CN103983207A - Three-dimensional scanning endoscope and three-dimensional scanning method - Google Patents
Three-dimensional scanning endoscope and three-dimensional scanning method Download PDFInfo
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Abstract
The invention discloses a three-dimensional scanning endoscope and a three-dimensional scanning method. The three-dimensional scanning endoscope comprises a first camera, a second camera, a laser ray emitting unit and a processing unit which is connected with the first camera, the second camera and the laser ray emitting unit respectively. According to the three-dimensional endoscope, the first camera and the second camera are used for synchronously obtaining a measured object which is scanned by laser streaks, external epipolar constraint conditions obtained through a camera calibration method are used for reconstructing a three-dimensional outline of a surface, to be measured, of the measured object, and therefore the three-dimensional outline of the surface, to be measured, of the measured object can be automatically measured. In addition, according to the technical scheme, the laser streaks are used for scanning the surface, to be measured, of the measured object, a feature point does not need to be pointed manually, and the measuring accuracy of information of the three-dimensional outline of the measured object can be effectively improved.
Description
Technical field
The present invention relates to endoscopic technique field, be specifically related to a kind of 3-D scanning endoscope and 3-D scanning method.
Background technology
Industrial endoscope is a kind of as Non-Destructive Testing, can be used in the situation that not damaging parts surface, observe accurately duty and the surface structure of parts, development along with industrial endoscope, industrial endoscope has been widely applied in complex industrial environment, particularly high temperature, poisonous, in the environment that the mankind such as nuclear radiation cannot make to observe with the naked eye.And traditional endoscope based on two dimensional image is owing to cannot quantitatively calculating the size of workpiece for measurement, distance and cross section, also had gradually three-dimensional measurement function endoscope part replace.Industrial endoscope is from simple two dimensional image endoscope to the endoscope future development with three-dimensional measurement function.
There is at present a kind of dual-charge coupling component (CCD, the Charge-coupled Device) industrial endoscope that can realize three-dimensional measurement function.What two CCD industrial endoscopes adopted is principle of stereoscopic vision, when realizing three-dimensional measurement function, need specific characteristic point manually, therefore, can only realize the hand dipping of pointwise, and, when workpiece for measurement textural characteristics is less, cannot accurately measure the three-D profile information of workpiece for measurement, thereby cannot reconstruct the accurate three-dimensional pattern on object under test surface.
Summary of the invention
The invention provides a kind of 3-D scanning endoscope and 3-D scanning method, for improving the measurement accuracy of testee three-D profile information.
First aspect present invention provides a kind of 3-D scanning endoscope, comprising:
For obtaining the first camera of the video image of testee;
For synchronize the second camera of the video image that obtains above-mentioned testee with above-mentioned the first camera;
Be used for to above-mentioned testee Emission Lasers striped, and the laser rays transmitter unit that above-mentioned laser stripe is evenly moved along same rectilinear direction on the being tested surface of above-mentioned testee, wherein, the being tested surface of above-mentioned testee refers to face relative with above-mentioned 3-D scanning endoscope on above-mentioned testee;
The processing unit being connected with above-mentioned the first camera, above-mentioned second camera and above-mentioned laser rays transmitter unit respectively;
Wherein, above-mentioned processing unit is used for: according to camera calibration method, above-mentioned the first camera and above-mentioned second camera are demarcated, obtained outer polar curve constraint condition; The every frame video image above-mentioned the first camera and above-mentioned second camera synchronously being obtained according to above-mentioned outer polar curve constraint condition carries out three-D profile reconstruction, obtains the three-D profile information of the being tested surface of above-mentioned testee;
Wherein, the above-mentioned every frame video image above-mentioned the first camera and above-mentioned second camera synchronously being obtained according to above-mentioned outer polar curve constraint condition carries out three-D profile reconstruction, comprise: according to edge detection algorithm, detect respectively in the second frame video image that the first frame video image that above-mentioned the first camera obtains and above-mentioned second camera obtain, be positioned at the laser center line of the laser stripe on above-mentioned testee, wherein, above-mentioned the first frame video image and above-mentioned the second frame video image are obtained at synchronization by above-mentioned the first camera and above-mentioned second camera respectively; According to above-mentioned outer polar curve constraint condition, calculate the D coordinates value of every bit on above-mentioned laser center line, obtain the three-D profile information of above-mentioned laser center line on above-mentioned testee;
Wherein, the above-mentioned D coordinates value of calculating every bit on above-mentioned laser center line according to above-mentioned outer polar curve constraint condition, comprising:
For any point i on the above-mentioned laser center line of above-mentioned the first frame video image, according to above-mentioned outer polar curve constraint condition, detect the position of above-mentioned some i on the above-mentioned laser center line of above-mentioned the second frame video image;
According to above-mentioned some i in the position of above-mentioned the first frame video image and above-mentioned some i the position on above-mentioned the second frame video image, calculate the D coordinates value of above-mentioned some i.
