• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a device for reducing 3D surface reconstruction artifacts related to specular reflections in stereophotogrammetries in the case of a single camera. Artifacts created by the reflection of the light source of the camera on the surface of the subject are eliminated by the use of a judiciously positioned double light source. The device consists of a single camera (5) equipped with a dual optical system (OA) and (OB) and two separate light sources (2A) and (2B) having the same spacing as the optical and aligned with it so that (2A) is aligned with (OA) and (2B) aligned with (OB) with respect to the observed subject (S). The device according to the invention is particularly intended for the reconstruction of 3D surfaces in stereophotogrammetry.
    公开号:FR3022022A1
    申请号:FR1401282
    申请日:2014-06-04
    公开日:2015-12-11
    发明作者:Jean Philippe Thirion；Peter Plasmann
    申请人:QUANTIFICARE；
    IPC主号:
    专利说明:

    [0001] The present invention relates to the field of three-dimensional surface reconstruction from an image pair acquired by stereophotogrammetry, called a stereo pair. Each image of the stereo pair is acquired at a different angle of view. The human brain has the ability to interpret this stereo pair and mentally reconstruct the third dimension. The technique of stereophotogrammetry by film or digital photography has been used extensively by cartographers in topographic surveys drawn from aerial views. This is how the cartographers reconstruct the level lines that allow the relief to be drawn on the maps. Stereophotogrammetry has subsequently been used for many applications, including three-dimensional reconstruction of industrial objects or the reconstruction of the skin surface for cosmetic or medical applications. The arrival of computers and the digitization of photographs allowed the development of digital image processing. Among the first applications of digital image processing is the semi-automatic or automatic reconstruction of three-dimensional surfaces from a stereo pair. The book "Photogrammetry 1. Fundamentals and standard processes", 4th edition, by Karl Kraus and Peter Waldhäusl, published by Bonn Dümmler, 1993, and translated into French by Pierre Grussenmeyer and O. Reis under the name "Manuel de photogrammetrie , principles and basic processes "published by Hermes, 1998, is an excellent introductory book describing the principles of 3D reconstruction in computer stereophotogrammetry. The principle, illustrated in FIG. 1 provided in the appendix, is to accurately measure the geometrical characteristics and to model the objectives (OA) and (OB) allowing the acquisition of the two images of the stereo pair. This step is called calibration. Since the optics are calibrated, recognizing the position (PA) and (PB) in each of the two images (A) and (B) of the same physical point (P) of the subject's surface (S) defines precisely two lines in the space which intersect the point (P) of the surface of the subject. Stereoscopic reconstruction by computer is therefore carried out according to two main principles: the knowledge of the geometry of the acquisition systems by calibration and the identification of common points between the two images of the stereo pair. One usual way to identify a point in the two images is the use of image correlation which is maximal when comparing a window around the image of the same point in the two images of the stereo pair. In order to compact the stereophotogrammetric image acquisition system, devices have been developed to take the two images of the stereo pair with a single camera instead of having two independent cameras. A first way to achieve a compact stereophotogrammetry system is illustrated in Figure 2 provided in the appendix. The system comprises a single camera (5) and a mirror-based image separator for splitting the image on the optical system in two. To do this, one skilled in the art generally uses two external mirrors (1A) and (1B), called "secondary mirrors", spaced from the approximate distance of the human eyes and two inner mirrors (3A) and (3B) , opposed to the first 20, called "primary mirrors" and which then return the image to an optical system (4). Since natural light is generally insufficient for photographic purposes, a powerful light source (2) placed on the camera is used. Such a system, consisting of a camera, a single flash and an image splitter was developed by one of the authors and described in the publication "MAVIS: a non-invasive instrument to measure area and volume of wounds. Measurement of Area and Volume Instrument System. ", Plassmann P, Jones TD, Med Eng Phys 1998; 20 (5): 332-8. Figure 2 in the appendix describes a mechanism based on an image separator close to the system proposed by the authors of this publication. Another way to achieve a stereophotography system comprising a single camera is to use an independent lens set for each of the two images. Such a system consisting of a camera, a single flash and two independent optics has been developed by the company FUJI and commercially released under the name FUJI FinePix 3D W3. Figure - 3 - 3 in the appendix describes a mechanism based on two distinct lens systems, where (S) is the examined subject, (5) is the camera, (OA) and (OB) the two independent optics and ( 2) the single flash.
