Multiple wavelengths-based three-dimensional scanning method, three-dimensional scanning device, and apparatus

Abstract

The present invention relates to the field of image processing, and provides a multiple wavelengths-based three-dimensional scanning method, a three-dimensional scanning device, and an apparatus. The method comprises: acquiring a first initial image and a second initial image; performing color channel separation on the first initial image and the second initial image to obtain a first image corresponding to a first color channel and a second image corresponding to a second color channel in the first initial image, and a third image corresponding to the first color channel and a fourth image corresponding to the second color channel in the second initial image; performing stereo matching on the first image and the third image to obtain first parallax information, and performing stereo matching on the second image and the fourth image to obtain second parallax information; and determining three-dimensional point cloud data of a target object on the basis of the first parallax information and the second parallax information. The problem in the prior art of low precision stability of three-dimensional point cloud data obtained by three-dimensional scanning is solved.

Description

Multi-wavelength-based three-dimensional scanning method, three-dimensional scanning device and apparatus Cross Reference to Related Applications This application claims priority to the Chinese patent application No. 202411378914.1, filed on September 30, 2024, and entitled “Multi-wavelength-based three-dimensional scanning method, three-dimensional scanning device and apparatus”, the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0001] The present application relates to the field of image processing, and in particular to a multi-wavelength-based three-dimensional scanning method, three-dimensional scanning device and apparatus. BACKGROUND

[0002] In the prior art, a laser scanner is usually used for three-dimensional scanning, which usually relies on pasting a marker point of a reflective material on a scanned object, so that the device can recognize the center position of the marker point through a projected light lamp, and use a laser line to perform three-dimensional reconstruction of the surface of the object.

[0003] The light sources used in the existing laser scanner are prone to mutual interference, especially when the number of laser lines is increased, the light rays will destroy the outline of the marker point, resulting in that the accuracy of the three-dimensional scanning data is easily affected, and the accuracy stability is not high. SUMMARY

[0004] The present application provides a multi-wavelength-based three-dimensional scanning method, three-dimensional scanning device and apparatus to solve the problem of low accuracy stability of three-dimensional point cloud data obtained by three-dimensional scanning in the prior art.

[0005] In a first aspect, the present application provides a multi-wavelength-based three-dimensional scanning method, comprising: obtaining a first initial image and a second initial image, the first initial image and the second initial image being original images of a target object collected by a binocular camera under the irradiation of a structured light source and a light lamp source, the wavelength of the light lamp source being different from the wavelength of the structured light source; separating the first initial image and the second initial image in color channels to obtain a first image corresponding to a first color channel and a second image corresponding to a second color channel of the first initial image, and a third image corresponding to the first color channel and a fourth image corresponding to the second color channel of the second initial image; the first color channel is a color channel corresponding to the wavelength of the structured light source, and the second color channel is a color channel corresponding to the wavelength of the light lamp source; performing stereo matching on the first image and the third image to obtain first disparity information, and performing stereo matching on the second image and the fourth image to obtain second disparity information; and determining three-dimensional point cloud data of the target object based on the first disparity information and the second disparity information.

[0006] Optionally, the determining the three-dimensional point cloud data of the target object based on the first parallax information and the second parallax information comprises: correcting the first parallax information based on the parallax values of the landmark points in the second parallax information. The three-dimensional point cloud data of the target object is determined based on the corrected first parallax information.

[0007] Optionally, the correcting the first parallax information based on the parallax values of the landmark points in the second parallax information comprises: comparing the parallax values of the landmark points in the second parallax information with the parallax values of the landmark points in the first parallax information, and determining parallax correction information of the first parallax information relative to the second parallax information based on the comparison result. The first parallax information is corrected based on the parallax correction information.

[0008] Optionally, the determining the three-dimensional point cloud data of the target object based on the corrected first parallax information comprises: determining the three-dimensional point cloud data of the target object based on the parallax values of the scanning points of the target object in the corrected first parallax information.

[0009] Optionally, the sensor in the binocular camera is a color image sensor.