The present invention provides a kind of 3-D scanning method on the other hand, be applied to 3-D scanning endoscope, above-mentioned three-dimensional endoscope comprises: the first camera, second camera, laser rays transmitter unit, and the processing unit being connected with above-mentioned the first camera, above-mentioned second camera and above-mentioned laser rays transmitter unit respectively;
Above-mentioned 3-D scanning method comprises:
Above-mentioned the first camera and above-mentioned second camera synchronously obtain the video image of above-mentioned testee;
Above-mentioned laser rays transmitter unit is to above-mentioned testee Emission Lasers striped, and above-mentioned laser stripe is evenly moved on the being tested surface of above-mentioned testee along same rectilinear direction, wherein, the being tested surface of above-mentioned testee refers to face relative with above-mentioned 3-D scanning endoscope on above-mentioned testee;
Above-mentioned processing unit is demarcated above-mentioned the first camera and above-mentioned second camera according to camera calibration method, obtains outer polar curve constraint condition; The every frame video image above-mentioned the first camera and above-mentioned second camera synchronously being obtained according to above-mentioned outer polar curve constraint condition carries out three-D profile reconstruction, obtains the three-D profile information of the being tested surface of above-mentioned testee;
Concrete, the above-mentioned every frame video image above-mentioned the first camera and above-mentioned second camera synchronously being obtained according to above-mentioned outer polar curve constraint condition of above-mentioned processing unit carries out three-D profile reconstruction, comprise: according to edge detection algorithm, detect respectively in the second frame video image that the first frame video image that above-mentioned the first camera obtains and above-mentioned second camera obtain, be positioned at the laser center line of the laser stripe on above-mentioned testee, wherein, above-mentioned the first frame video image and above-mentioned the second frame video image are obtained at synchronization by above-mentioned the first camera and above-mentioned second camera respectively, according to above-mentioned outer polar curve constraint condition, calculate the D coordinates value of every bit on above-mentioned laser center line, obtain the three-D profile information of above-mentioned laser center line on above-mentioned testee,
Concrete, above-mentioned processing unit calculates the D coordinates value of every bit on above-mentioned laser center line according to above-mentioned outer polar curve constraint condition, comprise: for any point i on the above-mentioned laser center line of above-mentioned the first frame video image, according to above-mentioned outer polar curve constraint condition, detect the position of above-mentioned some i on the above-mentioned laser center line of above-mentioned the second frame video image; According to above-mentioned some i in the position of above-mentioned the first frame video image and above-mentioned some i the position on above-mentioned the second frame video image, calculate the D coordinates value of above-mentioned some i.
Therefore, in the present invention, by laser emission element Emission Lasers striped, the being tested surface of testee is scanned, by the first camera and second camera, synchronously obtain the testee being scanned by laser stripe, the outer polar curve constraint condition that combining camera scaling method obtains is rebuild the three-D profile of the being tested surface of testee, thereby realized the automatic measurement to the three-D profile of the being tested surface of testee, in addition, the present invention does not need specific characteristic point manually by using laser stripe to scan the being tested surface of testee, can effectively improve the measurement accuracy of testee three-D profile information.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1-a is example structure schematic diagram of 3-D scanning endoscope provided by the invention;
Fig. 1-b is example structure schematic diagram of laser emission element provided by the invention;
Fig. 1-c is a kind of application scenarios schematic diagram of laser emission element Emission Lasers provided by the invention;
Fig. 1-d is the schematic diagram of the frame video image of the testee that at a time gets of the first camera provided by the invention;
The schematic diagram of the frame video image of Fig. 1-e testee that to be second camera provided by the invention get in the above-mentioned a certain moment;
Fig. 1-f is another example structure schematic diagram of 3-D scanning endoscope provided by the invention;
Fig. 2 is embodiment schematic flow sheet of a kind of 3-D scanning method provided by the invention.
