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WO2015145220A1 - Dispositif et procédé pour la reconstitution discrète de la forme et de la position tridimensionnelles d'un objet - Google Patents

Dispositif et procédé pour la reconstitution discrète de la forme et de la position tridimensionnelles d'un objet Download PDF

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Publication number
WO2015145220A1
WO2015145220A1 PCT/IB2014/062089 IB2014062089W WO2015145220A1 WO 2015145220 A1 WO2015145220 A1 WO 2015145220A1 IB 2014062089 W IB2014062089 W IB 2014062089W WO 2015145220 A1 WO2015145220 A1 WO 2015145220A1
Authority
WO
WIPO (PCT)
Prior art keywords
support
colour
graphic signs
signs
suited
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/IB2014/062089
Other languages
English (en)
Inventor
Alberto FORNASER
Enrico BERTOLAZZI
Marco FREGO
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robosense Srl
Original Assignee
Robosense Srl
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robosense Srl filed Critical Robosense Srl
Publication of WO2015145220A1 publication Critical patent/WO2015145220A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
    • A61B5/0062—Arrangements for scanning
    • A61B5/0064—Body surface scanning
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
    • A61B5/1077—Measuring of profiles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
    • A61B5/1079—Measuring physical dimensions, e.g. size of the entire body or parts thereof using optical or photographic means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A61B5/1126—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb using a particular sensing technique
    • A61B5/1127—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb using a particular sensing technique using markers

