3D scanning system and method

Abstract

Provided are a 3D scanning system and method that reduce the effect of a transparent member on which an object is placed on the generation of a 3D model. A 3D scanning system according to the present invention comprises a transparent member (transparent platform (31)) on which an object (40) that is to be photographed by photography devices (10a–10f) is placed, a first mechanism that changes at least one of the relative positions of the photography devices (10a–10f) and the object (40) and the photography directions of the photography devices, and at least one of a second mechanism that reduces the effect of the transparent platform (31) on a 3D model of the object that is generated from a group of images in which the angles at which the object (40) is photographed are different and a processor that performs image processing that reduces the effect of the transparent platform (31).

Description

3D scanning system and method

[0001] The present invention relates to a 3D scanning system and method, which allows for the generation of a 3D model of an entire object, in particular including the bottom of the object.

[0002] Methods known as photogrammetry, SfM (Structure from Motion), and MVS (Multi View Stereo) are used to generate 3D models based on multiple still images of an object (real object) captured from various angles.

[0003] When photographing an object while changing the shooting direction, it is possible to capture the group of images required to generate a 3D model by rotating the object once while fixing the elevation or depression angle between the camera and the object. However, if the camera is rotated two or three times while changing the height or elevation or depression angle relative to the object, there will be fewer blind spots in the object, and a 3D model with high shape quality (reproduction of unevenness) and image quality can be generated.

[0004] However, if the table on which the object is placed is opaque, it is difficult to obtain data from the shooting direction looking up at the object from below, and it is necessary to place the object in various positions on the table and perform 3D scanning, which is a problem as it requires time and effort for 3D scanning.

[0005] Conventionally, a system has been proposed in which a platform on which an object is placed is made of a transparent material, and the object is photographed from diagonally above and diagonally below using multiple cameras, including an upper camera installed above the transparent material and a lower camera installed below the transparent platform (Patent Document 1).

[0006] Patent No. 7460532

[0007] One embodiment of the disclosed technology provides a 3D scanning system and method that, when a transparent member is used to mount an object, reduces the impact of the transparent member on the generation of a 3D model.

[0008] The invention of a first aspect is a 3D scanning system comprising a transparent member on which an object to be photographed by an imaging device is placed, a first mechanism that changes at least one of the relative position between the imaging device and the object and the imaging direction of the imaging device, a second mechanism that reduces the effect of the transparent member on a 3D model of the object generated from a group of images of the object photographed from different angles, and a processor that performs image processing to reduce the effect of the transparent member.

[0009] A 3D scanning system according to a second aspect of the present invention is the 3D scanning system of the first aspect, wherein the first mechanism is a mechanism for rotating the transparent member or for rotating the imaging device relative to the transparent member.

[0010] In the 3D scanning system according to the third aspect of the present invention, in the first or second aspect, when a transparent member is present between the image capturing device and the object, the second mechanism adjusts at least one of the relative position between the image capturing device and the transparent member and the attitude of the image capturing device, thereby preventing the side of the transparent member from appearing on the object in the image captured by the image capturing device.

[0011] A 3D scanning system according to a fourth aspect of the present invention is any of the first to third aspects, wherein the second mechanism, when a transparent member exists between the image capturing device and the object, replaces the transparent member with a larger transparent member, thereby preventing the side of the replaced transparent member from appearing on the object in the image captured by the image capturing device.

[0012] In the 3D scanning system according to a fifth aspect of the present invention, in any of the first to third aspects, when generating a 3D model of an object by photogrammetry using a group of images, if the group of images includes an overlapping area where the side of a transparent member overlaps with the object, it is preferable that the processor generates the 3D model using images from which the overlapping area has been removed.

[0013] A 3D scanning system according to a sixth aspect of the present invention is the 3D scanning system of the fifth aspect, wherein at least identification information indicating that it is a side surface of a transparent member is added to the side surface of the transparent member.

[0014] A 3D scanning system according to a seventh aspect of the present invention is the 3D scanning system of any one of the first to sixth aspects, wherein the transparent member preferably includes a marker or pattern on a side surface thereof for generating a 3D model.

[0015] A 3D scanning system according to an eighth aspect of the present invention is the 3D scanning system of any one of the first to sixth aspects, wherein the transparent member is circular and the side of the transparent member is provided with a scale indicating the angle of the transparent member.

[0016] A ninth aspect of the present invention is a 3D scanning system according to any one of the first to eighth aspects, which comprises a plurality of image capturing devices at different heights and in different shooting directions on the sides of a transparent member, and each of the plurality of image capturing devices preferably comprises a mechanism for adjusting factors related to the image quality of the object in an area including the object in the captured image.

[0017] A tenth aspect of the present invention provides a 3D scanning system according to the ninth aspect, wherein the factor related to image quality is at least one of brightness and color.

[0018] The 3D scanning system according to an eleventh aspect of the present invention is the 3D scanning system of any of the first to eighth aspects, comprising a plurality of image capturing devices at different heights and image capturing directions on the sides of a transparent member, and a plurality of lighting devices at different heights and illumination directions on the sides of the transparent member, wherein at least one of the height, illumination direction, and intensity of each illumination light of each lighting device is adjusted to match the brightness of the object in the images captured by each of the plurality of image capturing devices.

[0019] A twelfth aspect of the present invention is a 3D scanning system according to any one of the first to eighth aspects, which comprises a plurality of image capturing devices at different heights and image capturing directions on the sides of a transparent member, and a plurality of lighting devices at different heights and illumination directions on the sides of the transparent member, and it is preferable that at least one of the plurality of image capturing devices and the plurality of lighting devices has a mechanism for matching the color of an object in each captured image.

[0020] In a 3D scanning system according to a thirteenth aspect of the present invention, in any one of the first to twelfth aspects, it is preferable that the processor performs image processing to match at least one of brightness and color between the images in the image group.

[0021] In the 3D scanning system according to a fourteenth aspect of the present invention, in any one of the first to twelfth aspects, the processor preferably performs image processing to match the brightness and color of at least an image of the object photographed directly and an image of the object photographed through a transparent member.

[0022] A 3D scanning system according to a fifteenth aspect of the present invention, in the first or second aspect, is provided with a memory for storing an image of only the transparent member, and when generating a 3D model of an object by photogrammetry using a group of images, if the group of images includes an image having an overlapping area where the transparent member overlaps with the object, it is preferable that the processor subtracts the image of only the transparent member from the image having the overlapping area and generates the 3D model using the image obtained by subtraction.

[0023] A 3D scanning system according to a sixteenth aspect of the present invention is any of the first to fifteenth aspects, and comprises an imaging device equipped with a first polarizing filter, an illumination device equipped with a second polarizing filter, and a filter rotation mechanism that rotates at least one of the first polarizing filter and the second polarizing filter, and it is preferable that the filter rotation position of at least one of the first polarizing filter and the second polarizing filter is adjusted by the filter rotation mechanism.

[0024] A 3D scanning system according to a seventeenth aspect of the present invention is the sixteenth aspect, wherein at least one of the first polarizing filter and the second polarizing filter is preferably adjusted to a first filter rotation position that reduces the influence of specularly reflected light from the transparent member by the lighting device.

[0025] A 3D scanning system according to an eighteenth aspect of the present invention is the 16th aspect, wherein at least one of the first polarizing filter and the second polarizing filter is preferably adjusted to a second filter rotation position that reduces the influence of specular reflection light on the object caused by the lighting device.