[0010] In a second aspect, the present application further provides a three-dimensional scanning device, comprising: a binocular camera, a structured light source, a fill light source and a processor, wherein the processor is configured to execute any of the above three-dimensional scanning methods based on multiple wavelengths.

[0011] In a third aspect, the present application further provides a three-dimensional scanning device based on multiple wavelengths, comprising: an acquisition module configured to acquire a first initial image and a second initial image, wherein the first initial image and the second initial image are original images of a target object under the irradiation of a structured light source and a fill light source, and the wavelength of the fill light source is different from the wavelength of the structured light source; a processing module configured to separate the first initial image and the second initial image into a first image corresponding to a first color channel and a second image corresponding to a second color channel of the first initial image, and a third image corresponding to the first color channel and a fourth image corresponding to the second color channel of the second initial image; wherein the first color channel is a color channel corresponding to the wavelength of the structured light source, and the second color channel is a color channel corresponding to the wavelength of the fill light source; a stereo matching module configured to perform stereo matching on the first image and the third image to obtain first parallax information, and perform stereo matching on the second image and the fourth image to obtain second parallax information; and a determination module configured to determine three-dimensional point cloud data of the target object based on the first parallax information and the second parallax information.

[0012] In a fourth aspect, the present application further provides an electronic device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement any of the above three-dimensional scanning methods based on multiple wavelengths.

[0013] In a fifth aspect, the present application also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements any of the above multi-wavelength based three-dimensional scanning methods.

[0014] In a sixth aspect, the present application also provides a processor readable storage medium having stored thereon a program for causing a processor to execute any of the above multi-wavelength based three-dimensional scanning methods.

[0015] The multi-wavelength based three-dimensional scanning method, three-dimensional scanning device and apparatus provided by the present application obtain two initial images by using a binocular camera, separate the obtained first initial image and second initial image by color channels to obtain a first image corresponding to a first color channel and a second image corresponding to a second color channel of the first initial image, and a third image corresponding to the first color channel and a fourth image corresponding to the second color channel of the second initial image. Stereoscopic matching is performed on images of the same wavelength to obtain disparity information, and three-dimensional point cloud data of an object is determined based on the disparity information. By separating the initial images by color channels, physical light splitting is achieved, and stereoscopic matching is performed on images of the same wavelength, which reduces interference between different wavelengths, improves the accuracy of disparity calculation and the stability of the accuracy of three-dimensional point cloud data corresponding to the target object. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present application or the related art, the following will briefly introduce the drawings needed to be used in the embodiments or the related art description. Obviously, the drawings described below are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort based on these drawings.

[0017] FIG. 1 is a flowchart of the multi-wavelength based three-dimensional scanning method provided by the present application.

[0018] FIG. 2 is a schematic diagram of the first initial image provided by the present application.

[0019] FIG. 3 is a schematic diagram of the arrangement of the Bayer color filter array in the related art.

[0020] FIG. 4 is a schematic diagram of the first image provided by the present application.

[0021] FIG. 5 is a schematic diagram of the second image provided by the present application.

[0022] FIG. 6 is a schematic diagram of the multi-wavelength based three-dimensional scanning apparatus provided by the present application.

[0023] FIG. 7 is a schematic diagram of the electronic device provided by the present application. DETAILED DESCRIPTION

[0024] The term "and / or" in the present application describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent the three cases of A existing alone, A and B existing simultaneously, and B existing alone. The character " / " generally represents an "or" relationship between the associated objects before and after it.

[0025] The term "multiple" in the present application refers to two or more, and other quantifiers are similar.

[0026] The terms "first", "second", and the like in the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second" are generally of a kind and do not limit the number of objects, for example, the first object can be one or more.

[0027] The technical solutions in the present application will be described below in conjunction with the drawings in the present application, obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the present application.

[0028] Fig. 1 is a flowchart of a multi-wavelength-based three-dimensional scanning method provided by the present application. As shown in Fig. 1, the method comprises the following steps S101-S104:

[0029] Step S101: acquiring a first initial image and a second initial image, the first initial image and the second initial image being original images of a target object collected by a binocular camera under the irradiation of a structured light source and a fill light source, the wavelength of the fill light source being different from the wavelength of the structured light source.