    [0002] These systems built on a single device generally give good 3D reconstruction results unless the examined surface reflects too strongly the flash light due to a phenomenon called "specular reflection". Indeed, a physical surface has two main ways of returning light: diffusion on the one hand and specular reflection on the other. Diffusion consists of returning the light received uniformly in space regardless of the angle of incidence. Diffusion is characteristic of matt surfaces. The second way of returning the light is to reflect it as a mirror, with a reflection angle identical to the angle of incidence on the surface, according to the Snell-Descartes law for reflection. This mirror reflection is characteristic of specular reflection and shiny surfaces. The reflection of a light source on a reflective object is called a specular spot because the light source 20 always has a certain extension and the properties of the reflecting surface also more or less concentrate this brightness in the reflected direction. This phenomenon of specular reflection creates a problem for the 3D surface reconstruction algorithms, because the specular spot 25 seen by each of the two optics is shifted between the image on the left and the image on the right in such a way as to make one believe the method of identifying points that the stain is not found on the surface to be rebuilt, but at a distance farther from the surface to be reconstructed. In the case of a convex curved surface, the reconstructed specular spot is found at the virtual location of the flash reflected by the reflective surface. It is between the surface and up to twice the distance between the surface and the flash depending on the curvature of the surface. Thus, the point identified as having the maximum correlation is the mirror image of the flash on the reflective surface, creating on the reconstructed surface an artificial peak toward the back of the surface at the spot of the specular spot.
    [0003] Figure 4, provided in the appendix, geometrically describes this phenomenon in the case of a convex-shaped reflective object such as a sphere and the use of a stereophotogrammetry mechanism based on a single camera (5) equipped with a single light source (2) and a double optics (OA) and (OB). The light source (2) produces a specular reflection seen at different positions on the surface of the sphere by optics (OA) and optics (OB), which creates a displacement of the estimate of the estimated area (P ') towards the back of the stage and not on the surface of the subject (S) examined. One way to reduce the specular effect is the use of a frosted glass on the flash, which makes the specular spot wider and more diffuse. However, except to fully reduce the flash intensity, this spot, albeit attenuated, still remains in the mirror reflection and is likely to create a reconstruction artifact. Another way is to use the principle of cross polarization. Polarization acts like a comb on the light. If two combs are held parallel to one another, we see between the teeth of the two combs. On the other hand, if we hold the two combs perpendicularly, we can hardly see through. Diffuse reflection is insensitive to polarization whereas specular reflection returns light with the same direction of polarization as incident light. By using a directional polarizing filter on the flash and a polarizing filter having an orientation perpendicular to that direction on both optics, virtually any specular reflection in the stereo pair images is eliminated. This cross-polarization technique has been used by the authors in a previous version of the system. Unfortunately, cross-polarization removes a lot of image brightness and makes skin images far removed from human perception by highlighting the redness of the skin. The principle of the present invention is to have discovered that replacing the single light source of the camera with two separate light sources of the same spacing as the two optics of the dual optics and aligned on these two optics leads to reduce surface reconstruction artifacts related to the specular reflections of the light sources. Indeed, having these two sources according to the invention creates 4 virtual positions for the reconstruction of a 3-dimensional specular point. Figures 5A, 5B, 5C and 5D illustrate these four positions. In FIGS. 5A, 5B, 5C and 5D, (S) is the examined subject, (OA) and (OB) are the two optics of the double optics, (2A) and (2B) are the two light sources, with (2A) aligned with the optics (OA) and 10 (2B) aligned with the optics (2B) and (5) is the single camera. Figure 5A shows the reconstructed point (AA-AB) using the image of the light source (2A) as seen by the optics (OA) and (OB). Figure 5B shows the reconstructed point (BA-BB) using the image of the light source (2B) as seen by the optics (OA) and (OB). FIG. 5C shows the reconstructed point (AB-BA) using the image of the light source (2A) seen by the optics (OB) and the image of the light source (2B) as seen by the optical (OA). FIG. 5D shows the point (AA-BB) reconstructed using the image of the light source (2A) seen by the optics (OA) and the image of the light source (2B) as seen by the optics (OB). Only the configuration of FIG. 5C leads to the reconstruction of a point (AB-BA) actually located on or very close to the subject's surface (S). In order to succeed in properly reconstructing the 3D surface, the 3D reconstruction algorithm only has to choose the right possibility among the four possibilities of possible mapping of points between the image A and the image B. that is, the possibility (AB-BA) corresponding to the configuration of Figure 5C. One way to achieve this selection is to consider the match associated with the correlation maximum because the light intensity values around the specular spot, minus specular reflection, slightly increase the value of the correlation with respect to the correlation. three other possibilities. Another way of achieving this selection is to take into account the coherence of the geometric position of the examined point with respect to neighboring reconstructed points less subject to specular reflections. Yet another way to achieve this selection is to combine these two selection strategies by involving both the correlation value and the geometric proximity of the neighboring points.