[0026] A 3D scanning system according to a 19th aspect of the present invention is the 16th aspect, wherein at least one of the first polarizing filter and the second polarizing filter is preferably adjusted to a third filter rotation position that transmits specular light emitted by the illumination device on the object.

[0027] A 3D scanning system according to a twentieth aspect of the present invention is the 3D scanning system of any of the sixteenth to nineteenth aspects, and preferably includes a plurality of image capture devices and a plurality of illumination devices, and the filter rotation positions of the first polarizing filters of the plurality of image capture devices are adjusted for each image capture device.

[0028] A 3D scanning system according to a 21st aspect of the present invention is the 3D scanning system of any one of the 1st to 20th aspects, wherein the surface of the transparent member is preferably provided with an anti-reflection coating.

[0029] A twenty-second aspect of the invention is a 3D scanning method for a 3D scanning system including a transparent member on which an object to be photographed by an image capturing device is placed, and a first mechanism that changes at least one of the relative position of the image capturing device and the object and the photographing direction of the image capturing device, the method including the steps of: rotating the image capturing device and the transparent member relative to each other using the first mechanism, thereby changing the image capturing angle of the object captured by the image capturing device; and photographing the object with the image capturing device each time the image capturing angle changes, and obtaining a group of images with different image capturing angles that are used to generate a 3D model of the object, wherein the second mechanism performs photographing that reduces the effect of the transparent member on the 3D model of the object generated from the group of images, or a processor performs image processing that reduces the effect of the transparent member.

[0030] A 3D scanning method according to a 23rd aspect of the present invention is preferably such that, in the 22nd aspect, when a transparent member is present between the image capturing device and the object, at least one of the relative position between the image capturing device and the transparent member and the attitude of the image capturing device is adjusted by the second mechanism to prevent the side of the transparent member from appearing on the object in the image captured by the image capturing device.

[0031] In the 3D scanning method according to a 24th aspect of the present invention, in the 22nd or 23rd aspect, when a transparent member is present between the image capturing device and the object, it is preferable to replace the transparent member with a larger transparent member by the second mechanism, thereby preventing the side of the replaced transparent member from appearing on the object in the image captured by the image capturing device.

[0032] A 3D scanning method according to a 25th aspect of the present invention is any of the 22nd to 24th aspects, wherein the 3D scanning system comprises an imaging device equipped with a first polarizing filter, an illumination device equipped with a second polarizing filter, and a filter rotation mechanism that rotates at least one of the first polarizing filter and the second polarizing filter, and preferably the filter rotation position is adjusted by the filter rotation mechanism to reduce the effect of specular reflection light from the transparent member caused by the illumination device.

[0033] A 3D scanning method according to a 26th aspect of the present invention is preferably the 25th aspect, wherein the filter rotation position is adjusted by the filter rotation mechanism, and the brightness of a first area where the object is reflected in the transparent member due to specular reflection light from the lighting device on the transparent member is brought closer to the brightness of a second area where the object around the first area is not reflected in the transparent member.

[0034] FIG. 1 is a schematic diagram illustrating an embodiment of a 3D scanning system according to the present invention. FIG. 2 is a side view of an image capturing device 10, which represents the six image capturing devices 10a to 10f shown in FIG. 1. FIG. 3 is a side view of an illumination device 20, which represents the ten illumination devices 20a to 10j shown in FIG. 1. FIG. 4 is a perspective view showing the detailed structure of the transparent rotating table device 30 shown in FIG. 1. FIG. 5 is a block diagram illustrating an embodiment of the electrical configuration of a 3D scanning system according to the present invention. FIG. 6 is a diagram showing the main parts of the 3D scanning system shown in FIG. 1, illustrating the positional relationship between the six image capturing devices 10a to 10f, the transparent table 31, and the target object 40. FIG. 7 is a diagram illustrating another example of a second mechanism for reducing the influence of the transparent table. FIG. 8 is a diagram illustrating an image Im captured by the image capturing device 10d shown in FIG. 6. FIG. 9 is a diagram illustrating another embodiment of information (pattern 31b, scale 31c) added to the side surface of the transparent table 31. FIG. 10 is a flowchart illustrating a second image processing method for reducing the influence of the transparent table 31. FIG. 11 shows four images of an object (a vase) placed on a transparent base photographed by the photographing device with the first polarizing filter attached to the front of the photographing lens of the photographing device rotated by 45 degrees each time, particularly four images photographed by looking down on the object from above the transparent base. FIG. 12 shows a comparatively dark image generated from the four images shown in FIG. 11. FIG. 13 shows four images of an object (a vase) placed on a transparent base photographed by the photographing device with the first polarizing filter attached to the front of the photographing lens of the photographing device rotated by 45 degrees each time, particularly four images photographed by looking up at the object from below the transparent base. FIG. 14 shows a comparatively dark image generated from the four images shown in FIG. 13. FIG. 15 is an exploded perspective view showing another embodiment of a transparent rotary table device. FIGS. 16(A) and 16(B) are plan and front views, respectively, of the transparent rotary table device shown in FIG. 15. FIG. 17 is a perspective view of the main parts of another embodiment of the drive unit of the transparent rotary table device shown in FIG. 16. FIG. 18 is a flow chart illustrating an embodiment of a 3D scanning method according to the present invention.

[0035] Hereinafter, preferred embodiments of the 3D scanning system and method according to the present invention will be described with reference to the accompanying drawings.

[0036] [Summary of the Invention] The generation of a 3D model of an object by three-dimensional (3D) scanning of the object can often be successfully modeled using photogrammetry, which uses multiple still images (images) of the object taken from different positions and directions.

[0037] In order to enable the generation of a 3D model of the entire object, including the bottom of the object, the object is placed on a transparent member, and the object is photographed from below looking up through the transparent member.

[0038] When photographing an object through a transparent member, new problems arise due to the photographing through the transparent member.

[0039] Since no transparent material is completely transparent, factors related to the image quality of the object (including, for example, at least one of brightness and color) will be slightly different between an image obtained by photographing an object through a transparent material and an image obtained by photographing an object without using a transparent material, even if the object is in the same position, resulting in a decrease in the quality of the generated 3D model.

[0040] Furthermore, even if a transparent member is used, especially if the side of the transparent member is in front of the object, the side of the transparent member will be reflected in the object in the captured image, reducing the quality of the generated 3D model.Furthermore, light reflection from the transparent member will occur, reducing the quality of the 3D model.

[0041] Therefore, the present invention includes at least one of a mechanism for reducing the influence of a transparent member and a processor for performing image processing to reduce the influence of the transparent member.

[0042] [Schematic Configuration of 3D Scanning System] FIG. 1 is a schematic configuration diagram showing an embodiment of a 3D scanning system according to the present invention.

[0043] The 3D scanning system shown in FIG. 1 includes a plurality of (six) imaging devices 10 (10a to 10f), a plurality of (ten) lighting devices 20 (20a to 20j), and a transparent rotating table device 30 having a transparent table 31, which is a transparent member, on which an object 40 is placed.

[0044] The imaging devices 10a to 10f are attached to the tips of six arm members 12a to 12f extending from different height positions of the imaging device mounting support 12 so that the imaging direction can be adjusted. The height positions of the six arm members 12a to 12f are also adjustable, and by adjusting the height of the arm members 12a to 12f, the height of the imaging devices 10a to 10f can also be adjusted. In other words, the imaging devices 10a to 10f are set on the side of the transparent base 31 so that the height and imaging direction can be adjusted.