[0030] It should be noted that the application scenario of the embodiments of the present application is point pasting scanning. Before scanning, it is necessary to paste a mark point on the periphery or surface of the target object for spatial positioning and alignment, and at the same time, the mark point provides a clear reference, so that the scanner can easily identify and track, reducing the number of repeated scanning and the demand for data processing.

[0031] As an optional embodiment, the structured light source can adopt a line laser light source, that is, the three-dimensional scanning method of the present application can be directly applied to the scene of laser scanning. In the present application, only the wavelength of the structured light source and the fill light source needs to be ensured to be different, and the specific type of the structured light source is not limited in the present application, and can be flexibly selected according to the demand of scanning accuracy and the surface characteristics of the object.

[0032] It should be noted that the binocular camera comprises two cameras for acquiring different perspective images of the target object, the laser array in the structured light source is used to project fine laser lines onto the surface of the target object during the scanning process, and the binocular camera is used to acquire the surface information of the target object. The fill light source is used to cooperate with the binocular camera to acquire the information of the mark points on the surface of the object.

[0033] As shown in FIG. 2, it is a schematic diagram of the first initial image provided by the present application, and the round dots in the figure are the mark points on the surface of the object.

[0034] In an exemplary embodiment, the sensor in the binocular camera is a color image sensor.

[0035] As an optional embodiment, in order to better separate the light through the color image sensor, the difference between the wavelength of the fill light source and the wavelength of the structured light source should be as large as possible, and the light splitting effect will be better, for example, the wavelength of the fill light source is 625 nm, and the wavelength of the structured light source can be 460 nm. Since each pixel of the color image sensor can only perceive the light within the wavelength range allowed by the corresponding color filter. In the actual selection process, the selection of the light source wavelength needs to consider the perception ability of the color image sensor, and the difference within the wavelength range allowed by the corresponding color filter should be as large as possible.

[0036] It should be noted that the color image sensor usually adopts a Bayer color filter array, as shown in FIG. 3, which is a schematic diagram of the arrangement of the Bayer color filter array in the related art. The common color sensor array is arranged in the form of a 2x2 grid. Each pixel is covered with a color filter (red, green or blue), which allows light of a specific wavelength to pass through and be recorded by the sensor, of which two pixels are used to detect green light (wavelength about 495-570 nm), one is used to detect red light (wavelength about 620-750 nm), and the other is used to detect blue light (wavelength about 450-495 nm).

[0037] As an optional embodiment, in order to further improve the imaging effect, a double-pass filter can be arranged in front of the lens to filter out ambient light.

[0038] As an optional embodiment, in order to improve the imaging effect, a light splitting prism can also be arranged on the light path of the structured light source and the light path of the fill light source to filter out ambient light. The light splitting prism can separate different wavelengths of light. In the embodiment of the present application, the structured light source and the fill light source adopt different wavelengths of visible light. Through the light splitting prism, the system can split these different wavelengths of light to the corresponding sensor or filter out the unnecessary wavelengths. This can effectively filter out ambient light (such as natural light or other unnecessary light sources), thereby improving the measurement accuracy and anti-interference ability of the system. At the same time, the light splitting prism will not affect the irradiation effect of the structured light source and the fill light source on the target object, ensuring high-quality image acquisition in the visible light range.

[0039] In the embodiment, two light sources with a large difference in wavelength are used to irradiate the target object. The light emitted by different light sources occupies different color channels in the image, reducing the interference between light sources and making the characteristics of each light source clearer and more separated in the image, which helps to improve the quality of the overall image. In subsequent processing, different light source characteristics can be accurately separated and identified, especially in the scene of three-dimensional scanning of multiple laser lines, further reducing the precision loss caused by the pollution of laser lines to the marker points, and improving the scanning precision and the precision stability of the scanning data.

[0040] Step S102: Separate the first initial image and the second initial image in color channels to obtain a first image corresponding to a first color channel and a second image corresponding to a second color channel of the first initial image, and a third image corresponding to the first color channel and a fourth image corresponding to the second color channel of the second initial image. The first color channel is a color channel corresponding to the wavelength of the structured light source, and the second color channel is a color channel corresponding to the wavelength of the fill light source.

