TWI902017B - Matrix 3d scanning and positioning system and image capturing method using the same - Google Patents

Abstract

A matrix 3D scanning and positioning system includes a base, a reference module, a matrix image capturing module and a processor module. The base is for positing an object. The reference module is disposed on the base and includes color region. The matrix image capturing module includes a plurality of image capturing member which are arranged in a matrix. The matrix image capturing module scans the object and captures 2D images of the object and the color region of the reference module simultaneously, and transfers an image signal. The processor module receives the image signal, performs an image recognition, an alignment and positioning analysis to the 2D images in accordance with colors of the color region, and combine the 2D images into a 3D image which is corresponding to the real geometric shape and color of the object.

Description

Matrix-based 3D scanning positioning system and its image acquisition method

This invention relates to a three-dimensional modeling system and method; more specifically, it relates to a matrix-based three-dimensional scanning and positioning system and its image acquisition method for constructing three-dimensional models using two-dimensional images.

3D modeling technology has gained considerable importance in modern times. Generally, 3D modeling refers to using images captured by a camera as a basis, and through reconstruction algorithms, calculating and reconstructing the three-dimensional spatial information of a real scene or object. This technology has been widely applied in industries such as autonomous driving, 3D printing, intelligent robot vision, medicine, virtual reality, e-commerce, gaming and entertainment, and automated manufacturing.

One method for achieving the aforementioned 3D modeling is through specialized equipment, such as image acquisition devices capable of processing depth information, to directly generate 3D images. However, this method relies on complex hardware and specialized operation, resulting in high equipment costs and hindering widespread adoption. Another method involves using algorithms such as MVS (Multi-View Stereo) to align and stitch multiple captured 2D images to create a 3D image. However, such algorithms are resource-intensive and impractical for equipment with limited resources. Furthermore, the selection of matching and positioning parameters between multiple images remains overly complex. There are also other methods for 3D modeling using photography, but the stitching process between the various 3D images still relies heavily on manual labor or complex calculations, keeping costs high.

Therefore, it remains necessary to develop a simple and efficient 3D modeling system that can be constructed using common equipment to achieve accurate results.

This invention provides a matrix-based 3D scanning and positioning system and its image acquisition method. It utilizes a matrix camera module, combined with a special image acquisition method and calculations, to improve accuracy and efficiency when stitching 2D images for 3D modeling, and can highly reproduce the true geometric shape and color of the object under test.

In one embodiment, the present invention discloses a matrix-based 3D scanning and positioning system, comprising a base, a reference module, a matrix-based camera module, and a processor module. The base is used to place an object to be measured. The reference module is disposed on the base and includes multiple color blocks. The matrix-based camera module includes multiple cameras arranged in a matrix. The matrix-based camera module scans the object to be measured through the multiple cameras, simultaneously capturing multiple 2D images containing the object to be measured and the color blocks of the reference module, and transmitting an image signal. The processor module receives image signals from the matrix camera module, performs image recognition and alignment analysis on multiple two-dimensional images based on the color of color blocks, and combines the multiple two-dimensional images into a three-dimensional image that corresponds to the true geometric shape and color of the object under test.

In one embodiment, the camera of the matrix camera module can be mounted on a camera, a mobile phone, a laptop, or a tablet computer.

In one embodiment, the colored areas may have the same or different colors.

In one embodiment, each colored area comprises a gradient color wheel.

In one embodiment, multiple cameras can be arranged in a linear array.

In one embodiment, multiple cameras can be arranged in a circular array.

In one embodiment, each camera is positioned at a different angle relative to the object under test to capture images of different portions of the object.

In one embodiment, the processor module can be located within the matrix camera module or in an external device connected to the matrix camera module.

In one embodiment, multiple marker points can be set on the base. Each camera in the matrix camera module corresponds to a marker point for alignment and positioning when synthesizing multiple 2D images.