[0045] In the example shown in Figure 1, the heights and shooting directions of the photographing devices 10a to 10c are adjusted so that the object 40 can be photographed looking down from above the transparent base 31, the heights and shooting directions of the photographing device 10d are adjusted so that the object 40 can be photographed from approximately the side, and the heights and shooting directions of the photographing devices 10e to 10f are adjusted so that the object 40 can be photographed looking up from below through the transparent base 31.

[0046] The lighting devices 20a to 20j are configured with surface-emitting panels and are attached to lighting device mounting posts 22. In Fig. 1, the lighting devices 20a to 20e are attached to a lighting device mounting post 22a, and the lighting devices 20f to 20j are attached to a lighting device mounting post 22b that faces the lighting device mounting post 22a with the imaging devices 10e to 10f sandwiched between them.

[0047] The lighting devices 20a to 20j are attached to lighting device attachment posts 22a and 22b so that the height and lighting direction of each lighting device can be adjusted, similar to the image capturing devices 10a to 10f.

[0048] 1, reference numeral 50 denotes a green screen that serves as the background for the object 40 photographed by the photographing devices 10a to 10f, and this green screen 50 is supported by a support 52. Note that the background is not limited to the green screen 50, but may be a blue screen or other background, and it is preferable that it is suitable for extracting an image of the object from the photographed image.

[0049] The number of image capturing devices and the number of lighting devices are not limited to the embodiment of the 3D scanning system shown in Figure 1 and can be set arbitrarily. The minimum number of image capturing devices can be one. In this case, for example, each time the transparent base 31 is rotated once to capture an image of the entire circumference of the object 40, the height and capturing direction of one image capturing device must be changed, and the transparent base 31 must be rotated once again to capture an image of the entire circumference of the object 40, and this process must be repeated.

[0050] FIG. 2 is a side view of an image capture device 10 that is representative of the six image capture devices 10a to 10f shown in FIG.

[0051] 2 has a polarizing filter (first polarizing filter) 11 rotatably attached to the front of the photographing lens. The first polarizing filter 11 is provided with a filter rotation mechanism that can be rotated manually or electrically to any desired filter rotation position, and the filter rotation mechanism can be used to adjust the filter rotation position to the required position.

[0052] The image capturing device 10 preferably includes an exposure adjustment unit and a white balance adjustment unit, which adjust the brightness and color of an object in an image, and may be manually or automatically adjusted.

[0053] Exposure adjustment can be performed by adjusting the exposure time (shutter speed), aperture, and ISO sensitivity, but it is preferable to increase the depth of field (set the aperture to a small value) so that the entire object 40 is in focus, and since adjusting the ISO sensitivity changes the image quality, it is preferable that the exposure adjustment unit adjusts the exposure by adjusting the exposure time.

[0054] FIG. 3 is a side view of a lighting device 20 that is representative of the ten lighting devices 20a-10j shown in FIG.

[0055] 3 has a polarizing filter (second polarizing filter) 21 attached to the front of the light-emitting surface. The second polarizing filter 21 is provided with a filter rotation mechanism that can be rotated manually or electrically to any filter rotation position, and can be adjusted to a desired filter rotation position by the filter rotation mechanism.

[0056] The first polarizing filter 11 attached to the front of the photographing lens and the second polarizing filter 21 attached to the front of the light-emitting surface of the lighting device 20 each have an adjustable filter rotation position, but it is sufficient that at least one of the first polarizing filter 11 and the second polarizing filter 21 has an adjustable filter rotation position.

[0057] FIG. 4 is a perspective view showing the detailed structure of the transparent rotary table device 30 shown in FIG.

[0058] The transparent rotating table device 30 shown in Figure 4 is an embodiment of a mechanism (first mechanism) that changes at least one of the relative position between the imaging devices 10a to 10f and the object 40 and the imaging direction of the imaging devices 10a to 10f, and is composed of a circular transparent table 31, a frame section 32 that supports the transparent table 31 so that it can rotate freely, and a drive section that includes a motor 35 that rotates the transparent table 31.

[0059] The upper frame of the frame section 32 is provided with four support spheres 33 and four guide rollers, and the transparent base 31 is supported by the four support spheres 33 and four guide rollers so as to be rotatable relative to the frame section 32.

[0060] The drive unit that electrically rotates the transparent base 31 is composed of a motor 35, two rollers 36 that abut against the sides of the transparent base 31, and a belt 37 wound between a drive roller 35a provided on the drive shaft of the motor 35 and a roller 36a that is coaxial with the two rollers 36.

[0061] When the motor 35 rotates, the rotational driving force is transmitted to the roller 36 via the drive roller 35a and the belt 37, causing the roller 36 to rotate.

[0062] The roller 36 is a rubber roller having a high friction coefficient rubber or the like on its peripheral surface. When the roller 36 rotates, a driving force is transmitted in the tangential direction of the transparent base 31 where the roller 36 abuts against the side surface of the transparent base 31 due to the friction between the roller 36 and the side surface of the transparent base 31, causing the transparent base 31 to rotate.

[0063] By rotating the transparent base 31, the relative positions of the image capturing devices 10a to 10f and the object 40 can be changed (the relative image capturing angles around the object 40 by the image capturing devices 10a to 10f can be changed), making it possible to capture images of the object 40 from various directions. Note that, although the transparent base 31 rotates in the embodiment, the transparent base 31 may not rotate, but a mechanism (first mechanism) in which the image capturing devices 10a to 10f rotate around the transparent base 31 may be used, and the image capturing devices 10a to 10f and the object 40 may be rotated relative to each other.

[0064] [Electrical Configuration of 3D Scanning System] FIG. 5 is a block diagram showing an embodiment of the electrical configuration of a 3D scanning system according to the present invention.

[0065] The 3D scanning system in FIG. 5 includes a processor 100, drivers 110 and 120, and a memory 130.

[0066] The processor 100 is composed of a CPU (Central Processing Unit) and other components, and controls each part of the 3D scanning system (the imaging device 10, the lighting device 20, and the transparent rotating table device 30 (motor 35)) by executing a 3D scanning program, and also performs image processing, etc., to reduce the influence of the transparent table 31 on the image captured by the imaging device 10.

[0067] The memory 130 includes a flash memory, a read-only memory (ROM), a random access memory (RAM), a hard disk drive, etc. The flash memory, ROM, or hard disk drive is a non-volatile memory that stores an operating system, various programs including a 3D scanning program, etc. The 3D scanning program may include a program that generates a 3D model of the object by photogrammetry based on a group of images after image processing in which the influence of the transparent base 31 is reduced.

[0068] In addition, the memory 130 can store a group of images captured by the imaging device 10, a group of images after image processing that reduces the influence of the transparent base 31, and a 3D model of the object generated by photogrammetry.

[0069] The RAM functions as a working area for processing by the processor 100. It also temporarily stores various programs stored in flash memory or the like, and images captured by the imaging device 10. Note that the processor 100 may have a portion of the memory 130 (RAM) built in.

[0070] The processor 100 can adjust at least one of the exposure adjustment and the white balance adjustment of the six image capturing devices 10a to 10f before starting the 3D scan of the object 40.

[0071] For example, a reference photographing device is set among the six photographing devices 10a to 10f, and at least one of the exposure adjustment and white balance adjustment of the other photographing devices is individually adjusted so that the brightness and / or color of the images photographed by the reference photographing device matches the brightness and / or color of the images photographed by the other photographing devices.