[0041] It should be noted that when separating the initial image in color channels, a different color channel can be extracted to obtain an image corresponding to the wavelength, so the image of each channel is 1 / 4 of the original image resolution.

[0042] As an optional embodiment, taking the wavelength of the structured light source as 460nm and the wavelength of the fill light source as 625nm as an example, the color channel corresponding to the structured light source is the blue channel (i.e. the first color channel described above), and the color channel corresponding to the fill light source is the red channel (i.e. the second color channel described above). According to the principle of the color image sensor, the first image and the third image are images obtained by extracting the blue channel, i.e. the object surface information image, and the second image and the fourth image are images obtained by extracting the red channel, i.e. the object surface marker point information image.

[0043] As an optional embodiment, Fig. 4 is a first image schematic diagram provided by the present application, and Fig. 5 is a second image schematic diagram provided by the present application. Since the structured light source is blue, Fig. 4 is a surface image of the target object obtained by separating the blue channel of the first initial image. The light source of the fill light is red, that is, Fig. 5 is an image of the mark point information obtained by separating the red channel of the first initial image. The processing flow of the binocular camera is consistent, and here only the processing flow of one camera is described.

[0044] In this embodiment, the separation of the color channel can highlight different image features, and the image information of each channel is more concentrated, which helps to simplify the subsequent processing flow.

[0045] Step S103: performing stereo matching on the first image and the third image to obtain first disparity information, and performing stereo matching on the second image and the fourth image to obtain second disparity information.

[0046] It should be noted that, since the first image and the third image are the object surface information images corresponding to the images captured by the two cameras respectively, in order to eliminate binocular disparity and obtain more accurate object surface information images, stereo matching needs to be performed, and the stereo matching relies on the basic principle of binocular stereo vision. Assuming that there are two cameras (corresponding to the two lenses of the binocular camera), they are located on the same plane parallel to each other and are separated by a certain distance. When the cameras shoot the same scene, due to the different positions of the cameras, the objects in the scene will appear to be displaced in the two images. This displacement is called disparity. The size of the disparity is related to the distance of the object from the camera: the closer the object, the larger the disparity, and the farther the object, the smaller the disparity.

[0047] As an optional embodiment, in the stereo matching process, first, feature points or feature regions need to be extracted in the first image and the third image. These features are usually obvious features in the image, such as edges, corner points, texture regions, etc. The feature extraction method can be scale-invariant feature transform, fast feature point, and corner point detection, etc. After the feature points are extracted, feature matching is performed, which can be determined by comparing the similarity of image blocks through methods such as Sum of Squared Differences (SSD) and Normalized Cross-Correlation (NCC) to determine the corresponding points. After completing the feature matching, the disparity is calculated to obtain the first disparity information. Correspondingly, the second image and the fourth image can also be stereo matched through the above-mentioned flow, which will not be described here.

[0048] Step S104: determining three-dimensional point cloud data of the target object based on the first disparity information and the second disparity information.

[0049] In an exemplary embodiment, the step S104 can be implemented by the following steps S11-S12.

[0050] Step S11: correcting the first disparity information based on the disparity values of the landmark points in the second disparity information.

[0051] Step S12: determining the three-dimensional point cloud data of the target object based on the corrected first disparity information.

[0052] As an optional embodiment, the disparity values of all landmark points are extracted from the second disparity information. Since these landmark points are captured under the light source of the fill light, the landmark points have high reflectivity and thus the disparity values are accurate. In the image corresponding to the first disparity information, the feature points corresponding to the positions of the landmark points in the second disparity information are found. The differences between the disparity values of the feature points in the first disparity information and the disparity values of the landmark points in the second disparity information are calculated. The first disparity information is corrected using the calculated disparity correction values.

[0053] It should be noted that since the target object surface is attached with landmark points, the landmark points are used to assist positioning, and thus the disparity values of the landmark points in the second disparity information are used to correct the first disparity information in the correction process. The processing flow of the binocular camera is similar and thus is not described here.