Embodiment
For making goal of the invention of the present invention, feature, advantage can be more obvious and understandable, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, but not whole embodiment.Embodiment based in the present invention, those of ordinary skills, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
A kind of 3-D scanning the endoscope below embodiment of the present invention being provided is described, and refers to the three-dimensional endoscope front view shown in Fig. 1-a, and from Fig. 1-a, the 3-D scanning endoscope 10 in the embodiment of the present invention comprises:
For obtaining the first camera 11 of the video image of testee;
For synchronize the second camera 12 of the video image that obtains above-mentioned testee with the first camera 11;
Be used for to above-mentioned testee Emission Lasers striped, and the laser rays transmitter unit 13 that above-mentioned laser stripe is evenly moved along same rectilinear direction on the being tested surface of above-mentioned testee, wherein, the being tested surface of above-mentioned testee refers to face relative with above-mentioned 3-D scanning endoscope on above-mentioned testee;
The processing unit (not shown) being connected with the first camera 11, second camera 12 and laser rays transmitter unit 13 respectively;
Wherein, above-mentioned processing unit is used for: according to camera calibration method, the first camera 11 and second camera 12 are demarcated, obtained outer polar curve constraint condition; The every frame video image the first camera 11 and second camera 12 synchronously being obtained according to above-mentioned outer polar curve constraint condition carries out three-D profile reconstruction, obtains the three-D profile information of the being tested surface of above-mentioned testee;
Wherein, the above-mentioned every two field picture the first camera 11 and second camera 12 synchronously being obtained according to above-mentioned outer polar curve constraint condition carries out three-D profile reconstruction, comprise: according to edge detection algorithm, detect respectively in the second frame video image that the first frame video image that the first camera 11 obtains and second camera 12 obtain, be positioned at the laser center line of the laser stripe on above-mentioned testee, wherein, above-mentioned the first frame video image and above-mentioned the second frame video image are obtained at synchronization by the first camera 11 and second camera 12 respectively; According to above-mentioned outer polar curve constraint condition, calculate the D coordinates value of every bit on above-mentioned laser center line, obtain the three-D profile information of above-mentioned laser center line on above-mentioned testee;
Wherein, the above-mentioned D coordinates value of calculating every bit on above-mentioned laser center line according to above-mentioned outer polar curve constraint condition, comprising:
For any point i on the above-mentioned laser center line of above-mentioned the first frame video image, according to above-mentioned outer polar curve constraint condition, detect the position of above-mentioned some i on the above-mentioned laser center line of above-mentioned the second frame video image;
According to above-mentioned some i in the position of above-mentioned the first frame video image and above-mentioned some i the position on above-mentioned the second frame video image, calculate the D coordinates value of above-mentioned some i.
Concrete, the first camera 11 in the embodiment of the present invention and second camera 12 can be according to the cameras of the outside dimension of 3-D scanning endoscope integral body and image resolution ratio selection different size.Optionally, three-dimensional endoscope in the embodiment of the present invention is also supported two-dimensional scan, three-dimensional endoscope in the embodiment of the present invention is under non-3-D scanning mode of operation time, can close one of them in the first camera 11 and second camera 12, only by a camera, be obtained the video image of testee.
Optionally, as shown in 1-b, laser rays transmitter unit 13, comprise: laser generator 131, be arranged at cylindrical lens 132 before the output terminal of laser generator 131, be arranged at the galvanometer module 133 before cylindrical lens 132, wherein, cylindrical lens 132 is between laser generator 131 and galvanometer module 133;
Further, shown in Fig. 1-c, testee 20 is positioned on measuring table, laser generator 131 Emission Lasers; Cylindrical lens 132 transfers the laser of laser generator 131 transmittings to yi word pattern laser stripe 101; Galvanometer module 133 for evenly moving yi word pattern laser stripe 101 on the being tested surface of testee 20 along same rectilinear direction.Shown in Fig. 1-d and Fig. 1-e, Fig. 1-d and Fig. 1-e are respectively under a kind of application scenarios, the schematic diagram of the frame video image of the testee 20 that the first camera 11 and second camera 12 at a time synchronously get.
Optionally, galvanometer module 133 comprises: catoptron and with MEMS (micro electro mechanical system) (MEMS, Micro Electron Micro-Electro-Mechanical System), above-mentioned MEMS is used for controlling above-mentioned catoptron to preset rotational angular velocity, in same rectilinear direction, rotate, thereby yi word pattern laser stripe 101 is evenly moved along same rectilinear direction on the being tested surface of testee 20.Certainly, the galvanometer module 133 in the embodiment of the present invention also can adopt other can realize microminiaturized and controlled galvanometer modular structure, is not construed as limiting herein.