[0072] In addition, the processor 100 drives ten lighting devices 20a to 20j via the driver 110, causing the lighting devices 20a to 20j to emit illumination light, respectively, and the intensity of the illumination light from each of the lighting devices 20a to 20j can be adjusted instead of or in addition to the exposure adjustment by the imaging devices 10a to 10f.

[0073] Furthermore, if the image capture devices 10a to 10f are equipped with a filter rotation mechanism that electrically rotates the first polarizing filter 11, the processor 100 can adjust the filter rotation position of the first polarizing filter 11. For example, the processor 100 adjusts the filter rotation position of each of the first polarizing filters 11 so that the filter rotation position reduces the influence of specularly reflected light on the transparent base 31. Details of adjusting the filter rotation position of the first polarizing filter 11 will be described later.

[0074] Furthermore, in order to reduce the influence of specularly reflected light on the transparent base 31, it is preferable to apply an anti-reflection coating to the surface of the transparent base 31.

[0075] When starting a 3D scan of the object 40, the processor 100 outputs a drive command to the motor 35 of the transparent rotating table device 30 via the driver 120 to rotate and stop the motor 35, thereby rotating the transparent table 31 (object 40). In this case, the processor 100 controls the rotation of the transparent table 31 by repeatedly rotating and stopping the transparent table 31 at preset angles (predetermined angles), thereby rotating the transparent table 31 360 degrees, and instructs the image capturing devices 10a to 10f to capture a still image (image) each time the transparent table 31 stops. The predetermined angle for rotating the transparent table 31 can be set taking into account the degree of overlap between adjacent images captured by 3D scanning (e.g., an overlap of approximately 70% to 80%). This is because, when generating a 3D model using photogrammetry, the images used must have an area where adjacent images overlap sufficiently.

[0076] The processor 100 acquires images captured by the image capturing devices 10a to 10f and performs image processing on the acquired images to reduce the influence of the transparent base 31. Details of this image processing will be described later.

[0077] [Mechanism for Reducing the Influence of the Transparent Member (Transparent Base)] Next, a mechanism for reducing the influence of the transparent base (second mechanism) will be described.

[0078] FIG. 6 is a diagram showing the main parts of the 3D scanning system shown in FIG. 1, illustrating the positional relationship between the six image capturing devices 10a to 10f, the transparent base 31, and the target object 40.

[0079] In Figure 6, the height and shooting direction of the photographing devices 10a to 10c are adjusted so that the object 40 is photographed looking down from above the transparent base 31, and the height and shooting direction of the photographing devices 10d to 10e are adjusted so that the object 40 is photographed looking up from below the transparent base 31.

[0080] In the case of the photographing devices 10a to 10c whose height and photographing direction are adjusted as shown in Figure 6, a transparent base 31 is present between the photographing device 10a to 10c and the object 40, and in particular, in the image photographed by the photographing device 10d, the side of the transparent base 31 is reflected in the area where the object 40 is photographed (see Figure 8).

[0081] The side of the transparent base 31 has different light refraction, reflection, and transmittance than other parts, and if the overlapping area where the side of the transparent base 31 overlaps with the object 40 is used to generate a 3D model, this can cause a decrease in the quality of the 3D model.

[0082] One way to avoid the side of the transparent base 31 being captured in the area where the object 40 is photographed is to not use the photographing device 10d. However, there may be cases where a high-quality 3D model cannot be generated using the images captured by the five photographing devices 10a to 10c and 10e to 10f excluding the photographing device 10d.

[0083] An example of the second mechanism for reducing the influence of the transparent base is a mechanism that individually adjusts the six degrees of freedom of the three-dimensional positions (x, y, z) and attitudes (pitch, yaw, roll) of the six image capturing devices 10a to 10f. That is, the second mechanism individually adjusts the height and image capturing direction of the six image capturing devices 10a to 10f, thereby preventing the side surface of the transparent base 31 from appearing in the image of the object 40 and ensuring a sufficient degree of overlap between images adjacent in the vertical direction.

[0084] FIG. 7 is a diagram showing another example of the second mechanism for reducing the influence of the transparent base.

[0085] Figures 7(A) and (B) are plan views of the main parts of the transparent rotating table device 30 shown in Figure 4, with Figure 7(A) showing the case where the transparent table 31 shown in Figure 4 is used, and Figure 7(B) showing the case where a transparent table 31-1 larger than the transparent table 31 is used.

[0086] If the transparent base 31 shown in Figure 7(A) is used and the side of the transparent base 31 is captured in the area where the object 40 is photographed, then a transparent base 31-1 larger than the transparent base 31 is used as shown in Figure 7(B).

[0087] That is, as shown in Figure 7(B), the lower frames 32a and 32b of the frame portion 32 of the transparent rotating table device 30 are extended as indicated by the arrows, and the transparent table 31 shown in Figure 7(A) is replaced with a transparent table 31-1 that is larger in size than the transparent table 31, as shown in Figure 7(B).

[0088] In this way, by using a large transparent base 31-1, it is possible to prevent the side of the transparent base 31-1 from appearing in the area where the object 40 is photographed.

[0089] [First Image Processing for Reducing the Influence of the Transparent Member (Transparent Base)] Next, the first image processing for reducing the influence of the transparent base 31 performed by the processor 100 will be described.

[0090] FIG. 8 is a diagram showing an image Im captured by one of the six image capturing devices 10a to 10f (for example, the image capturing device 10d shown in FIG. 6).

[0091] 8, the image Io showing the object 40 has an area Ia that is photographed directly without using the transparent base 31, an overlapping area Ib where the side of the transparent base 31 overlaps with the object 40, and an area Ic that is photographed through the transparent base 31. Note that in FIG. 8, Id is a background area that is the background other than the object 40.

[0092] The processor 100 extracts an overlapping region Ib from the image Io, where the side surface of the transparent base 31 overlaps with the object 40, and performs image processing to remove the overlapping region Ib from the image Io. Here, removing the overlapping region Ib means that the image of the overlapping region Ib is not used to generate the 3D model, and can be removed by, for example, masking.

[0093] This allows the influence of the transparent base 31, which reduces the image quality of the 3D model when the side of the transparent base 31 overlaps with the object 40, to be reduced by image processing.

[0094] 6 has identification information 31a attached to the side of the transparent base 31 to indicate that it is the side of the transparent base 31. This identification information 31a makes it easy to distinguish the side of the transparent base 31 from the object 40 and the green screen 50 in the background, and can be filled in with a known color, have a pattern, or a combination of these. The identification information 31a attached to the side of the transparent base 31 allows the processor 100 to effectively extract the overlapping area Ib where the side of the transparent base 31 overlaps with the object 40.

[0095] Furthermore, in the image Io showing the object 40, there is a slight difference in brightness and color between the area Ia photographed directly without using the transparent base 31 and the area Ic photographed through the transparent base 31 due to the influence of the transparent base 31.

[0096] Therefore, it is preferable that the processor 100 performs image processing to match the brightness and color between an image of the object 40 photographed directly (image of area Ia) and an image of the object 40 photographed through the transparent stand 31 (image of area Ic).

[0097] It is also preferable to set a reference marker for adjusting the color at a position on the transparent base 31 where the transparent base 31 and the object 40 do not overlap on the image, and to perform image processing to adjust the brightness and color between an image of the object 40 photographed directly and an image of the object 40 photographed through the transparent base 31 so as to match the brightness and color of the image in the area corresponding to the reference marker.