[0054] In an exemplary embodiment, the step S11 can be implemented by the following steps S111-S112.

[0055] Step S111: comparing the disparity values of the landmark points in the second disparity information with the disparity values of the landmark points in the first disparity information, and determining the disparity correction information of the first disparity information relative to the second disparity information based on the comparison result.

[0056] Step S112: correcting the first disparity information based on the disparity correction information.

[0057] As an optional embodiment, the disparity values of all landmark points are extracted from the second disparity information. In the first disparity information, the disparity values corresponding to these landmark points are found. By comparing these disparity values, the disparity correction information of each landmark point in the two kinds of disparity information can be calculated.

[0058] As an optional embodiment, when the first disparity information is modified based on the disparity correction information, if the correction values of all the landmark points are close to a unified value, it can be considered that there is an overall deviation in the first disparity information. In this case, the disparity values of the entire first disparity information can be directly uniformly modified. The correction information can also be weighted. For example, according to the reflection intensity of the landmark points or the matching degree of the landmark points and the surrounding surface information, the correction values are adjusted to different degrees to avoid over-correction or under-correction.

[0059] As an optional embodiment, when the first disparity information is modified based on the disparity correction information, an interpolation algorithm can be used to smoothly transition the disparity correction values. In this way, the continuity between the corrected landmark points can be ensured, and abrupt changes or unnatural transitions can be avoided.

[0060] As an optional embodiment, the first disparity information is modified by the disparity correction information, which can reduce the errors in the first disparity information that may be caused by noise or changes in illumination. At the same time, for highly reflective objects or objects with uneven surfaces, more accurate first disparity information can be obtained, thereby improving the accuracy of subsequent determination of the three-dimensional point cloud data of the object.

[0061] In an exemplary embodiment, determining the three-dimensional point cloud data of the target object based on the modified first disparity information can be achieved by the following steps S21.

[0062] Step S21: Based on the disparity values of the scanning points of the target object in the modified first disparity information, the three-dimensional point cloud data of the target object is determined.

[0063] As an optional embodiment, the set parameters of the binocular camera are used to convert the disparity values in the modified first disparity information into depth information. According to the depth information and the pixel coordinates of the scanning points of the target object in the first disparity information, the coordinates of each scanning point in the three-dimensional space are calculated, and the three-dimensional coordinates of all scanning points are combined to form the three-dimensional point cloud data of the target object. Each point cloud corresponds to a specific physical point on the surface of the target object, reflecting the position of the target object in the three-dimensional space.

[0064] The steps S101-S104 are used for acquiring two initial images by the binocular camera, separating the acquired first initial image and second initial image in the color channel to obtain a first image corresponding to a first color channel and a second image corresponding to a second color channel of the first initial image, and a third image corresponding to the first color channel and a fourth image corresponding to the second color channel of the second initial image. The images of the same wavelength are stereomatched to obtain the parallax information, and the three-dimensional point cloud data of the object is determined based on the parallax information. The color channel separation is performed on the initial image to realize physical light separation, reduce the precision loss caused by the pollution of the laser line to the mark point, further improve the scanning precision and the precision stability of the scanning data, and the images of the same wavelength are stereomatched to reduce the interference between different wavelengths, improve the parallax calculation precision and the stability of the three-dimensional point cloud data precision of the target object.

[0065] The execution subject of each step in the method can be a multi-wavelength three-dimensional scanning device, which can be realized by software and / or hardware, and can be integrated in an electronic device, which can be a terminal device (such as a smart phone, a personal computer, etc.), a server (such as a local server or a cloud server, which can also be a server cluster, etc.), a processor, a chip, etc.

[0066] The application further provides a three-dimensional scanning device, comprising a binocular camera, a structured light source, a fill light source and a processor.

[0067] The processor can execute the multi-wavelength three-dimensional scanning method provided by each method, and the method comprises:

[0068] The first initial image and the second initial image are acquired, and the first initial image and the second initial image are original images of a target object collected by the binocular camera under the irradiation of the structured light source and the fill light source, and the wavelength of the fill light source is different from the wavelength of the structured light source.