    [0004] Our experiments have shown that thanks to the invention and unexpectedly, very good results are obtained for the 3D reconstruction of surfaces with specular reflections and this for several different methods of mapping of points without specific modifications of these methods.
    [0005] The device according to the invention therefore aims to improve stereophotogrammetric 3D surface reconstruction algorithms by reducing the reconstruction artifacts due to specular reflections on the surfaces examined. It comprises in fact according to a first feature a single camera provided with a dual optics and two separate light sources, having the same spacing as the dual optics and placed in alignment with the dual optics relative to the subject. The alignment is in the sense or if the two optics of the dual optics are separated along a given axis, the alignment between the light source and the corresponding optics is along the axis perpendicular to the axis of two optics. Thus, if the axis of separation of the two optics is horizontal as in the case of human vision, the alignment of each light source with the corresponding optics is vertical. The two light sources are placed as close as possible to the dual optics, while avoiding shadows caused by the light sources vis-à-vis the device itself on the subject and also avoiding lighting direct from the inside of the optics by the light sources. According to particular embodiments: The two light sources can be placed indifferently both above or below both of the dual optics without changing the nature of the invention.
    [0006] Double optics can be achieved by means of a set of mirrors. - The dual optics can be achieved by means of two sets of independent lenses. The image of each optic can be collected by means of a single photosensitive surface or two separate photosensitive surfaces. Polarizing filters can be placed on the light sources and the optics to optically eliminate certain mismatching possibilities not in accordance with the position of the subject's surface. The acquisition of the images of each optics and the activation of each light source can be performed sequentially in such a manner as to optically eliminate certain possibilities of pairing that are not in accordance with the position of the surface of the subject. The two light sources can be realized by means of a single light source and a set of mirrors. The two light sources may be slightly displaced for reasons of camera construction and parasitic illumination in both optics generated by the two light sources, while remaining aligned with the corresponding optics relative to the subject being examined. The accompanying drawings of Figures 1 to 4 serve to understand the state of the art and illustrate the technical problem that is sought to solve. Figures 5A, 5B, 5C and 5D explain how the technical problem is solved by the invention. Figures 6 to 9 illustrate embodiments of the invention according to several variants. More specifically: Figure 1 shows the principle of stereoscopic reconstruction, well known to those skilled in the art. Figure 2 shows a single camera with a dual lens made using a set of mirrors and a single light source, corresponding to the state of the art.
    [0007] Figure 3 shows a single camera with dual optics made from two separate optics and a single light source, also corresponding to the state of the art. Figure 4 shows the technical problem that we are trying to solve.