[0098] 9A and 9B are diagrams showing other embodiments of information added to the side of the transparent base 31, in which FIG. 9A shows a pattern 31b for generating a 3D model, and FIG. 9B shows a scale 31c indicating the angle of the rotating transparent base 31.

[0099] 9A is a random point cloud pattern with known positional relationships, which can be used to estimate the position and orientation of each of the image capture devices 10a to 10f when generating a 3D model. Note that the pattern is not limited to 31b, and can be a marker or other indicator from which feature points can be easily extracted.

[0100] Furthermore, the scale 31c shown in FIG. 9B is used to detect the angle of the transparent base 31 by processing the moving image.

[0101] For example, the processor 100 can cause one of the image capturing devices 10a to 10f (for example, an image capturing device suitable for capturing an image of the side of the transparent base 31) to capture a video of the transparent base 31 including the object 40, and detect the angle of the transparent base 31 from the scale 31c in the video. When controlling the motor 35 that rotates the transparent base 31, the processor 100 can use the detected angle as a feedback value and rotate the transparent base 31 intermittently by a desired angle.

[0102] The pattern 31b shown in FIG. 9A and the scale 31c shown in FIG. 9B can also be used as identification information to indicate that it is the side surface of the transparent base 31.

[0103] [Second Image Processing for Reducing the Influence of the Transparent Member (Transparent Base)] Next, the second image processing for reducing the influence of the transparent base 31 performed by the processor 100 will be described.

[0104] FIG. 10 is a flowchart showing the second image processing for reducing the influence of the transparent base 31, and shows the second image processing by the processor 100 shown in FIG.

[0105] The second image processing is image processing for reducing the influence of the transparent base 31 on an image of the object 40 photographed through the transparent base 31 as shown in FIG.

[0106] In Figure 10, without installing the transparent rotating table device 30, the background (green screen 50) is photographed using one of the photographing devices 10a to 10f, 10d to 10f, whose height and photographing direction are adjusted so that the subject 40 is photographed from below the transparent table 31 while looking up, and an image A (Ad to Af) of the background is obtained (step S1).

[0107] Next, the transparent rotating table device 30 is installed, and the transparent table 31 and the background are photographed using the photographing devices 10d to 10f without placing the object 40 on the transparent table 31, thereby obtaining images B (Bd to Bf) of the transparent table 31 and the background, respectively (step S2).

[0108] The photographing using the photographing devices 10d to 10f in steps S1 and S2 can be performed by user operation, and the processor 100 temporarily stores in the memory 130 an image A of the background photographed in steps S1 and S2, and an image B of the transparent base 31 and the background.

[0109] The processor 100 subtracts image A from image B to obtain image C of only the transparent base 31, and stores image C in the memory 130 (step S3).

[0110] Thereafter, when the object 40 is placed on the transparent base 31, the processor 100 performs rotation control to rotate the transparent base 31 360 degrees by repeatedly rotating and stopping the transparent base 31 at preset angle increments, and instructs the image capturing devices 10a to 10f to capture still images (images) each time the transparent base 31 stops, thereby acquiring a group of images from each of the image capturing devices 10a to 10f. The processor 100 subtracts the image C of only the transparent base 31 stored in the memory 130 from the group of images captured through the transparent base 31 (the group of images captured by the image capturing devices 10d to 10f) among the acquired group of images, thereby generating a group of images in which the influence of the transparent base 31 has been reduced, and stores the generated group of images in the memory 130 (step S4).

[0111] The images taken by the image taking devices 10a to 10c are not affected by the transparent base 31 because the object 40 is not photographed through the transparent base 31, and are stored in the memory 130 as they are.

[0112] The processor 100 generates a 3D model of the object 40 by photogrammetry based on the images stored in the memory 130 in this manner.

[0113] In step S2, image B of the transparent base 31 and the background was acquired without rotating the transparent base 31. However, if the image of the transparent base 31 changes with each rotation position, it is preferable to rotate the transparent base 31 to the same rotation position as the rotation position of the transparent base 31 when photographing the object 40, and acquire image B of the transparent base 31 and the background, respectively.

[0114] The second image processing, which reduces the influence of the transparent base 31, makes it possible to generate a group of images in which the transparent base 31 is substantially absent, thereby enabling the generation of a high-quality 3D model. In addition, it is possible to reduce the difference in brightness and color between the portion of the object photographed through the transparent base 31 and the portion of the object 40 photographed directly.

[0115] Furthermore, by acquiring "image C of only the transparent base 31" and storing it in memory 130, even if the object placed on the transparent base 31 is changed thereafter, as long as the shooting conditions (such as the relative positions of the shooting devices 10a to 10f, the lighting devices 20a to 20j, and the transparent rotating base device 30) do not change, "image C of only the transparent base 31" stored in memory 130 can be used in common for a group of images of other objects.

[0116] [Adjusting the filter rotation position of the first polarizing filter 11 of the photographing device 10] Figure 11 shows four images of an object (a vase) placed on a transparent stand photographed by the photographing device 10 by rotating the first polarizing filter 11 (see Figure 2) attached to the front of the photographing lens of the photographing device 10 by 45 degrees each time, and in particular shows four images photographed by looking down on the object from above the transparent stand 31.

[0117] As shown in FIG. 11, the four images include an image that is affected by specular reflection light from the transparent base 31 by the lighting device 20 and an image that is not affected (or is barely affected) by specular reflection light.

[0118] The optimal filter rotation position of the first polarizing filter 11, which reduces the effect of specularly reflected light on the transparent base 31, varies depending on the shooting environment, so it is necessary to determine the optimal filter rotation position before shooting and adjust the filter rotation position of the first polarizing filter 11.

[0119] The degree of influence of specular reflected light on the transparent base 31 can be determined from the brightness difference in the area surrounding the image of the object. That is, the greater the brightness difference in the area surrounding the image of the object, the greater the influence of specular reflected light on the transparent base 31. In the example shown in Fig. 11, the image on the bottom left has the greatest brightness difference in the area surrounding the image of the object.

[0120] Therefore, in order to capture an image that is less affected by the specular reflected light on the transparent base 31, the filter rotation position of the first polarizing filter 11 can be adjusted so that the difference in brightness between the areas surrounding the image of the object (the brightness of the first area where the object 40 is reflected on the transparent base 31 due to the specular reflected light on the transparent base 31, and the brightness of the second area where the object 40 around the first area is not reflected on the transparent base 31) is minimized. For example, before starting 3D scanning, while capturing a video using the imaging device 10, the filter rotation position of the first polarizing filter 11 is adjusted so that the brightness of the first area where the object 40 is reflected on the transparent base 31 due to the specular reflected light in the video approaches the brightness of the second area where the object 40 around the first area is not reflected on the transparent base 31 (so that the difference in brightness between the first area and the second area is minimized).

[0121] It is necessary to adjust the filter rotation position of the first polarizing filter 11 for each of the six image capturing devices 10a to 10. The filter rotation position of the first polarizing filter 11 may be adjusted manually while visually checking the brightness difference in the area surrounding the image of the object, or, if a filter rotation mechanism that can electrically rotate the filter rotation position of the first polarizing filter 11 is provided, the processor 100 may detect the brightness difference in the area surrounding the image of the object and automatically adjust the filter rotation position of the first polarizing filter 11 so that the detected brightness difference is minimized.

[0122] Furthermore, since it can be determined that the darker the image of the object, the more effective the first polarizing filter 11 is, the filter rotation position of the first polarizing filter 11 may be adjusted so that the image of the object becomes the darkest.

