data scanned by the scanning head when the scanning head scans the second surface of the target object, and stitch the third original data using the auxiliary system positioning scanning head method, and initially align the third original scanning data based on the initial transformation relationship to obtain third scanning data; The precise alignment module is used to precisely align the first scan data with the third scan data to obtain a complete scan model.

[0014] On the other hand, the present invention also provides an electronic device, including a memory and a processor, wherein: The memory is used to store programs; The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps of any one of the three-dimensional scanning methods described above.

[0015] On the other hand, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of any of the three-dimensional scanning methods described above.

[0016] The beneficial effects of adopting the above-mentioned implementation method are: the three-dimensional scanning method, device, electronic device and storage medium provided by the present invention, when the scanning head scans the first surface of the target object, adopts the auxiliary system positioning scanning head method to splice the first original data to obtain the first scanning data; in the flipping process, the second original data is spliced ​​by geometric feature splicing to obtain the second scanning data, and the initial transformation relationship from the second surface to the first surface is determined based on the second scanning data; when the scanning head scans the second surface of the target object, the auxiliary system positioning scanning head method is adopted to splice the third original data, and the third original scanning data is initially aligned based on the initial transformation relationship to obtain the third scanning data; the first scanning data and the third scanning data are accurately aligned to obtain a complete scanning model.

[0017] Among them, the first surface and the second surface correspond to different surfaces of the target object respectively. In the process of switching from the first surface to the second surface, that is, in the flipping process, the initial transformation relationship from the second surface to the first surface is determined based on the original data obtained by scanning, so as to perform initial alignment on the original scanning data of the second surface, and finally perform precise alignment, so as to obtain a complete scanning model. Therefore, when the target object is blocked or cannot be flipped over for scanning as needed during the scanning process, the second original data is spliced ​​and the initial transformation relationship is determined by using geometric feature splicing, so that subsequent alignment operations can be realized, and finally a complete scanning model is obtained, and then there is no need to manually process the flipping scanning data, thereby solving the technical problems of low scanning automation and low efficiency in the flipping scanning process of the existing three-dimensional scanning method. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 A flowchart of an embodiment of the three-dimensional scanning method provided by the present invention; Figure 2 A schematic diagram of the flip transition scanning provided by the present invention; Figure 3 A schematic diagram of the scan data alignment and merging process provided by the present invention; Figure 4 A principle block diagram of an embodiment of a three-dimensional scanning device provided by the present invention; Figure 5 A schematic structural diagram of an embodiment of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0021] In the description of the embodiments of the present application, unless otherwise specified, “plurality” means two or more than two.

[0022] The terms "including" and "having" and any variations thereof in the embodiments of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, product or equipment comprising a series of steps or modules is not necessarily limited to those steps or modules clearly listed, but may include other steps or modules not clearly listed or inherent to these processes, methods, products or equipment.

[0023] The naming or numbering of the steps in the embodiments of the present invention does not mean that the steps in the method flow must be executed in the time / logical sequence indicated by the naming or numbering. The execution order of the named or numbered process steps can be changed according to the technical purpose to be achieved, as long as the same or similar technical effects can be achieved.

[0024] Reference to an "embodiment" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0025] The present invention provides a three-dimensional scanning method, device, electronic device and storage medium, which are respectively described below.

[0026] like Figure 1 As shown, the present invention provides a three-dimensional scanning method, comprising: S101, when a scanning head scans a first surface of a target object, first raw data obtained by the scanning head is acquired, and the first raw data is spliced ​​using a scanning head positioning method using an auxiliary system of the scanning head itself to obtain first scanning data; S102, during the turning process, obtaining in real time second original data obtained by scanning with a scanning head, splicing the second original data by means of geometric feature splicing to obtain second scan data, and determining an initial transformation relationship from the second surface to the first surface based on the second scan data; S103, when the scanning head scans the second surface of the target object, obtaining third original data scanned by the scanning head, splicing the third original data using the scanning head positioning method of the auxiliary system of the scanning head itself, and initially aligning the third original scan data based on the initial transformation relationship to obtain third scan data; S104: Accurately align the first scan data with the third scan data to obtain a complete scan model.

[0027] It can be understood that the scanning head in the present invention refers to a terminal unit for acquiring scanning data. The first surface and the second surface are two different surfaces of the target object, and the flipping process refers to the process of switching from the first surface to the second surface. The auxiliary system positioning scanning head method of the scanning head itself is an auxiliary positioning method possessed by the scanning head itself. Depending on the scanning method, there may be target positioning, tracking positioning, laser positioning, etc.