    [0008] Figures 5A, 5B, 5C and 5D illustrate how the invention solves the technical problem. - Figure 6 shows an embodiment of the invention using primary and secondary mirrors used for the manufacture of dual optics. Figure 7 shows an embodiment of the invention using two independent optics. FIG. 8 shows an embodiment of the invention in which the two independent light sources of the invention are made from a single light source and a set of mirrors. FIG. 9 shows an embodiment of the invention where the light sources, although offset with respect to the two optics, remain in alignment with the optics and the subject, which makes it possible to effectively implement the invention. Referring to these drawings and more particularly to Figure 9, the device comprises a single camera (5) and two optics (OA) and (OB) respectively surmounted by a light source (2A) and a light source (2B). Here, the camera equipped with a dual optics must be understood in the broad sense. One way of carrying out the invention is to construct the dual optics system using an image separator made by means of mirrors. The separation can be performed using two secondary mirrors (1A) and (1B) placed laterally and each receiving the image of the subject and returning the image for (1A) on a primary mirror (3A) and for (1B ) on a primary mirror (3B). The primary mirrors return their image to a photosensitive surface (6) through a combination of lenses (4A) for the mirror (3A) and a combination of lenses (4B) for the mirror (3B). In this case, the optics (OA) consists essentially of the mirrors (1A) and (3A) and the set of lenses (4A) and the optics (OB) consists essentially of the mirrors (1B) and (3B) and the game of lenses (4B). In this variant, the light source (2A) is aligned vertically with the center of the mirror (1A) and the light source (2B) is aligned vertically with the mirror (1B). An alternative of the invention is to replace the lens combinations (4A) and (4B) by a single combination of lenses (4). The photosensitive surface may itself be single (6) or consist of two different photosensitive surfaces (6A) and (6B) each receiving one of the two images of the stereo pair. According to another variant of the invention, the dual optics may be constituted by two sets of independent lenses (7A) and (7B) each directly returning an image to a photosensitive surface (6) and not requiring a set mirror to separate the two images from the stereo pair. The set of lenses (7A) then constitutes the essential of the optics (OA) and the set of lenses (7B) constitutes the essential of the optics (OB). In this variant, the light source (2A) is aligned vertically with the set of lenses (7A) and the light source (2B) is vertically aligned with the lens set (7B). In this case also, the photosensitive surface (6) may be single or consists of two different photosensitive surfaces (6A) and (6B) each receiving one of the two images of the stereo pair. One variant of the main invention consists in physically eliminating the configurations (AA-AB), (BA-BB) and (AA-BB) of the respective FIGS. 5A, 5B and 5D while ensuring that the light source (2A) n illuminates that the optics (OB) and the light source (2B) illuminate only the optics (OA), thus following the configuration (AB-BA) of Figure 5C.
    [0009] A first way to achieve this variant is to use polarizing filters by ensuring that the polarization of the light source (2A) is identical to that of the optical (OB) and that the polarization of (2B) is identical to that of (OA) and that the common polarization of (2B) and (OA) is perpendicular to the common polarization of (2A) and (OB). Thus, by the principle of crossed polarization, the specular reflection of (2A) is only perceived by the optics (OB) and the specular reflection of (2B) is only perceived by the optics (OA). Another way to realize this variant is to take the two images of the stereo pair asynchronously, first using the light source (2A) to take the image only with the optical (OB), then in a second time using the light source (2B) to take the image only with the optics (OA).
    [0010] For the implementation of the invention, the alignments between the light sources (2A) and (2B) and the respective optics (OA) and (OB) are approximate without affecting the invention. Indeed, the further the object is from the apparatus and the less the differences in alignment between light source and optics are sensitive with respect to the accuracy of the reconstructed surface. Other combinations embodying the invention than those described in FIGS. 6 and 7 are possible, comprising for example a single lens system rather than two in the case of the image separator of FIG. 6 or comprising for example a single surface photosensitive in the case of two separate lens systems of Figure 7 without this changing the nature of the invention. Yet another way to realize the device according to the invention is to use a separator for separating the light emitted by a single physical light source (2) into two virtual sources (2A) and (2B) having the required spacing. One mechanism for achieving this variant of the invention is to use a set of mirrors equivalent to the set of mirrors used to separate an image and this time placed in front of the main light source (2), as illustrated in FIG. the main light source (2) is then reflected on primary mirrors (8A) and (8B) which are opposed to it, and then on a set of secondary mirrors (9A) and (9B) which returns the light to the subject.