[0123] In this way, by reducing the influence of specular reflection light on the transparent base 31, an image with correct color can be acquired, and the quality of the 3D model can be improved.

[0124] FIG. 12 is a diagram showing a comparatively dark image generated from the four images shown in FIG.

[0125] The processor 100 rotates the first polarizing filter 11 by 45 degrees as shown in FIG. 11, causes the image capturing device 10 to capture four images, and can generate a relatively dark image from the four images.

[0126] The comparatively dark image is an image obtained by selecting the darkest pixel among the pixels at the same position in the four images and combining them (comparatively dark combining). This comparatively dark image can be used to generate a 3D model using photogrammetry. Furthermore, the comparatively dark image is an image in which the influence of specular reflection from the transparent base 31 and the influence of specular reflection from the surface of the object are reduced.

[0127] Figure 13 shows four images of an object (a vase) placed on a transparent stand photographed by the photographing device 10 by rotating the first polarizing filter 11 attached to the front of the photographing lens of the photographing device 10 by 45 degrees each time, and in particular shows four images photographed by looking up at the object from below the transparent stand 31.

[0128] As shown in FIG. 13, the four images have different colors of the object due to the influence of specular reflection of the illumination light on the transparent base 31.

[0129] Therefore, the filter rotation position of the first polarizing filter 11 is determined in order to suppress changes in the color of the object due to the transparent base 31. The optimal filter rotation position of the first polarizing filter 11 can be determined by determining, for the area of ​​the object photographed through the transparent base 31 in the image, the filter rotation position at which the object is darkest as "the first polarizing filter is most effective," and determining, for the area of ​​the object photographed through the transparent base 31 in the image, the filter rotation position at which the object is brightest as "the first polarizing filter is least effective."

[0130] Furthermore, the filter rotation position of the first polarizing filter 11 at which the area in the image where "the object passed through the transparent base 31 but there was no object = clear view = the green screen 50 is visible" becomes darkest may be determined as "the first polarizing filter 11 is most effective," and the filter position at which the area becomes brightest may be determined as "the first polarizing filter 11 is least effective."

[0131] The filter rotation position of the first polarizing filter 11 may be adjusted manually by visually determining the state in which the "first polarizing filter 11 is most effective," or, if a filter rotation mechanism capable of electrically rotating the filter rotation position of the first polarizing filter 11 is provided, the processor 100 may determine the state in which the "first polarizing filter 11 is most effective" through image processing and automatically adjust the filter rotation position of the first polarizing filter 11.

[0132] FIG. 14 is a diagram showing a comparatively dark image generated from the four images shown in FIG.

[0133] The processor 100 rotates the first polarizing filter 11 by 45 degrees as shown in FIG. 13, causes the image capturing device 10 to capture four images, and can generate a relatively dark image from the four images.

[0134] The generated comparative dark image can be used to generate a 3D model by photogrammetry. The comparative dark image is an image in which the influence of the transparent base 31 and the influence of specular reflection light on the surface of the object are reduced.

[0135] Furthermore, the first polarizing filter 11 may be adjusted to a filter rotation position (second filter rotation position) that reduces the influence of specularly reflected light on the object 40. In this case, the filter rotation position of the first polarizing filter 11 can be determined so that the maximum brightness of the image in the area corresponding to the object 40 is minimized. Furthermore, when four images are captured by rotating the first polarizing filter 11 by 45 degrees each as shown in FIG. 11 , the filter rotation position of the first polarizing filter 11 that results in the darkest brightness of the area corresponding to the object 40 in the four images may be determined as the second filter rotation position that reduces the influence of specularly reflected light. This allows the imaging device 10 to capture a diffused light image containing only diffuse light, thereby preventing saturated pixels from occurring in the area corresponding to the object 40.

[0136] Furthermore, the processor 100 may perform image capture at a plurality of filter rotation positions, including a filter rotation position (third filter rotation position) that transmits specular light from the object 40, to obtain a specular reflection image that includes specular light from the object 40 and a diffuse light image that reduces the specular light from the object 40. In this case, an image of the specular reflection component can be generated from the difference between the specular reflection image and the diffuse light image. The image of the specular reflection component can be used as an image that shows the gloss and texture of the object 40.

[0137] Furthermore, in addition to adjusting the filter rotation position of the first polarizing filter 11 attached to the imaging device 10 as described above, the filter rotation position of the second polarizing filter 21 attached to the lighting device 20 may also be adjusted, or the filter rotation positions of both the first polarizing filter 11 and the second polarizing filter 21 may be adjusted separately.

[0138] [Another embodiment of the transparent turntable device] Figure 15 is an exploded oblique view showing another embodiment of the transparent turntable device, and Figures 16 (A) and (B) are a plan view and a front view, respectively, of the transparent turntable device shown in Figure 15.

[0139] The transparent rotating table device 30-1 shown in Figures 15, 16(A) and (B) is another embodiment of the transparent rotating table device 30 shown in Figure 4 etc., and has the same function as the transparent rotating table device 30, and is composed of a transparent table 31-2, a frame part 38 that supports the transparent table 31-2, and a drive part including a motor 35-1 that rotates the rotating transparent table 31-2a.

[0140] The transparent base 31-2 is composed of a circular rotating transparent base 31-2a and a rectangular fixed transparent base 31-2b, and the fixed transparent base 31-2b is fixed to the frame portion .

[0141] A ring-shaped convex rail 34a is integrally formed on the underside of the rotating transparent base 31-2a, and a ring-shaped concave groove 34b for guiding the convex rail 34a is integrally formed on the upper surface of the fixed transparent base 31-2b. As a result, the rotating transparent base 31-2a is rotatably held relative to the fixed transparent base 31-2b, and the convex rail 34a slides along the concave groove 34b when the rotating transparent base 31-2a rotates.

[0142] It is preferable to attach a transparent material with a low friction coefficient (for example, a plastic material) to multiple locations in the groove 34b of the fixed transparent base 31-2b and / or apply a transparent lubricant to enable the rotating transparent base 31-2a to rotate smoothly relative to the fixed transparent base 31-2b. Alternatively, the positional relationship between the convex rail 34a and the groove 34b may be reversed, so that a ring-shaped convex rail 34a is formed on the upper surface of the fixed transparent base 31-2b and a ring-shaped groove 34b, guided by the convex rail 34a, is formed on the lower surface of the rotating transparent base 31-2a.

[0143] The drive unit that electrically rotates the rotating transparent base 31-2a is composed of a motor 35-1 and a roller 36-1 attached to the drive shaft of the motor 35-1 and abutting against the side of the rotating transparent base 31-2a, as shown in Figures 16(A) and (B).

[0144] The roller 36-1 is preferably a rubber roller having a circumferential surface covered with rubber or the like having a high coefficient of friction.

[0145] When the motor 35-1 rotates, the rotational driving force is transmitted to the roller 36-1. When the roller 36-1 rotates, a driving force due to the friction between the side surface of the rotating transparent base 31-2a and the roller 36-1 is transmitted in the tangential direction of the rotating transparent base 31-2a, the side surface of which the roller 36 abuts, causing the rotating transparent base 31-2a to rotate.

[0146] A transparent rubber sheet with a high coefficient of friction may be attached to the side of the rotating transparent base 31-2a, or the side may be provided with an uneven surface to prevent slipping.

[0147] FIG. 17 is a perspective view of the essential parts showing another embodiment of the driving section of the transparent rotary table device shown in FIG.