[0028] Method for positioning the scanning head by an auxiliary system: Rely on markers, trackers or other high-precision auxiliary systems to position and determine the posture of each frame of the scanning head data, obtain RT (rotation and translation), and convert each frame of data to the coordinate system of the auxiliary system.

[0029] Transition scanning positioning scanning head method: It does not rely on the external system of the scanning head, and obtains RT by splicing three-dimensional data through the geometric features of the scanned target surface.

[0030] In some embodiments, the second raw data is spliced ​​by splicing with geometric features to obtain the second scan data, including: During the flipping process, the fused data of the previous frame is spliced ​​with the original data of the current frame in the second original data to obtain the spliced ​​data of the current frame; The original data of the current frame is transformed to the coordinate system of the previous frame fusion data through the current frame stitching data, and fused with the previous frame fusion data to obtain the current frame fusion data until the last frame fusion data in the flipping process is obtained, and the second scanning data is obtained based on the last frame fusion data.

[0031] The fused data at the initial moment of the flipping process is the first scanning data.

[0032] In some embodiments, the second raw data is spliced ​​by geometric feature splicing to obtain the second scan data, further comprising: During the flipping process, when it is determined that the current frame spliced ​​data obtained by splicing the previous frame fusion data with the current frame original data in the second original data has a splicing anomaly, the previous frame fusion data and the current frame original data in the second original data are rasterized to obtain a voxel space; Project the point cloud in voxel space into the normal distribution field to obtain the optimal transformation matrix; The point cloud in the voxel space is transformed based on the optimal transformation matrix to implement a splicing operation on the second original data to obtain second scan data.

[0033] In some embodiments, projecting the point cloud in the voxel space into a normal distribution field to obtain an optimal transformation matrix includes: Construct a Gaussian distribution model based on the mean and variance of the point cloud in voxel space; Based on the Gaussian distribution model, the point cloud in the voxel space is projected into the normal distribution field to obtain the optimal transformation matrix.

[0034] In some embodiments, based on a Gaussian distribution model, a point cloud in a voxel space is projected into a normal distribution field to obtain an optimal transformation matrix, including: Based on the Gaussian distribution model, the point cloud in the voxel space is projected into the normal distribution field, and the Newton method optimization algorithm or the gradient descent method is used to iteratively solve the transformation matrix of the projection in the normal distribution field until the transformation amount of the transformation matrix is ​​less than the preset threshold or the number of iterations reaches the maximum number of iterations, and the final transformation matrix is ​​determined as the optimal transformation matrix.

[0035] In some embodiments, the first scan data is precisely aligned with the third scan data to obtain a complete scan model, including: The first scan data and the third scan data are accurately aligned using a closest point iteration algorithm to obtain a complete scan model.

[0036] In some embodiments, the three-dimensional scanning method provided by the present invention includes: The scanning head scans the target, such as Figure 2 As shown, it is assumed that the upper surface A, also called the A surface or the first surface, is scanned normally at this time, the visible transition surface at the upper surface A is scanned, and the scanning is sufficient. The data splicing in the scanning process is spliced ​​using the original method of the scanner itself (that is, the auxiliary system positioning scanning head method) to obtain scanning data A (that is, the first scanning data).

[0037] Switch to the flip real-time transition scanning mode. At this time, the stitching does not use the original method of the scanner itself, but switches to the transition scanning positioning scanning head method (that is, the stitching method based on geometric features).

[0038] At this time, the relative position between the target object and the scanning head can be moved, and the scanner is kept following the transition area. Each frame of data obtained after the switch is spliced. The specific steps are: (1) Initially, the scanning data A (i.e., the first scanning data) is used as the fused data Data_RA; (2) The current frame data (assuming it is I) is spliced ​​with the fused data Data_RA to obtain the current frame spliced ​​data RT_ItoRA; (3) After the splicing is completed, the current frame data I is transformed to the scanning data A coordinate system through RT_ItoRA, and fused with the scanning data A to obtain the current frame fused data Data_RA; (4) Scan the next frame of data, repeat steps (2) and (3), and obtain the latest RT_ItoRA in real time; (5) The scanning is repeated in this way to keep the latest RT_ItoRA and Data_RA.

[0039] Real-time transition following, reference Figure 2 , and the transition scan continues to the lower surface B (ie, the second surface), thus completing the transition scan in the flipping process, and saving the RT_ItoRA obtained at this time as the initial transformation relationship RT_InitBtoA from the scanning surface B to A.