In one embodiment, this invention discloses an image acquisition method using the aforementioned matrix-type 3D scanning and positioning system, comprising: placing the object to be measured on a base; placing a reference module on the base; setting up a matrix-type imaging module, arranging multiple cameras in a matrix; scanning the object to be measured through the multiple cameras, simultaneously capturing multiple two-dimensional images including the object to be measured and the color blocks of the reference module, and transmitting an image signal; and receiving the image signal transmitted by the matrix-type imaging module through a processing module, and performing image recognition and alignment positioning analysis on the two-dimensional images according to the colors of the color blocks, combining the two-dimensional images into a three-dimensional image corresponding to the true geometric shape and color of the object to be measured.

In one embodiment, the above image acquisition method further includes: setting multiple marker points on a base, and aligning each camera in the matrix camera module with the position of each marker point, so as to perform alignment and positioning when synthesizing multiple two-dimensional images.

In one embodiment, the colored areas may have the same or different colors.

In one embodiment, each colored area comprises a gradient color wheel.

In one embodiment, the above image acquisition method further includes: rotating the matrix camera module or the object under test, so that each camera in the matrix camera module captures images of different parts of the object under test to synthesize a complete three-dimensional image.

100: Matrix-based 3D Scanning and Positioning System

110: Base

120: Reference Module

120a: Color Blocks

130: Matrix Camera Module

130a: Camera

O: Analyzer Test Item

M: Marker point

S101, S102, S103, S104, S105: Steps

Figure 1 is a schematic diagram illustrating the physical structure of a matrix-based 3D scanning positioning system according to an embodiment of the present invention;

Figure 2 is a schematic diagram illustrating one configuration of the matrix camera module shown in Figure 1;

Figure 3 is a schematic diagram illustrating another configuration of the matrix camera module shown in Figure 1;

Figure 4 is a schematic diagram illustrating image alignment and positioning based on the matrix-based 3D scanning positioning system in Figure 1;

Figure 5 is a flowchart illustrating one image acquisition method based on the aforementioned matrix-based 3D scanning and positioning system.

Several embodiments of the present invention will be described below with reference to the drawings. For clarity, many practical details will be described in the following description. However, it should be understood that these practical details should not be used to limit the present invention. That is, these practical details are not essential in some embodiments of the present invention. Furthermore, to simplify the drawings and emphasize the main technical features of the present invention, some conventional and non-essential structures and components will be shown in the drawings in a simplified schematic manner or omitted.

Please refer to Figure 1. Figure 1 is a schematic diagram illustrating the physical structure of a matrix-based 3D scanning and positioning system 100 according to an embodiment of the present invention.

The matrix-based 3D scanning and positioning system 100 includes a base 110, a reference module 120, a matrix-based camera module 130, and a processor module 140. The base 110 is used to place an object O to be measured. The reference module 140 is mounted on the base 110.

The form in which the reference module 120 is disposed on the base 110 is not particularly limited; it can be integrally formed during the manufacturing of the base 110, or it can be separately disposed on the base 110. The reference module 120 includes multiple color blocks 120a. Each color block 120a can have the same or different colors, or each color block 120a can include a gradient color ring.

The matrix camera module 130 includes multiple cameras 130a arranged in a matrix. Each camera 130a can be mounted on a camera, a mobile phone, a laptop, or a tablet computer. In other words, any camera device with imaging capabilities can be used to form the matrix camera module 130. The matrix camera module 130 scans the object under test O through the multiple cameras 130a arranged in a matrix to capture images of different parts of the object under test O. At the same time, during the capture, multiple two-dimensional images containing the object under test O and the color blocks 120a of the reference module 120 are simultaneously captured. In other words, the two-dimensional images captured by each camera 130a include a portion of the image of the object under test O and a portion of the image of the color block 120a of the reference module 120. After capturing the two-dimensional image, it is converted into an image signal and transmitted.

The processor module 140 receives image signals transmitted from the matrix camera module 130. Simultaneously, the processor module 140 carries relevant software programs and, based on the color of color blocks 120a, performs image recognition and alignment analysis on multiple two-dimensional images of different parts of the object under test O captured by different cameras 130a. It then combines these multiple two-dimensional images into a three-dimensional image that corresponds to the complete true geometric shape and color of the object under test O.