Optionally, on the basis of the 3-D scanning endoscope shown in Fig. 1-a, as shown in Fig. 1-f, 3-D scanning endoscope 30 in the embodiment of the present invention also comprises: for the lighting module 14 throwing light on, lighting module 14 can under 3-D scanning mode of operation or non-3-D scanning mode of operation for testee provides light illumination function.Optionally, lighting module 14 adopts light emitting diode (LED, Light Emitting Diode) lamp as light source.
Optionally, the camera calibration method in the embodiment of the present invention adopts Zhang Zhengyou standardization or TSAI standardization, and certainly, the camera calibration method in the embodiment of the present invention can be also other scaling method, does not limit herein.
Optionally, above-mentioned processing unit specifically for: according to above-mentioned some i in the position of above-mentioned the first frame video image and above-mentioned some i the position on above-mentioned the second frame video image, by triangulation method, calculate the D coordinates value of above-mentioned some i.
It should be noted that, the outer polar curve constraint condition in the embodiment of the present invention is calculating means conventional in stereoscopic vision, is mainly for the hunting zone of Stereo matching point is reduced to the range of linearity.
It should be noted that, in the embodiment of the present invention, 3-D scanning endoscope is when the three-D profile information of the being tested surface of measurement testee, and laser rays transmitter unit 13 at least will be carried out complete scan one time to testee.Wherein, a complete scan of 13 pairs of testees of laser rays transmitter unit is that one end of face relative with laser rays transmitter unit 13 from testee moves to the other end, illustrate, if laser rays transmitter unit 13 along continuous straight runs scan testee, the above-mentioned scanning process that completes is that the high order end of face relative with laser rays transmitter unit 13 from testee moves to low order end, or the low order end of the face relative with laser rays transmitter unit 13 moves to high order end from testee; If laser rays transmitter unit 13 vertically scans testee, the above-mentioned scanning process that completes is that the top of face relative with laser rays transmitter unit 13 from testee moves to bottom, or the face relative with laser rays transmitter unit 13 moves to topmost bottom from testee.If the collection density of a complete scan is inadequate, repeats one or many complete scan and obtain the more three-D profile information on testee, until measure the three-D profile information of the tested surface of testee.
It should be noted that, because the 3-D scanning endoscope in the embodiment of the present invention can only be measured towards the face of 3-D scanning endoscope testee, therefore, if desired measure the another side of testee, can readjust the placing direction of testee, make the another side of testee towards 3-D scanning endoscope.
It should be noted that, in the laser rays transmitter unit of the embodiment of the present invention, the formation that the cylindrical lens of take is example explanation yi word pattern laser stripe, in other embodiments, laser rays transmitter unit also can adopt other mirror surface structure, only needs to form the transformation from a laser to line laser.
Therefore, in the present invention, by laser emission element Emission Lasers striped, the being tested surface of testee is scanned, by the first camera and second camera, synchronously obtain the testee being scanned by laser stripe, the outer polar curve constraint condition that combining camera scaling method obtains is rebuild the three-D profile of the being tested surface of testee, thereby realized the automatic measurement to the three-D profile of the being tested surface of testee, in addition, the present invention does not need specific characteristic point manually by using laser stripe to scan the being tested surface of testee, can effectively improve the measurement accuracy of testee three-D profile information.
The embodiment of the present invention also provides a kind of 3-D scanning method that is applied to 3-D scanning endoscope, wherein, the structure of the 3-D scanning endoscope in the embodiment of the present invention can be with reference to shown in Fig. 1-a to Fig. 1-f, mainly comprise: the first camera, second camera, laser rays transmitter unit, and the processing unit being connected with above-mentioned the first camera, above-mentioned second camera and above-mentioned laser rays transmitter unit respectively; As shown in Figure 2, the 3-D scanning method in the embodiment of the present invention comprises:
201, the first camera and second camera synchronously obtain the video image of testee;
Wherein, above-mentioned " synchronously obtaining " refers to that above-mentioned the first camera and above-mentioned second camera trigger shooting at one time, guarantees that above-mentioned the first camera is identical with the time point that above-mentioned second camera obtains each frame video image.