[0040] Switch to normal scanning mode and scan surface B (lower surface + visible transition surface at surface B). When stitching is involved in this process, in addition to the data stitching of the scanning system itself, the RT_InitBtoA initial transformation relationship is used to transform the scanned data. At this time, the scanned data surface B and the scanned data A will form an initial stitched whole, which is helpful to observe where there are loopholes during the scanning process so as to fill them in time.

[0041] After completing the scanning of the B surface, the data scanning data B (ie, the third scanning data) is obtained. Since the data B has been converted through the RT_InitBtoA initial transformation relationship, the scanning data B and the scanning data A have achieved initial alignment at this time.

[0042] Use the ICP algorithm to align scan data B to scan data A to obtain the precise stitching relationship RT_BtoA. Use RT_BtoA to transform scan data B to the coordinate system of scan data A, and then obtain an accurate complete scan model. Figure 3 The figure shows a schematic diagram of the scan data alignment and merging process.

[0043] In some embodiments, the geometric feature stitching step includes: Geometric feature stitching is generally completed using the ICP algorithm.

[0044] ICP algorithm description: ICP algorithm is a 3D data stitching algorithm, which aims to compare or fuse data acquired by different acquisition devices, different time, different shooting postures, etc. ICP algorithm has the advantage of being able to adapt to a variety of geometric shapes, so if the reference point cloud and the point cloud to be registered are descriptions of the same target object, then a mapping relationship from point cloud to point cloud can be found through spatial transformation to match the object points at the same position in the world coordinate system one by one.

[0045] The loss function of the point cloud registration problem can be written as:

[0046] In the present invention, generally a single frame collects a sparse real-time point cloud, and the object to be spliced ​​is a three-dimensional model of a surface expressed by a triangulated network. Therefore, a point-to-plane strategy (Point-plane ICP) is used for splicing in the process of geometric feature splicing.

[0047] The iterative closest point (ICP) algorithm using the point-plane error metric has been shown to converge faster than algorithms using the point-point error metric. In each iteration of the ICP algorithm, the relative pose change that produces the minimum point-to-plane error is usually solved using a standard nonlinear least squares method, such as the Levenberg-Marquardt method. When the point-to-plane error metric is used, the object to be minimized is the sum of the squared distances between each source point and the tangent plane of its corresponding target point.

[0048] Determination of initial value: In the present invention, because the data of two adjacent frames are very close in time and space, the RT conversion relationship calculated in the previous frame can be used as the initial value of the current frame. In this way, the splicing alignment process can be completed quickly to meet the real-time requirements.

[0049] How to handle splicing exceptions: During the scanning process, the continuous stitching process may be lost due to the transition speed being too fast, and the above stitching method may fail, resulting in stitching anomalies. At this time, the NDT algorithm (normal distribution transformation algorithm) can be used for initial stitching to restore the scanning posture.

[0050] The NDT algorithm is less sensitive to the density and initial alignment state of the data and is more robust to initial alignment. When the initial value is uncertain, it can be used to obtain the initial value.

[0051] The iterative process of the NDT algorithm includes the following steps: 1. Divide the point cloud data into a grid to form a voxel space. 2. Calculate the mean and variance of the points in each voxel and establish a Gaussian distribution model. 3. Probabilistically project the source point cloud and project the point cloud into a normal distribution field. 4. Find the best transformation matrix T through optimization techniques (such as Newton's method and gradient descent method). 5. Apply the transformation matrix T to transform the source point cloud. 6. Repeat the above process until the termination condition is reached (such as the change in the transformation matrix is ​​less than the threshold or the maximum number of iterations is reached).

[0052] The three-dimensional scanning method provided by the present invention can be applied to a target object with multiple occluding surfaces: Some targets may have multiple occluding surfaces. The three-dimensional scanning method provided by the present invention can also be extended to multiple flipping: first, flip them one by one, record the initial value obtained by the transition scan, and the data before and after the flipping, that is, record the labels when switching, and splice them one by one; finally, perform data processing, adjust the multiple scanning data, and perform global optimization of the conversion relationship.

[0053] The three-dimensional scanning method provided by the present invention has the following beneficial effects: 1. High degree of automation; 2. Easy to operate; 3. No need for manual intervention, high efficiency; 4. You can check the scanning effect of flipping in real time to avoid incorrect splicing and scanning omissions.