[0069] The first initial image and the second initial image are separated in the color channel to obtain a first image corresponding to a first color channel and a second image corresponding to a second color channel of the first initial image, and a third image corresponding to the first color channel and a fourth image corresponding to the second color channel of the second initial image. The first color channel is a color channel corresponding to the wavelength of the structured light source, and the second color channel is a color channel corresponding to the wavelength of the fill light source.

[0070] The first image and the third image are stereomatched to obtain first parallax information, and the second image and the fourth image are stereomatched to obtain second parallax information.

[0071] Determine the three-dimensional point cloud data of the target object based on the first disparity information and the second disparity information.

[0072] It should be noted that the binocular camera in the three-dimensional scanning device is used to acquire the first initial image and the second initial image of the target object, the structured light source is used to emit laser light, and the fill light source is used to provide light with a wavelength different from that of the structured light source. It should be further noted that, in order to improve the efficiency of three-dimensional reconstruction, the structured light source and the fill light source need to emit light to irradiate the target object at the same time.

[0073] The three-dimensional scanning device based on multiple wavelengths provided by the present application is described below. The three-dimensional scanning device based on multiple wavelengths described below can be mutually corresponding with the three-dimensional scanning method based on multiple wavelengths described above.

[0074] FIG. 6 is a structural schematic diagram of the three-dimensional scanning device based on multiple wavelengths provided by the present application. As shown in FIG. 6, the device comprises:

[0075] The acquisition module 610 is configured to acquire the first initial image and the second initial image. The first initial image and the second initial image are original images of the target object collected by the binocular camera under the irradiation of the structured light source and the fill light source. The wavelength of the fill light source is different from that of the structured light source.

[0076] The processing module 620 is configured to separate the first initial image and the second initial image in color channels to obtain a first image corresponding to a first color channel and a second image corresponding to a second color channel of the first initial image, and a third image corresponding to the first color channel and a fourth image corresponding to the second color channel of the second initial image. The first color channel is a color channel corresponding to the wavelength of the structured light source, and the second color channel is a color channel corresponding to the wavelength of the fill light source.

[0077] The stereo matching module 630 is configured to perform stereo matching on the first image and the third image to obtain the first disparity information, and perform stereo matching on the second image and the fourth image to obtain the second disparity information.

[0078] The determination module 640 is configured to determine the three-dimensional point cloud data of the target object based on the first disparity information and the second disparity information.

[0079] The above multi-wavelength-based three-dimensional scanning device obtains two initial images through the binocular camera, separates the obtained first initial image and second initial image in color channels to obtain a first image corresponding to a first color channel and a second image corresponding to a second color channel of the first initial image, and a third image corresponding to the first color channel and a fourth image corresponding to the second color channel of the second initial image. Stereoscopic matching is performed on images of the same wavelength to obtain disparity information, and three-dimensional point cloud data of the object is determined based on the disparity information. By separating the initial images in color channels, physical light splitting is achieved, stereoscopic matching is performed on images of the same wavelength, interference between different wavelengths is reduced, and the accuracy of disparity calculation and the stability of the accuracy of the three-dimensional point cloud data corresponding to the target object are improved.

[0080] Optionally, the determining module 640 is further configured to correct the first disparity information based on the disparity value of the landmark point in the second disparity information. The three-dimensional point cloud data of the target object is determined based on the corrected first disparity information.

[0081] Optionally, the determining module 640 is further configured to compare the disparity value of the landmark point in the second disparity information with the disparity value of the landmark point in the first disparity information, determine disparity correction information of the first disparity information relative to the second disparity information based on a comparison result, and correct the first disparity information based on the disparity correction information.

[0082] Optionally, the determining module 640 is further configured to determine the three-dimensional point cloud data of the target object based on the disparity value of the scanning point of the target object in the corrected first disparity information.

[0083] Optionally, the sensor in the binocular camera is a color image sensor.