202, laser rays transmitter unit is to above-mentioned testee Emission Lasers striped, and above-mentioned laser stripe is evenly moved along same rectilinear direction on the being tested surface of above-mentioned testee;
Wherein, the being tested surface of above-mentioned testee refers to face relative with above-mentioned 3-D scanning endoscope on above-mentioned testee.
Optionally, above-mentioned laser rays transmitter unit is to stating testee Emission Lasers striped, and above-mentioned laser stripe along continuous straight runs or rectilinear direction on the being tested surface of above-mentioned testee are evenly moved.
Optionally, the laser rays transmitter unit 13 that the laser rays transmitter unit in the embodiment of the present invention can be as shown in Fig. 1-b.
203, processing unit is demarcated above-mentioned the first camera and above-mentioned second camera according to camera calibration method, obtains outer polar curve constraint condition;
Optionally, processing unit is demarcated above-mentioned the first camera and above-mentioned second camera according to Zhang Zhengyou standardization or TSAI standardization, obtain outer polar curve constraint condition, certainly, in the embodiment of the present invention, processing unit also can be demarcated above-mentioned the first camera and above-mentioned second camera according to other scaling method, obtains outer polar curve constraint condition, does not limit herein.
It should be noted that, the outer polar curve constraint condition in the embodiment of the present invention is calculating means conventional in stereoscopic vision, is mainly for the hunting zone of Stereo matching point is reduced to the range of linearity.
204, the every frame video image according to above-mentioned outer polar curve constraint condition, above-mentioned the first camera and above-mentioned second camera synchronously being obtained carries out three-D profile reconstruction, obtains the three-D profile information of the being tested surface of above-mentioned testee;
Concrete, processing unit detects respectively in the second frame video image that the first frame video image that above-mentioned the first camera obtains and above-mentioned second camera obtain according to edge detection algorithm, is positioned at the laser center line of the laser stripe on above-mentioned testee; According to above-mentioned outer polar curve constraint condition, calculate the D coordinates value of every bit on above-mentioned laser center line, obtain the three-D profile information of above-mentioned laser center line on above-mentioned testee; Wherein, above-mentioned the first frame video image and above-mentioned the second frame video image are obtained at synchronization by above-mentioned the first camera and above-mentioned second camera respectively.
Because exciting striped is mobile on testee, therefore, a plurality of frame video images that processing unit synchronously obtains above-mentioned the first camera and above-mentioned second camera according to above-mentioned outer polar curve constraint condition carry out three-D profile reconstruction, can obtain the three-D profile information of the being tested surface of above-mentioned testee.
Optionally, above-mentioned processing unit calculates the D coordinates value of every bit on above-mentioned laser center line according to above-mentioned outer polar curve constraint condition, comprise: for any point i on the above-mentioned laser center line of above-mentioned the first frame video image, according to above-mentioned outer polar curve constraint condition, detect the position of above-mentioned some i on the above-mentioned laser center line of above-mentioned the second frame video image; According to above-mentioned some i in the position of above-mentioned the first frame video image and above-mentioned some i the position on above-mentioned the second frame video image, calculate the D coordinates value of above-mentioned some i.
Optionally, obtaining above-mentioned some i at the position of above-mentioned the first frame video image and above-mentioned some i during the position on above-mentioned the second frame video image, above-mentioned processing unit according to above-mentioned some i in the position of above-mentioned the first frame video image and above-mentioned some i the position on above-mentioned the second frame video image, by triangulation method, calculate the D coordinates value of above-mentioned some i.
It should be noted that, in 3-D scanning method, the laser rays transmitter unit of 3-D scanning endoscope at least will be carried out complete scan one time to testee in embodiments of the present invention.Wherein, one end that above-mentioned laser rays transmitter unit is face relative with laser rays transmitter unit from testee to testee complete scan moves to the other end, illustrate, if laser rays transmitter unit along continuous straight runs scans testee, the above-mentioned scanning process that completes is that the high order end of face relative with laser rays transmitter unit from testee moves to low order end, or the low order end of the face relative with laser rays transmitter unit moves to high order end from testee; If laser rays transmitter unit vertically scans testee, the above-mentioned scanning process that completes is that the top of face relative with laser rays transmitter unit from testee moves to bottom, or the face relative with laser rays transmitter unit moves to topmost bottom from testee.If the collection density of a complete scan is inadequate, repeats one or many complete scan and obtain the more three-D profile information on testee, until measure the three-D profile information of the tested surface of testee.