[0054] like Figure 4 As shown, the present invention also provides a three-dimensional scanning device 400, comprising: The first splicing module 401 is used to obtain first raw data scanned by the scanning head when the scanning head scans the first surface of the target object, and to splice the first raw data using the scanning head positioning method of the scanning head auxiliary system itself to obtain first scanning data; The transformation relationship determination module 402 is used to obtain the second original data scanned by the scanning head in real time during the flipping process, and to splice the second original data by means of geometric feature splicing to obtain the second scan data, and to determine the initial transformation relationship from the second surface to the first surface based on the second scan data; The second stitching module 403 is used to obtain the third original data scanned by the scanning head when the scanning head scans the second surface of the target object, and stitch the third original data using the scanning head positioning method of the auxiliary system of the scanning head itself, and perform initial alignment on the third original scanning data based on the initial transformation relationship to obtain the third scanning data; The precise alignment module 404 is used to precisely align the first scan data with the third scan data to obtain a complete scan model.

[0055] The three-dimensional scanning device provided in the above embodiment can implement the technical solution described in the above three-dimensional scanning method embodiment. The specific implementation principles of the above modules or units can refer to the corresponding contents in the above three-dimensional scanning method embodiment, which will not be repeated here.

[0056] like Figure 5 As shown, the present invention also provides an electronic device 500. The electronic device 500 includes a processor 501, a memory 502 and a display 503. Figure 5 Only some components of the electronic device 500 are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0057] In some embodiments, the memory 502 may be an internal storage unit of the electronic device 500, such as a hard disk or memory of the electronic device 500. In other embodiments, the memory 502 may also be an external storage device of the electronic device 500, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 500.

[0058] Furthermore, the memory 502 may include both an internal storage unit of the electronic device 500 and an external storage device. The memory 502 is used to store application software installed in the electronic device 500 and various data.

[0059] In some embodiments, the processor 501 may be a central processing unit (CPU), a microprocessor or other data processing chip, used to run program codes or process data stored in the memory 502, such as the three-dimensional scanning method of the present invention.

[0060] In some embodiments, the display 503 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 503 is used to display information on the electronic device 500 and to display a visual user interface. The components 501-503 of the electronic device 500 communicate with each other via a system bus.

[0061] In some embodiments of the present invention, when the processor 501 executes the three-dimensional scanning program in the memory 502, the following steps may be implemented: When the scanning head scans the first surface of the target object, first raw data obtained by the scanning head is acquired, and the first raw data is spliced ​​using a method of positioning the scanning head by an auxiliary system of the scanning head itself to obtain first scanning data; During the flipping process, second original data obtained by scanning with a scanning head is acquired in real time, and the second original data is spliced ​​by using a geometric feature splicing method to obtain second scan data, and an initial transformation relationship from the second surface to the first surface is determined based on the second scan data; When the scanning head scans the second surface of the target object, third original data obtained by the scanning head is obtained, and the third original data is spliced ​​using the scanning head positioning method of the scanning head's own auxiliary system, and the third original scanning data is initially aligned based on the initial transformation relationship to obtain third scanning data; The first scan data is precisely aligned with the third scan data to obtain a complete scan model.

[0062] It should be understood that: when the processor 501 executes the three-dimensional scanning program in the memory 502, in addition to the above functions, other functions can also be implemented. For details, please refer to the description of the corresponding method embodiment above.

[0063] Furthermore, the embodiment of the present invention does not specifically limit the type of the electronic device 500 mentioned, and the electronic device 500 may be a portable electronic device such as a mobile phone, a tablet computer, a personal digital assistant (PDA), a wearable device, a laptop computer, etc. Exemplary embodiments of portable electronic devices include but are not limited to portable electronic devices equipped with IOS, Android, Microsoft or other operating systems. The above-mentioned portable electronic device may also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the present invention, the electronic device 500 may not be a portable electronic device, but a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0064] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to perform the three-dimensional scanning method provided by the above methods, the method comprising: When the scanning head scans the first surface of the target object, first raw data obtained by the scanning head is acquired, and the first raw data is spliced ​​using a method of positioning the scanning head by an auxiliary system of the scanning head itself to obtain first scanning data; During the flipping process, second original data obtained by scanning with a scanning head is acquired in real time, and the second original data is spliced ​​by using a geometric feature splicing method to obtain second scan data, and an initial transformation relationship from the second surface to the first surface is determined based on the second scan data; When the scanning head scans the second surface of the target object, third original data obtained by the scanning head is obtained, and the third original data is spliced ​​using the scanning head positioning method of the scanning head's own auxiliary system, and the third original scanning data is initially aligned based on the initial transformation relationship to obtain third scanning data; The first scan data is precisely aligned with the third scan data to obtain a complete scan model.