[0084] FIG. 7 illustrates an example of an entity structure of an electronic device. As shown in FIG. 7, the electronic device can include a processor 710, a communications interface 720, a memory 730, and a communications bus 740, wherein the processor 710, the communications interface 720, and the memory 730 complete mutual communication through the communications bus 740. The processor 710 can invoke a logical instruction in the memory 730 to execute a multi-wavelength-based three-dimensional scanning method, which includes:

[0085] The first initial image and the second initial image are raw images of a target object collected by a binocular camera under illumination of a structured light source and a fill light source, and the wavelength of the fill light source is different from the wavelength of the structured light source.

[0086] Separate the color channels of the first initial image and the second initial image to obtain a first image corresponding to a first color channel and a second image corresponding to a second color channel of the first initial image, and a third image corresponding to the first color channel and a fourth image corresponding to the second color channel of the second initial image. The first color channel is a color channel corresponding to the wavelength of the structured light source, and the second color channel is a color channel corresponding to the wavelength of the fill light source.

[0087] Stereo matching is performed on the first image and the third image to obtain first disparity information, and stereo matching is performed on the second image and the fourth image to obtain second disparity information.

[0088] Based on the first disparity information and the second disparity information, three-dimensional point cloud data of the target object is determined.

[0089] In addition, the logic instructions in the memory 730 described above can be implemented in the form of a software function unit and sold or used as an independent product, which can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0090] On the other hand, the present application also provides a computer program product, the computer program product includes a computer program, the computer program can be stored on a non-transitory computer readable storage medium, and when the computer program is executed by a processor, the computer can execute the multi-wavelength based three-dimensional scanning method provided by the above method, the method includes:

[0091] Obtaining a first initial image and a second initial image, the first initial image and the second initial image are original images of a target object collected by a binocular camera under the illumination of a structured light source and a fill light source, and the wavelength of the fill light source is different from the wavelength of the structured light source.

[0092] Separate the color channels of the first initial image and the second initial image to obtain a first image corresponding to a first color channel and a second image corresponding to a second color channel of the first initial image, and a third image corresponding to the first color channel and a fourth image corresponding to the second color channel of the second initial image. The first color channel is a color channel corresponding to the wavelength of the structured light source, and the second color channel is a color channel corresponding to the wavelength of the fill light source.

[0093] Stereo match the first image and the third image to obtain first disparity information, and stereo match the second image and the fourth image to obtain second disparity information.

[0094] Based on the first disparity information and the second disparity information, determine the three-dimensional point cloud data of the target object.

[0095] In another aspect, the present application also provides a non-transitory computer readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a multi-wavelength based three-dimensional scanning method provided by the above method, and the method comprises:

[0096] Obtain a first initial image and a second initial image, the first initial image and the second initial image being original images of a target object collected by a binocular camera under the illumination of a structured light source and a fill light source, the wavelength of the fill light source being different from the wavelength of the structured light source.

[0097] Separate the color channels of the first initial image and the second initial image to obtain a first image corresponding to a first color channel and a second image corresponding to a second color channel of the first initial image, and a third image corresponding to the first color channel and a fourth image corresponding to the second color channel of the second initial image. The first color channel is a color channel corresponding to the wavelength of the structured light source, and the second color channel is a color channel corresponding to the wavelength of the fill light source.

[0098] Stereo match the first image and the third image to obtain first disparity information, and stereo match the second image and the fourth image to obtain second disparity information.

[0099] Based on the first disparity information and the second disparity information, determine the three-dimensional point cloud data of the target object.

[0100] The device embodiments described above are only schematic, wherein the units shown as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the present embodiment scheme. Those skilled in the art can understand and implement it without creative labor.

[0101] Those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary universal hardware platform, and of course can also be implemented by hardware, through the above description of the embodiments. Based on such understanding, the above technical solutions can be embodied in the form of software product, which can be stored in a computer readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes a plurality of instructions to make a computer device (which can be a personal computer, server, or network device, etc.) execute the method of each embodiment or some part of the embodiment.