    [0011] In all cases of the invention, if the light sources are placed slightly behind the dual optics, it may be advantageous to separate the light sources slightly more than the spacing of the dual optics, so that both axes of alignment between light and optical sources converge towards a point corresponding to the expected distance of the subject (S). It should be noted that this placement need not be exact for the invention to be verified, since the two light sources have a certain extension in the space and the expected position of the object is itself approximate . This variant of the invention is an optimization of the placement of the light sources as a function of the spacing of the two optical double optics, their position in space and the expected position of the subject which is illustrated in FIG. 9 provided in the appendix. The device according to the invention is particularly intended to acquire stereophotogrammetric image pairs for the reconstruction of three-dimensional surfaces.
    权利要求:
    Claims (12)
    [0001]
    CLAIMS1) A photographic device for the acquisition of a pair of stereophotogrammetric images which comprises a single camera (5) equipped with a dual optical system (OA) and (OB) and two separate light sources (2A ) and (2B) having the same spacing as the dual optics and aligned with this dual optics, such that (2A) is aligned with (OA) and (2B) aligned with (OB) with respect to the subject ( S).
    [0002]
    2) Device according to claim 1 such that the two light sources (2A) and (2B) are respectively placed just above the dual optics (OA) and (OB).
    [0003]
    3) Device according to claim 1 such that the two light sources (2A) and (2B) are placed respectively just below the dual optics (OA) and (OB).
    [0004]
    4) Device according to one of claims 1 to 3 and characterized in that the dual optical system consists of a set of two secondary mirrors (1A) and (1B) each receiving an image of the subject examined, returning these two images on a set of primary mirrors (3A) and (3B) in opposition to the set of secondary mirrors and returning themselves these two images through one or more lenses (4A) and (4B) on a photosensitive surface ( 6) allowing the storage of these two images in the form of a pair of stereophotogrammetric images.
    [0005]
    5) Device according to claim 4 and characterized in that the two images returned by the system of primary mirrors are focused by a single lens system on a photosensitive surface.
    [0006]
    6) Device according to one of claims 4 to 5 and characterized in that the two images returned by the primary mirrors focus on two different photosensitive surfaces (6A) and (6B).
    [0007]
    7) Device according to one of claims 1 to 3 and characterized by two different focusing uses in that the dual optical system consists of separate optical systems (7A) and (7B) without mirrors for the separation of images and images. images on two photosensitive surfaces (6A) and (6B).
    [0008]
    8) Device according to claim 7 and characterized in that the two separate optical systems focus the two images on the same photosensitive surface (6).
    [0009]
    9) Device according to one of claims 1 to 8 and characterized in that the optical (OA) and the light source (2B) are each provided with a polarizing directional filter of the same direction, and that the optical (OB ) and the light source (2A) are each provided with a polarizing directional filter of the same direction and that the polarization direction common to (OA) and (2B) is perpendicular to the polarization direction common to (OB) and (2A ).
    [0010]
    10) Device according to one of claims 1 to 8 and characterized in that at first the light source (2A) is activated and the corresponding image is collected only by the optical (OB) and that in a second time the light source (2B) is activated and the corresponding image is collected only by the optics (OA).
    [0011]
    11) Device according to one of claims 1 to 9 and characterized in that the two light sources (2A) and (2B) are created by a single light source (2) whose light is reflected by a set of primary mirrors ( 8A) and (8B) placed in opposition to the light source (2), returning the light to a set of secondary mirrors (9A) and (9B) placed in opposition to the set of primary mirrors (8A) and (8B) and returning the light themselves to the subject (S), thereby creating two virtual light sources (2A) and (2B) for carrying out the invention.
    [0012]
    12) Device according to one of claims 1 to 11 and characterized in that the light sources (2A) and (2B) are placed slightly behind the double objective (OA) and (OB) and spaced a slightly greater distance at the spacing of the objectives (OA) and (OB) of the double objective so that the axis (2A) - (OA) and the axis (2B) - (OB) converge at a point situated at the expected distance from the subject (S).
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    优先权:
    申请号 | 申请日 | 专利标题
    FR1401282|2014-06-04|
    FR1401282A|FR3022022B1|2014-06-04|2014-06-04|DEVICE FOR ACQUIRING A PAIR OF IMAGES IN STEREOPHOTOGRAMMETRY|FR1401282A| FR3022022B1|2014-06-04|2014-06-04|DEVICE FOR ACQUIRING A PAIR OF IMAGES IN STEREOPHOTOGRAMMETRY|
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