[0148] The drive unit shown in FIG. 17 is made up of a motor 35-1, a drive gear 36-2 attached to the drive shaft of the motor 35-1, and a gear 31-2d formed on the side of the rotating transparent base 31-2c.

[0149] The rotating transparent base 31-2c has the same function as the rotating transparent base 31-2a shown in Figure 15, etc., but differs from the rotating transparent base 31-2a in that it has a gear 31-2d formed on its side that meshes with the drive gear 36-2.

[0150] In FIG. 17, when the motor 35-1 rotates, the rotational driving force of the motor 35-1 is transmitted to the rotating transparent base 31-2c via the drive gear 36-2 and the gear 31-2d, causing the rotating transparent base 31-2a to rotate.

[0151] In the case of the drive unit shown in Figure 17, no slip occurs in the drive force transmission system from motor 35-1 to rotating transparent base 31-2a, and as a result, by detecting the rotation state (rotation angle (rotation amount), rotation position) of motor 35-1 with an encoder, the rotation angle of rotating transparent base 31-2c can be accurately determined.

[0152] 3D Scanning Method FIG. 18 is a flowchart illustrating an embodiment of a 3D scanning method according to the present invention.

[0153] 18, before the start of 3D scanning, the height and imaging direction of each of the imaging devices 10a to 10f are individually adjusted (step S10). In this step S10, the height and imaging direction of each of the imaging devices 10a to 10f are individually adjusted so that, for example, an image Im having an overlapping area Ib where the side surface of the transparent base 31 and the object 40 overlap, as shown in FIG. 8, is not captured, and so that there is a sufficient overlapping area between adjacent images captured by the imaging devices 10a to 10f.

[0154] Next, the rotational position of at least one of the first polarizing filter 11 attached to the front of the photographing lens of the photographing device 10a-10f and the second polarizing filter 21 attached to the front of the light-emitting surface of the lighting device 20a-20j is adjusted (step S20). In this step S20, the rotational position of at least one of the first polarizing filter 11 and the second polarizing filter 21 is adjusted so that the filter rotational position reduces the influence of specularly reflected light on the transparent base 31. The filter position adjustment may be performed manually or automatically.

[0155] Next, the processor 100 outputs an instruction to the image capturing devices 10a to 10f to capture a still image, causing the image capturing devices 10a to 10f to capture an image of the object 40 (step S30). The images captured by the image capturing devices 10a to 10f are recorded in the memory 130, or in the internal memory of the processor 100, but may also be recorded in the memory built into each of the image capturing devices 10a to 10f.

[0156] Next, the processor 100 controls the motor 35 of the transparent rotating table device 30 to rotate the transparent table 31 by a predetermined angle (step S40). The processor 100 determines whether the transparent table 31 has rotated 360 degrees as a result of the rotation control of the transparent table 31 in step S40 (step S50).

[0157] If it is determined that the transparent base 31 has not rotated 360 degrees (if "No"), the process proceeds to step S30, whereby the photographing by the photographing devices 10a to 10f and the rotation control of the transparent base 31 are repeated.

[0158] On the other hand, if it is determined that the transparent base 31 has rotated 360 degrees (if "Yes"), the process proceeds to step S60. Furthermore, if the transparent base 31 has rotated 360 degrees, images of the entire circumference of the object 40 have been captured by the image capturing devices 10a to 10f, and it is possible to obtain a group of images necessary for generating a 3D model of the object 40 by photogrammetry.

[0159] In step S60, the processor 100 performs image processing to match at least one of brightness and color between the images in the acquired image group.

[0160] Before starting 3D scanning, it is preferable to adjust the exposure and white balance of each of the imaging devices 10a to 10f, or adjust the brightness and color of the illumination light from the lighting devices 20a to 20j, so that the brightness and color of the images captured by the imaging devices 10a to 10f are consistent. However, in step S60, it is also possible to adjust the brightness and color of each region within the image that cannot be adjusted by the imaging devices 10a to 10f or the lighting devices 20a to 20j.

[0161] For example, even if the height and shooting direction of the image capturing devices 10a to 10f are adjusted in step S10, when an image Im having an overlapping region Ib where the side surface of the transparent base 31 overlaps with the object 40 is captured as shown in Figure 8, the brightness and color of the region Ia captured directly without using the transparent base 31 and the region Ic captured through the transparent base 31 will be different. In this case, for example, image processing is performed to adjust the brightness and color of the region Ic to the brightness and color of the region Ia. Furthermore, in step S60, masking processing is also performed so that the image of the overlapping region Ib, where the side surface of the transparent base 31 overlaps with the object 40, is not used to generate the 3D model.

[0162] The processor 100 uses the images obtained after image processing in step S60 to generate a 3D model of the object 40 by photogrammetry based on the images (step S70).

[0163] The processor 100 stores the 3D model of the object 40 thus generated in the memory 130 .

[0164] [Other] When using LiDAR (Light Detection and Ranging) or ToF (Time of Flight), measurements are taken only from directions that do not penetrate the transparent stand. It is also preferable to generate a 3D model by performing calibration that takes into account the influence of the transparent stand. Alternatively, a 3D model may be generated from a group of images that include a reflection of the transparent stand, and the transparent stand may be removed from the generated 3D model by image processing.

[0165] In this embodiment, each process is executed by a computer. The computer may execute these processes by a processor, a program, or a combination thereof. The computer may be a general-purpose computer, a computer for specific applications, a system such as a workstation, or other hardware element capable of executing a program.

[0166] The processor may be composed of one or more pieces of hardware, and the type of hardware is not limited. For example, the processor may be composed of hardware such as a programmable logic device such as a CPU (Central Processing Unit), an MPU (Micro Processing Unit), or an FPGA (Field Programmable Gate Array), a dedicated circuit for executing specific processes such as an ASIC (Application Specific Integrated Circuit), a GPU (Graphic Processing Unit), or an NPU (Neural Processing Unit). The processor also has various units or means for executing various processes in this embodiment. The hardware may also be a combination of different types of hardware. When multiple pieces of hardware are configured to execute one or more processes of a certain processor, the multiple pieces of hardware may exist in physically separate devices or in the same device. In any of the embodiments, the order of each process performed by the processor is not limited to the order described above and may be changed as appropriate. The hardware may be composed of an electrical circuit or the like, combining circuit elements such as semiconductor devices.

[0167] Furthermore, the present embodiment may be implemented by hardware, software, firmware, microcode, or a combination thereof. Software, firmware, and microcode may be configured by a program. A program may also be, for example, a group of program modules, each function of which may be implemented by a processor configured to perform the respective function. The program may be program code or multiple code segments stored in one or more non-transitory computer-readable media (e.g., storage media or other storages). The program may be stored in multiple non-transitory computer-readable media that reside in physically separate devices. Program code or a code segment may represent a procedure, a function, a subprogram, a routine, a subroutine, a module, a software package, a class, or any combination of instructions, data structures, or program statements. Program code or a code segment may be connected to another code segment or a hardware circuit by sending or receiving information, data, arguments, parameters, or memory contents.

[0168] Furthermore, it goes without saying that the present invention is not limited to the above-described embodiment, and various modifications are possible without departing from the spirit of the present invention.