It should be noted that, because the 3-D scanning endoscope in the embodiment of the present invention can only be measured towards the face of 3-D scanning endoscope testee, therefore, if desired measure the another side of testee, can readjust the placing direction of testee, make the another side of testee towards 3-D scanning endoscope, carry out afterwards the 3-D scanning method in the embodiment of the present invention, can record the three-D profile information of testee another side.
It should be noted that, the concrete structure of the 3-D scanning endoscope in the embodiment of the present invention can, with reference to the 3-D scanning endoscope in said apparatus embodiment, repeat no more herein.
Therefore, in the present invention, by laser emission element Emission Lasers striped, the being tested surface of testee is scanned, by the first camera and second camera, synchronously obtain the testee being scanned by laser stripe, the outer polar curve constraint condition that combining camera scaling method obtains is rebuild the three-D profile of the being tested surface of testee, thereby realized the automatic measurement to the three-D profile of the being tested surface of testee, in addition, the present invention does not need specific characteristic point manually by using laser stripe to scan the being tested surface of testee, can effectively improve the measurement accuracy of testee three-D profile information.
In the several embodiment that provide in the application, should be understood that disclosed apparatus and method can realize by another way.For example, device embodiment described above is only schematic, for example, the division of said units, be only that a kind of logic function is divided, during actual realization, can have other dividing mode, for example a plurality of unit or assembly can in conjunction with or can be integrated into another system, or some features can ignore, or do not carry out.Another point, shown or discussed coupling each other or direct-coupling or communication connection can be by some interfaces, indirect coupling or the communication connection of device or unit can be electrically, machinery or other form.
It should be noted that, for aforesaid each embodiment of the method, for easy description, therefore it is all expressed as to a series of combination of actions, but those skilled in the art should know, the present invention is not subject to the restriction of described sequence of movement, because according to the present invention, some step can adopt other order or carry out simultaneously.Secondly, those skilled in the art also should know, the embodiment described in instructions all belongs to preferred embodiment, and related action and module might not be all that the present invention is necessary.
In the above-described embodiments, the description of each embodiment is all emphasized particularly on different fields, in certain embodiment, there is no the part of detailed description, can be referring to the associated description of other embodiment.
It is more than the description to a kind of 3-D scanning endoscope provided by the present invention and 3-D scanning method, for one of ordinary skill in the art, thought according to the embodiment of the present invention, all will change in specific embodiments and applications, to sum up, this description should not be construed as limitation of the present invention.
Claims (10)
1. a 3-D scanning endoscope, is characterized in that, comprising:
For obtaining the first camera of the video image of testee;
For synchronize the second camera of the video image that obtains described testee with described the first camera;
Be used for to described testee Emission Lasers striped, and the laser rays transmitter unit that described laser stripe is evenly moved along same rectilinear direction on the being tested surface of described testee, wherein, the being tested surface of described testee refers to face relative with described 3-D scanning endoscope on described testee;
The processing unit being connected with described the first camera, described second camera and described laser rays transmitter unit respectively;
Wherein, described processing unit is used for: according to camera calibration method, described the first camera and described second camera are demarcated, obtained outer polar curve constraint condition; The every frame video image described the first camera and described second camera synchronously being obtained according to described outer polar curve constraint condition carries out three-D profile reconstruction, obtains the three-D profile information of the being tested surface of described testee;
Wherein, the described every frame video image described the first camera and described second camera synchronously being obtained according to described outer polar curve constraint condition carries out three-D profile reconstruction, comprise: according to edge detection algorithm, detect respectively in the second frame video image that the first frame video image that described the first camera obtains and described second camera obtain, be positioned at the laser center line of the laser stripe on described testee, wherein, described the first frame video image and described the second frame video image are obtained at synchronization by described the first camera and described second camera respectively; According to described outer polar curve constraint condition, calculate the D coordinates value of every bit on described laser center line, obtain the three-D profile information of described laser center line on described testee;
Wherein, the described D coordinates value of calculating every bit on described laser center line according to described outer polar curve constraint condition, comprising:
For any point i on the described laser center line of described the first frame video image, according to described outer polar curve constraint condition, detect the position of described some i on the described laser center line of described the second frame video image;
According to described some i in the position of described the first frame video image and described some i the position on described the second frame video image, calculate the D coordinates value of described some i.