The processor module 140 can be housed within the matrix camera module 130 or in an external device connected to the matrix camera module 130. For example, if the camera 130a in the matrix camera module 130 is mounted on a mobile phone, laptop, or tablet, it inherently contains a microprocessor and software with computing capabilities. If the camera 130a is mounted in a camera or video recorder, it can wirelessly or wiredly convert the captured two-dimensional images into image signals and transmit them to an external device for image recognition and analysis.

When synthesizing multiple 2D images for 3D image modeling, accurately reproducing the true geometry and color of the original object under test is a crucial issue. In this invention, during the image synthesis modeling process, the color of color blocks 120a of the reference module 120 is calculated together with the image of the reference module 120 during image recognition analysis and synthesis calculations. This method improves the accuracy of stitching together the 2D images of the various parts of the object under test O. Simultaneously, by introducing reference colors, unnecessary color consumption is reduced, increasing image synthesis efficiency. Each color block 120a can have the same or different colors, or each color block 120a can contain a gradient color wheel. By using multi-layered transitional colors or contrasting colors, the accuracy of 2D image stitching is increased, and the realism of 3D image modeling is improved.

Please refer to Figures 2 and 3. Figure 2 is a schematic diagram illustrating one configuration of the matrix camera module 130 in Figure 1. Figure 3 is a schematic diagram illustrating another configuration of the matrix camera module 130 in Figure 1.

To capture images of various parts of the object under test from multiple angles and obtain a more accurate 3D image synthesis effect, the multiple cameras 130a in the matrix camera module 130 can be arranged in various ways. In Figure 2, the multiple cameras 130a are arranged in a linear array. In other words, the multiple cameras 130a are set up coaxially along a straight line. There is no particular limitation on the number of cameras 130a, but selecting a larger number of cameras 130a can capture more 2D images of various parts of the object under test O and the color blocks 120a of the reference module 120, which can synthesize a 3D image that more closely resembles the true geometry and color of the object under test O. In Figure 3, multiple cameras 130a are arranged in a circular array. In other words, multiple cameras 130a surround the object under test O in a ring to capture two-dimensional images of various parts of the object O and the color blocks 120a of the reference module 120. Furthermore, the one-dimensional linear array can be expanded into a two-dimensional array depending on the number of cameras.

Please refer to Figure 4. Figure 4 is a schematic diagram illustrating image alignment and positioning using the matrix-based 3D scanning and positioning system 100 as shown in Figure 1. In the matrix-based 3D scanning and positioning system 100, multiple marker points M can be set on the base 110. Each camera 130a in the matrix-based camera module 130 corresponds to the position of each marker point M, and using triangulation, it can be positioned when synthesizing multiple 2D images.

Please refer to Figure 5. Figure 5 is a schematic flowchart illustrating an image acquisition method based on the aforementioned matrix-type 3D scanning and positioning system. The image acquisition method in Figure 5 includes: step S101 placing the object to be measured on the base; step S102 setting the reference module on the base; step S103 setting up the matrix-type camera module, arranging multiple cameras in a matrix; and step S104 scanning the object to be measured with the multiple cameras, simultaneously capturing images containing both the object to be measured and the reference module. Step S105 involves receiving multiple two-dimensional images of each color block and transmitting an image signal; the processor module receives the image signal transmitted from the matrix camera module, and performs image recognition and alignment analysis on the multiple two-dimensional images based on the colors of the multiple color blocks, combining the multiple two-dimensional images into a three-dimensional image corresponding to the true geometric shape and color of the object under test.

In step S103 above, in addition to using multiple cameras 130a in the matrix camera module 130 to capture two-dimensional images of different parts of the object under test O as in the embodiments shown in Figures 2 and 3, each camera 130a can also be positioned at different angles relative to the object under test O to capture images of different parts of the object under test O. In other words, by adjusting the tilt angle of each camera 130a relative to the object under test, two-dimensional images of different parts of the object under test O from various angles can be captured.