Definitions

  • the present patent concerns the devices and methods for measuring, localizing and modelling three-dimensional objects by means of optoelectronic instruments, and in particular it concerns a new device and the corresponding method for the discrete reconstruction of the three-dimensional shape and position, obtained using optoelectronic equipment and instruments.
  • the present patent concerns in particular a new device comprising a support suited to be applied to the three-dimensional object to be measured so that it adheres to the latter, said support having such characteristics that it allows the shape and position of the object to be univocally recognized.
  • the device that is the subject of the present invention can be used to measure the anatomical parts of an individual quickly, accurately and precisely in order to obtain three- dimensional models of the anatomical part in question, with which it is possible to make supports, orthopaedic aids, anatomical protection and/or covering elements like guards or prostheses for the limbs, the trunk, anatomical parts in general, and footwear in general.
  • colour codes are known in which each point of an area formed by 3 x 3 points can be distinguished from the others and can thus be used for the identification of the point itself and of its position in space.
  • the reconstruction method is known which uses a clothing item suited to be normally worn by an individual and constituted by a normal fabric on which graphic signs are reproduced that identify univocally each one of the areas of the clothing item itself.
  • clothing items are known which are used to graphically reconstruct the shape and movement of the clothing item itself, in order to be able to replicate said movements in graphic animation.
  • Said clothing items feature a plurality of points reproduced on their outer surface and distributed in a special manner, wherein each point of the distribution must be able to be immediately identified with respect to the others and therefore has a different colour code.
  • said clothing item can be a sweater, a dress, a skirt or a pair of trousers suited to be normally worn by a person.
  • Systems for determining three-dimensional shapes are known which are formed by several video cameras arranged around the person who is wearing the clothing item. In a first stage, the images acquired from different points of view are processed so that they can be joined to one another in order to determine the shape to be replicated.
  • a three-dimensional surface is then reconstructed, if necessary integrated, and the missing parts are filled.
  • the optoelectronic system used takes n images with n cameras, but also takes the images in different moments, wherein said images are then reconstructed to process the movement of the surface.
  • the patent document WO2009/097122 concerns a method suited to obtain a series of images for making a 3D model of a surface, wherein the method comprises the steps of application of a pattern on said surface, said pattern in turn comprising elements univocally defining the surface, and the step of production of said series of images after the application of the pattern to said surface.
  • the patent document concerns also a covering element that can be shaped as the surface whose model has to be obtained, and wherein said pattern is reproduced on said covering element.
  • the patent document WO2006/090427 concerns a piece of equipment and the corresponding method for determining the anatomical shape of a body or a body part, such as a limb, the trunk, the head or another part.
  • the equipment comprises a chamber suited to house the part whose anatomical shape has to be determined, a plurality of devices for the acquisition of images, a covering element suited to adhere to the part whose anatomical shape must be determined, a plurality of graphic signs reproduced on said covering element, said signs having different outlines and colours, and being distributed on the covering element in such a way that each one of said signs with a particular outline or colour is surrounded by two or more signs having a different outline and/or colour.
  • the method for determining the anatomical shape includes the following steps: the part in question is arranged in the housing chamber, the part is covered with said covering element, a plurality of images of the part from different points of view is acquired, each sign is recognized according to the respective outline and colour, the spatial position of the sign is calculated in such a way as to obtain the corresponding spatial point on said part whose shape needs to be determined.
  • the position of the detected spatial points is then compared to that of reference objects having known dimensions.
  • the need is known to make orthopaedic supports or aids such as guards, prostheses or corsets, properly sized and studied based on an individual suffering from a special disease or affection.
  • Pre-formed corsets and guards in general are known, which have specific dimensions and which can be adapted to the body of the individual only to a minimum extent.
  • Corsets and guards are also known which are made to size based on the body of the individual, by making a cast, said corsets or guards being used in particular in the presence of diseases or malformations, or following surgery so as to provide support.
  • a drawback posed by this type of corsets lies in that making the cast means causing a certain amount of inconvenience to the individual, who may often by a child or a person with physical disabilities, often combined with mental disabilities.
  • the subject While the cast is being made the subject must be immobile, for example lie down in horizontal position, and his/her position must be changed so that he/is first supine and then prone or vice versa, or lie first on one side and then on the other.
  • a new type of device has been designed and constructed, together with a corresponding method, for the discrete reconstruction of three-dimensional shape and position, obtained using optoelectronic equipment and systems suited to measure, localize and model three-dimensional objects.
  • the new device and the corresponding method are particularly useful for measuring anatomical parts with the purpose of obtaining three-dimensional models of the anatomical part in question, with which it is possible to make supports, orthopaedics aids, anatomical protection and/or covering elements such as guards or prostheses for the limbs, the trunk or anatomical body parts in general, and/or to make shoes or footwear in general.
  • the main object of the present invention is to provide a device that can be applied to any individual, independently of his/her position in space, thus limiting to a minimum the discomfort for the individual, owing to the fact that it is simple to wear and that the measurement can be carried out quickly.
  • the measurement corresponds to the acquisition of a single image by two or more video cameras, and allows the accurate reconstruction of anatomical parts, also of individuals that cannot remain in the same position for a long time.
  • Said device comprises a support on which coloured graphic signs or markers are reproduced, which are arranged according to a colour code that here below is defined as cyclic and that guarantees the univocality of each sign, as described and claimed below.
  • the colour codes are defined as cyclic as it is not necessary to know the mutual orientation of the support and the optoelectronic instruments in advance. Therefore, it is possible to determine the shape and/or position of a three-dimensional object in a rapid and univocal manner, even independently of the orientation of the object with respect to the optoelectronic instruments. It is another object of the present invention to provide a device that does not require the application of specific markers on the body of the individual, as the application of said support is sufficient.
  • It is another object of the present invention also to provide a device that makes it possible to follow the motion of each sign or marker of said support applied to the anatomical part, in order to make corsets, guards or orthopaedic aids in general that are as comfortable as possible and can be adapted to the normal conditions of mobility of the individual involved.
  • the new device for the discrete reconstruction of shape and/or position comprising among its main parts:
  • At least one support suited to be applied to the anatomical part or to the object to be measured said support being flexible or in any case suited to be adapted to the shape of the object to be measured, said support being provided with a pattern that is reproduced thereon and is formed by coloured graphic signs or markers arranged according to a univocal colour code, defined as cyclic and described in greater detail and claimed below;
  • a set or group comprising 9 of said graphic signs is defined, said signs being arranged so as to form a 3x3 grid, wherein said univocal colour code is calculated from the reading sequence of the colours of the signs making up the set.
  • Said sequence of colours which allows the univocal colour code to be calculated, is thus constituted by the colour of the centre sign and the colour of the 8 adjacent signs.
  • the univocal colour code does not depend on which one of the 8 adjacent signs follows the centre sign when the coloured sequence is read.
  • cyclic colour code thus means the property of the colour code generated in this way according to which said code does not change, independently of the reading sequence of said set of 3x3 signs, the centre sign remaining the starting sign for the reading.
  • the cyclic colour code guarantees that each sign is coded in a univocal manner, meaning that according to the code each sign is arranged near signs in such colours that, even in case of ambiguity in the determination of one or more of said surrounding signs, the coding of each sign in any case remains univocal. In this way it is possible to follow the points of interest in space and time, and thus to reconstruct the 3D shape in an incremental way, even in case of partial views of the object, in the presence of hidden portions, of uncontrolled movements of the object and of arbitrary orientation between support and optoelectronic instruments.
  • Said optoelectronic instruments can be provided with one or more cameras, one or more laser devices, one or more time-of-flight cameras capable of incrementing the resolution of reconstruction of the object and integrate it with the surface texture acquired by traditional cameras.
  • the present device is particularly suited to be used to determine the shape and mobility of an anatomical part, a limb, the trunk or a part of the trunk, etc.
  • Said colour codes can be configured in such a way as to automatically correct one or more colour identifications of the incorrect coding signs or markers. This method is particularly important both in the case of structured lighting and in the case where the support is arranged on the object to be measured in a non-optimal manner, so that one or more signs or markers cannot be detected, or in the case where the sequence is partially hidden.
  • the codes are defined in such a way that they belong to a vector subspace of the total space of the codes so that, in case of incorrect identification of one or more colours, the incorrect code does not belong to said subspace of codes. The correction finds the nearest vector belonging to the subspace of the codes.
  • Figure 1 schematically shows the reading mode of the colour sequence of a sign (Al) and of the near or surrounding signs (A2, A9) forming a set or group consisting of 3x3 signs (Ai) for the assignment of the univocal cyclic colour code.
  • the colour sequence consists of the colour of the centre sign (Al) and the colour of the 8 adjacent signs (A2, A9).
  • the arrow shows an example of how the colour sequence of the signs (Ai) is read. Said univocal colour code is calculated from said colour sequence.
  • the arrows indicate the colour reading order.
  • Figure 3 shows an example of a support (A) with coloured graphic signs (Ai) arranged according to the colour code without error correction.
  • Figure 4 shows an example of a support (A) with signs (Ai) assembled for the reconstruction of the entire human figure, meaning that it comprises, for example, legs (B l), sleeves (B2) and a corset (B3) suited to cover the whole trunk.
  • Figure 5 schematically shows how, if necessary, it is possible to configure the error correction code applied, for example, to a T-shirt or corset (B3) for the reconstruction of the trunk.
  • Figure 6 schematically shows how the method can be used to localize objects (C) of any type, for example pallets in an industrial environment, wherein said support (A) is applied, for example, to a planar or non-planar surface (CI) of said object.
  • the method and the device of the invention make use of optoelectronic instruments (D) like for example one or more cameras, one or more laser devices, one or more time-of-flight cameras.
  • D optoelectronic instruments