[0102] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, and not to limit it. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for some technical features. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

[0103] Industrial applicability: the three-dimensional scanning method, three-dimensional scanning device and apparatus provided by the present application, by means of binocular camera to obtain two initial images, the first initial image and the second initial image are separated by color channel, the first initial image corresponding to the first color channel first image and the second color channel second image, and the second initial image corresponding to the first color channel third image and the second color channel fourth image. For the same wavelength image stereo matching, the parallax information is obtained, and the three-dimensional point cloud data of the object is determined based on the parallax information. By separating the color channel of the initial image, the physical light splitting is realized, and the stereo matching is carried out for the image of the same wavelength, which reduces the interference between different wavelengths, improves the accuracy of parallax calculation and the stability of the accuracy of three-dimensional point cloud data corresponding to the target object.

Claims

1. A method for multi-wavelength based three-dimensional scanning, comprising: obtaining a first initial image and a second initial image, the first initial image and the second initial image being raw images of a target object captured by a binocular camera under illumination of a structured light source and a fill light source, the fill light source having a different wavelength from the structured light source; separating color channels of the first initial image and the second initial image to obtain a first image corresponding to a first color channel and a second image corresponding to a second color channel of the first initial image, and a third image corresponding to the first color channel and a fourth image corresponding to the second color channel of the second initial image, the first color channel being a color channel corresponding to the wavelength of the structured light source, and the second color channel being a color channel corresponding to the wavelength of the fill light source; performing stereo matching on the first image and the third image to obtain first disparity information, and performing stereo matching on the second image and the fourth image to obtain second disparity information; determining three-dimensional point cloud data of the target object based on the first disparity information and the second disparity information.

2. The multi-wavelength based three-dimensional scanning method of claim 1, wherein, The determining of the three-dimensional point cloud data of the target object based on the first disparity information and the second disparity information comprises: correcting the first disparity information based on a disparity value of a landmark point in the second disparity information; determining the three-dimensional point cloud data of the target object based on the corrected first disparity information.

3. The multi-wavelength based three-dimensional scanning method of claim 2, wherein, The correcting of the first disparity information based on the disparity value of the landmark point in the second disparity information comprises: comparing the disparity value of the landmark point in the second disparity information with a disparity value of the landmark point in the first disparity information, and determining disparity correction information of the first disparity information relative to the second disparity information based on a comparison result; correcting the first disparity information based on the disparity correction information.

4. The multi-wavelength based three-dimensional scanning method according to claim 2 or 3, wherein, The determining of the three-dimensional point cloud data of the target object based on the corrected first disparity information comprises: determining the three-dimensional point cloud data of the target object based on a disparity value of a scanning point of the target object in the corrected first disparity information.

5. The multi-wavelength based three-dimensional scanning method according to any one of claims 1 to 4, wherein, The sensor in the binocular camera is a color image sensor.

6. A three-dimensional scanning device comprising: A binocular camera, a structured light source, a fill light source, and a processor configured to perform the method for multi-wavelength based three-dimensional scanning according to any one of claims 1 to 5. 7.A device for multi-wavelength based three-dimensional scanning, comprising: an obtaining module configured to obtain a first initial image and a second initial image, the first initial image and the second initial image being raw images of a target object captured by a binocular camera under illumination of a structured light source and a fill light source, the fill light source having a different wavelength from the structured light source; a processing module configured to separate color channels of the first initial image and the second initial image to obtain a first image corresponding to a first color channel and a second image corresponding to a second color channel of the first initial image, and a third image corresponding to the first color channel and a fourth image corresponding to the second color channel of the second initial image; the first color channel is a color channel corresponding to a wavelength of the structured light source, and the second color channel is a color channel corresponding to a wavelength of the fill light source; a stereo matching module configured to perform stereo matching on the first image and the third image to obtain first disparity information, and perform stereo matching on the second image and the fourth image to obtain second disparity information; a determining module configured to determine three-dimensional point cloud data of the target object based on the first disparity information and the second disparity information.

8. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein, The processor executes the computer program to implement the multi-wavelength based three-dimensional scanning method of any one of claims 1 to 5.

9. A non-transitory computer readable storage medium having stored thereon a computer program, wherein, The computer program is executed by the processor to implement the multi-wavelength based three-dimensional scanning method of any one of claims 1 to 5.

10. A computer program product comprising a computer program, wherein, The computer program is executed by the processor to implement the multi-wavelength based three-dimensional scanning method of any one of claims 1 to 5.

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