In step S104 above, the object under test O or the matrix camera module 130 can be designed to be rotatable. This eliminates the need for a large number of cameras 130a, allowing for the capture of multiple 2D images relative to various parts of the object under test O and the color blocks 120a of the reference module 120 using fewer cameras, thus reducing the number of cameras 130a used and improving shooting efficiency. When rotating the object under test O or the matrix camera module 130, it can rotate 360 degrees at certain intervals. The more 2D images captured, the more detailed the 3D image can be synthesized.

Therefore, the matrix-based 3D scanning and positioning system 100 and its image acquisition method disclosed in this invention, using a matrix-based camera module 130, can achieve accurate 3D modeling, reducing equipment costs. Furthermore, the reference module 120 helps improve the accuracy of 2D image stitching, simplifies the calculation process, and enhances the realism of the 3D model.

Although the invention has been disclosed above by way of embodiment, it is not intended to limit the invention. Anyone skilled in the art can make various modifications and alterations without departing from the spirit and scope of the invention. Therefore, the scope of protection of this invention shall be determined by the appended patent claims.

S101, S102, S103, S104, S105: Steps

Claims (12)

A matrix-based 3D scanning and positioning system includes: a base for placing an object to be measured; a reference module disposed on the base, the reference module including multiple color blocks; and a matrix-based camera module including multiple cameras arranged in a matrix, the matrix-based camera module scanning the object to be measured through the cameras, simultaneously capturing multiple 2D images including the object to be measured and the color blocks of the reference module, and transmitting an image signal. The system also includes a processor module for receiving image signals transmitted from the matrix camera module, performing image recognition and alignment analysis on the two-dimensional images based on the colors of the color blocks, and combining the two-dimensional images into a three-dimensional image corresponding to the true geometric shape and color of the object under test; each color block may include a gradient color wheel, and the multi-layered transition colors and positions of the gradient color wheel serve as a reference when combining the two-dimensional images. The matrix-type 3D scanning and positioning system as described in claim 1, wherein the cameras of the matrix camera module can be mounted on a camera, a mobile phone, a laptop, or a tablet computer. The matrix-based 3D scanning and positioning system as described in claim 1, wherein each of the colored regions may have the same or different colors. The matrix-type 3D scanning positioning system as described in claim 1, wherein the plurality of cameras are arranged in a linear array. The matrix-type 3D scanning and positioning system as described in claim 1, wherein the plurality of cameras are arranged in a circular array. The matrix-based 3D scanning positioning system as described in claim 1, wherein each camera is positioned at a different angle relative to the object under test to capture images of different portions of the object. The matrix-type 3D scanning and positioning system as described in claim 1, wherein the processor module can be disposed within the matrix-type camera module or in an external device connected to the matrix-type camera module. The matrix-type 3D scanning and positioning system as described in claim 1, wherein multiple marker points can be set on the base, and each camera in the matrix-type camera module corresponds to the position of each marker point for alignment and positioning when synthesizing the 2D images. An image acquisition method using the matrix-type 3D scanning positioning system of claim 1, comprising: placing the object to be measured on the base; setting the reference module on the base; assembling the matrix-type camera module, arranging the multiple cameras in a matrix; scanning the object to be measured through the multiple cameras, simultaneously capturing multiple 2D images including the object to be measured and the color blocks of the reference module, and transmitting an image signal; and... The processor module receives the image signals transmitted by the matrix camera module and performs image recognition and alignment analysis on the two-dimensional images based on the colors of the color blocks. It then combines these two-dimensional images into a three-dimensional image corresponding to the true geometric shape and color of the object under test. Each color block includes a gradient color wheel, and the multi-layered transition colors and positions of the gradient color wheel serve as a reference when combining the two-dimensional images. The image acquisition method as described in claim 9 further includes: setting multiple marker points on the base, aligning each camera in the matrix camera module with the position of each marker point, for alignment and positioning during the synthesis of the two-dimensional images. The imaging method described in claim 9, wherein each of the color regions may have the same or different colors. The image acquisition method described in claim 9 further comprises: rotating the matrix camera module or the object under test so that each camera in the matrix camera module captures images of portions of the object under test to synthesize a complete three-dimensional image.