[0169] DESCRIPTION OF SYMBOLS 10, 10a to 10f...Photographing device 11...First polarizing filter 12...Photographing device mounting support 12a to 12f...Arm member 20, 20a to 20j...Illumination device 21...Second polarizing filter 22...Illumination device mounting support 22a, 22b...Illumination device mounting support 30, 30-1...Transparent rotating table device 31, 31-1, 31-2...Transparent table 31-2a, 31-2c...Rotating transparent table 31-2b...Fixed transparent table 31-2d...Gear 31a...Identification information 31b...Pattern 31c...Scale 32, 38...Frame portion 32a, 32b...Lower frame 33...Support ball 34a...Convex rail 34b...Concave groove 35, 35-1...Motor 35a...Drive roller 36, 36a, 36-1...Roller 36-2: Drive gear 37: Belt 40: Object 50: Green screen 52: Support 100: Processor 110, 120: Driver 130: Memory Ia, Ic: Area Ib: Overlap area Id: Background area Im, Io: Image S1 to S4: Steps for executing second image processing S10 to S70: Steps for executing 3D scanning method

Claims

1. A 3D scanning system comprising: a transparent member on which an object to be photographed by an imaging device is placed; a first mechanism that changes at least one of the relative position between the imaging device and the object and the imaging direction of the imaging device; a second mechanism that reduces the effect of the transparent member on a 3D model of the object generated from a group of images of the object photographed from different angles; and a processor that performs image processing to reduce the effect of the transparent member.

2. The 3D scanning system according to claim 1, wherein the first mechanism is a mechanism that rotates the transparent member or that rotates the imaging device relative to the transparent member.

3. The 3D scanning system of claim 1, wherein the second mechanism adjusts at least one of the relative positions of the camera and the transparent member and the attitude of the camera when the transparent member is present between the camera and the object, thereby preventing the side of the transparent member from appearing on the object in the image captured by the camera.

4. The 3D scanning system of claim 1, wherein the second mechanism replaces the transparent member with a larger transparent member when the transparent member is present between the image capturing device and the object, thereby preventing the side of the replaced transparent member from appearing on the object in the image captured by the image capturing device.

5. The 3D scanning system of claim 1, wherein when generating a 3D model of the object by photogrammetry using the group of images, if the group of images includes an image with an overlapping area where the side of the transparent member overlaps with the object, the processor generates the 3D model using an image from which the overlapping area has been removed.

6. The 3D scanning system according to claim 5, wherein identification information indicating that the transparent member is at least a side surface of the transparent member is added to the side surface of the transparent member.

7. The 3D scanning system according to claim 1, wherein the side of the transparent member includes markers or patterns for generating a 3D model.

8. The 3D scanning system according to claim 1, wherein the transparent member is circular, and the side of the transparent member has a scale indicating the angle of the transparent member.

9. The 3D scanning system according to claim 1, wherein a plurality of the image capturing devices are provided on the side of the transparent member at different heights and in different shooting directions, and each of the plurality of image capturing devices is provided with a mechanism for adjusting factors related to the image quality of the object in an area including the object in the captured image.

10. The 3D scanning system according to claim 9, wherein the factor relating to image quality is at least one of brightness and color.

11. The 3D scanning system of claim 1, comprising: a plurality of said image capturing devices at different heights and image capturing directions on the sides of said transparent member; and a plurality of lighting devices at different heights and illumination directions on the sides of said transparent member, wherein at least one of the height, illumination direction and intensity of each illumination light of said lighting devices is adjusted to match the brightness of said object in the images captured by each of said plurality of image capturing devices.

12. The 3D scanning system of claim 1, comprising: a plurality of said photographing devices at different heights and photographing directions on the side of said transparent member; and a plurality of lighting devices at different heights and lighting directions on the side of said transparent member, wherein at least one of said plurality of photographing devices and said plurality of lighting devices is equipped with a mechanism for matching the color of said object in each photographed image.

13. The 3D scanning system according to any one of claims 1 to 12, wherein the processor performs image processing to match at least one of brightness and color between the images in the image group.

14. A 3D scanning system according to any one of claims 1 to 12, wherein the processor performs image processing to match brightness and color between at least an image of the object photographed directly and an image of the object photographed through the transparent member.

15. The 3D scanning system according to claim 1, further comprising a memory for storing an image of only the transparent member, wherein when generating a 3D model of the object by photogrammetry using the group of images, if the group of images includes an image having an overlapping area where the transparent member overlaps with the object, the processor subtracts the image of only the transparent member from the image having the overlapping area, and generates the 3D model using the image obtained by subtraction.

16. The 3D scanning system of claim 1, comprising: the imaging device equipped with a first polarizing filter; an illumination device equipped with a second polarizing filter; and a filter rotation mechanism that rotates at least one of the first polarizing filter and the second polarizing filter, wherein the filter rotation position of at least one of the first polarizing filter and the second polarizing filter is adjusted by the filter rotation mechanism.

17. The 3D scanning system of claim 16, wherein at least one of the first polarizing filter and the second polarizing filter is adjusted to a first filter rotation position that reduces the effect of specular reflection of light from the transparent member by the illumination device.

18. The 3D scanning system of claim 16, wherein at least one of the first polarizing filter and the second polarizing filter is adjusted to a second filter rotation position that reduces the effect of specular reflection of light on the object by the illumination device.

19. The 3D scanning system of claim 16, wherein at least one of the first polarizing filter and the second polarizing filter is adjusted to a third filter rotation position that transmits light specularly emitted by the illumination device at the object.

20. The 3D scanning system according to any one of claims 16 to 19, comprising a plurality of the image capturing devices and a plurality of the lighting devices, wherein the filter rotation position of the first polarizing filters of the plurality of image capturing devices is adjusted for each of the image capturing devices.

21. The 3D scanning system according to any one of claims 1 to 12, wherein the surface of the transparent member is coated with an anti-reflection coating.

22. A 3D scanning method for a 3D scanning system comprising a transparent member on which an object to be photographed by an imaging device is placed, and a first mechanism for changing at least one of the relative position of the imaging device and the object and the imaging direction of the imaging device, the method comprising: a step of rotating the imaging device and the transparent member relatively using the first mechanism to change the imaging angle of the object by the imaging device; a step of photographing the object with the imaging device each time the imaging angle changes, and obtaining a group of images with different imaging angles to be used to generate a 3D model of the object; and a step of performing imaging using a second mechanism to reduce the effect of the transparent member on the 3D model of the object generated from the group of images, or performing image processing using a processor to reduce the effect of the transparent member.

23. A 3D scanning method according to claim 22, wherein, when the transparent member is present between the image capturing device and the object, at least one of the relative position between the image capturing device and the transparent member and the attitude of the image capturing device is adjusted by a second mechanism to prevent the side of the transparent member from appearing on the object in the image captured by the image capturing device.

24. The 3D scanning method according to claim 22, wherein, when the transparent member is present between the image capturing device and the object, the transparent member is replaced with a larger transparent member by a second mechanism, thereby preventing the side of the replaced transparent member from appearing on the object in the image captured by the image capturing device.

25. The 3D scanning method according to claim 22, wherein the 3D scanning system comprises the imaging device equipped with a first polarizing filter, an illumination device equipped with a second polarizing filter, and a filter rotation mechanism that rotates at least one of the first polarizing filter and the second polarizing filter, and the filter rotation position is adjusted by the filter rotation mechanism to reduce the effect of specular reflection light from the transparent member caused by the illumination device.

26. The 3D scanning method according to claim 25, wherein the filter rotation position is adjusted by the filter rotation mechanism, and the brightness of a first area where the object is reflected in the transparent member due to specular reflection of light from the illumination device on the transparent member is made to approach the brightness of a second area surrounding the first area where the object is not reflected in the transparent member.

Images