[0065] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0066] The three-dimensional scanning method, device, electronic device and storage medium provided by the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A three-dimensional scanning method, characterized in that: include: When the scanning head scans the first surface of the target object, first original data obtained by the scanning head is acquired, and the first original data is spliced ​​by using the auxiliary system positioning scanning head method to obtain first scanning data; During the flipping process, second original data obtained by scanning with a scanning head is acquired in real time, and the second original data is spliced ​​by using a geometric feature splicing method to obtain second scan data, and an initial transformation relationship from the second surface to the first surface is determined based on the second scan data; When the scanning head scans the second surface of the target object, third original data obtained by the scanning head is acquired, and the third original data is spliced ​​by using the auxiliary system positioning scanning head method, and the third original scanning data is initially aligned based on the initial transformation relationship to obtain third scanning data; The first scan data is precisely aligned with the third scan data to obtain a complete scan model.

2. The three-dimensional scanning method according to claim 1, characterized in that: The second original data is spliced ​​by using a geometric feature splicing method to obtain second scan data, including: During the flipping process, the fused data of the previous frame is spliced ​​with the original data of the current frame in the second original data to obtain the spliced ​​data of the current frame; The original data of the current frame is transformed to the coordinate system of the previous frame fusion data through the current frame stitching data, and fused with the previous frame fusion data to obtain the current frame fusion data, until the last frame fusion data in the flipping process is obtained, and the second scanning data is obtained based on the last frame fusion data.

3. The three-dimensional scanning method according to claim 2, characterized in that: The fused data at the initial moment of the flipping process is the first scanning data.

4. The three-dimensional scanning method according to claim 2, characterized in that: The second original data is spliced ​​by using a geometric feature splicing method to obtain second scan data, and further includes: During the flipping process, when it is determined that the current frame spliced ​​data obtained by splicing the previous frame fusion data with the current frame original data in the second original data has a splicing anomaly, the previous frame fusion data and the current frame original data in the second original data are rasterized to obtain a voxel space; Project the point cloud in voxel space into the normal distribution field to obtain the optimal transformation matrix; The point cloud in the voxel space is transformed based on the optimal transformation matrix to implement a splicing operation on the second original data to obtain second scan data.

5. The three-dimensional scanning method according to claim 4, characterized in that: Project the point cloud in voxel space into the normal distribution field to obtain the optimal transformation matrix, including: Construct a Gaussian distribution model based on the mean and variance of the point cloud in voxel space; Based on the Gaussian distribution model, the point cloud in the voxel space is projected into the normal distribution field to obtain the optimal transformation matrix.

6. The three-dimensional scanning method according to claim 5, characterized in that: Based on the Gaussian distribution model, the point cloud in the voxel space is projected into the normal distribution field to obtain the optimal transformation matrix, including: Based on the Gaussian distribution model, the point cloud in the voxel space is projected into the normal distribution field, and the Newton method optimization algorithm or the gradient descent method is used to iteratively solve the transformation matrix of the projection in the normal distribution field until the transformation amount of the transformation matrix is ​​less than the preset threshold or the number of iterations reaches the maximum number of iterations, and the final transformation matrix is ​​determined as the optimal transformation matrix.

7. The three-dimensional scanning method according to any one of claims 1 to 6, characterized in that: The first scan data is precisely aligned with the third scan data to obtain a complete scan model, including: The first scan data and the third scan data are accurately aligned using a closest point iteration algorithm to obtain a complete scan model.

8. A three-dimensional scanning device, characterized in that: include: A first splicing module is used to obtain first raw data scanned by the scanning head when the scanning head scans the first surface of the target object, and to splice the first raw data using the auxiliary system positioning scanning head method to obtain first scanning data; A transformation relationship determination module is used to obtain the second original data scanned by the scanning head in real time during the flipping process, and to splice the second original data by means of geometric feature splicing to obtain second scan data, and to determine the initial transformation relationship from the second surface to the first surface based on the second scan data; A second stitching module is used to obtain third original data scanned by the scanning head when the scanning head scans the second surface of the target object, and stitch the third original data using the auxiliary system positioning scanning head method, and initially align the third original scanning data based on the initial transformation relationship to obtain third scanning data; The precise alignment module is used to precisely align the first scan data with the third scan data to obtain a complete scan model.

9. An electronic device, characterized in that: comprising a memory and a processor, wherein: The memory is used to store programs; The processor is coupled to the memory, and is used to execute the program stored in the memory to implement the steps of the three-dimensional scanning method as described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the three-dimensional scanning method according to any one of claims 1 to 7 are implemented.

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