2. 3-D scanning endoscope according to claim 1, it is characterized in that, described laser rays transmitter unit, comprise: laser generator, be arranged at cylindrical lens before the output terminal of described laser generator, be arranged at the galvanometer module before described cylindrical lens, described cylindrical lens is between described laser generator and described galvanometer module;
Wherein, described laser generator is for Emission Lasers;
Described cylindrical lens is for transferring the laser of described laser generator transmitting to yi word pattern laser stripe;
Described galvanometer module for evenly moving described yi word pattern laser stripe on the being tested surface of described testee along same rectilinear direction.
3. 3-D scanning endoscope according to claim 2, is characterized in that,
Described galvanometer module comprises: catoptron and and micro-electromechanical system (MEMS);
Described MEMS is used for controlling described catoptron to preset rotational angular velocity, in same rectilinear direction, rotates.
4. according to the 3-D scanning endoscope described in claims 1 to 3 any one, it is characterized in that, described 3-D scanning endoscope also comprises: for the lighting module throwing light on.
5. according to the 3-D scanning endoscope described in claims 1 to 3 any one, it is characterized in that,
Described lighting module adopts LED lamp as light source.
6. a 3-D scanning method, be applied to 3-D scanning endoscope, it is characterized in that, described three-dimensional endoscope comprises: the first camera, second camera, laser rays transmitter unit, and the processing unit being connected with described the first camera, described second camera and described laser rays transmitter unit respectively;
Described 3-D scanning method comprises:
Described the first camera and described second camera synchronously obtain the video image of described testee;
Described laser rays transmitter unit is to described testee Emission Lasers striped, and described laser stripe is evenly moved on the being tested surface of described testee along same rectilinear direction, wherein, the being tested surface of described testee refers to face relative with described 3-D scanning endoscope on described testee;
Described processing unit is demarcated described the first camera and described second camera according to camera calibration method, obtains outer polar curve constraint condition; The every frame video image described the first camera and described second camera synchronously being obtained according to described outer polar curve constraint condition carries out three-D profile reconstruction, obtains the three-D profile information of the being tested surface of described testee;
Concrete, the every frame video image according to described outer polar curve constraint condition, described the first camera and described second camera synchronously being obtained described in described processing unit carries out three-D profile reconstruction, comprise: according to edge detection algorithm, detect respectively in the second frame video image that the first frame video image that described the first camera obtains and described second camera obtain, be positioned at the laser center line of the laser stripe on described testee, wherein, described the first frame video image and described the second frame video image are obtained at synchronization by described the first camera and described second camera respectively, according to described outer polar curve constraint condition, calculate the D coordinates value of every bit on described laser center line, obtain the three-D profile information of described laser center line on described testee,
Concrete, described processing unit calculates the D coordinates value of every bit on described laser center line according to described outer polar curve constraint condition, comprise: for any point i on the described laser center line of described the first frame video image, according to described outer polar curve constraint condition, detect the position of described some i on the described laser center line of described the second frame video image; According to described some i in the position of described the first frame video image and described some i the position on described the second frame video image, calculate the D coordinates value of described some i.
7. 3-D scanning method according to claim 6, it is characterized in that, described laser rays transmitter unit is to described testee Emission Lasers striped, and described laser stripe is evenly moved along same rectilinear direction on the being tested surface of described testee, is specially:
Described laser rays transmitter unit is to described testee Emission Lasers striped, and described laser stripe along continuous straight runs on the being tested surface of described testee is evenly moved.
8. 3-D scanning method according to claim 6, it is characterized in that, described laser rays transmitter unit is to described testee Emission Lasers striped, and described laser stripe is evenly moved along same rectilinear direction on the being tested surface of described testee, is specially:
Described laser rays transmitter unit is to described testee Emission Lasers striped, and described laser stripe is vertically evenly moved on the being tested surface of described testee.
9. according to the 3-D scanning method described in claim 6 to 8 any one, it is characterized in that,
Described processing unit is demarcated described the first camera and described second camera according to camera calibration method, obtains outer polar curve constraint condition, is specially:
Described processing unit is demarcated described the first camera and described second camera according to TSAI scaling method, obtains outer polar curve constraint condition.
10. according to the 3-D scanning method described in claim 6 to 8 any one, it is characterized in that, described according to described some i in the position of described the first frame video image and described some i the position on described the second frame video image, calculate the D coordinates value of described some i, be specially: according to described some i in the position of described the first frame video image and described some i the position on described the second frame video image, by triangulation method, calculate the D coordinates value of described some i.
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