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Veterinary Medicine (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Public Health (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Dentistry (AREA)
  • Physiology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Radiology & Medical Imaging (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L'invention concerne un nouveau dispositif, ainsi qu'un procédé utilisant ledit dispositif, pour la localisation et la reconstitution discrète de la forme/de la position/du mouvement tridimensionnels d'un objet en général ou d'une partie du corps par l'intermédiaire d'un nuage de points ou de signes graphiques colorés (Ai) positionnés sur un support (A) apte à être appliqué audit objet à mesurer. Lesdits signes graphiques colorés (Ai) sont agencés selon un code de couleurs univoque.
PCT/IB2014/062089 2014-03-26 2014-06-10 Dispositif et procédé pour la reconstitution discrète de la forme et de la position tridimensionnelles d'un objet Ceased WO2015145220A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITPD20140070 2014-03-26
ITPD2014A000070 2014-03-26

Publications (1)

Publication Number Publication Date
WO2015145220A1 true WO2015145220A1 (fr) 2015-10-01

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PCT/IB2014/062089 Ceased WO2015145220A1 (fr) 2014-03-26 2014-06-10 Dispositif et procédé pour la reconstitution discrète de la forme et de la position tridimensionnelles d'un objet

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WO (1) WO2015145220A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112205698A (zh) * 2020-09-11 2021-01-12 集美大学 人体三维信息获取方法及装置
GB2624657A (en) * 2022-11-24 2024-05-29 Smith & Nephew Method of limb scanning

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005077271A1 (fr) * 2004-02-13 2005-08-25 Corpus.E Ag Enregistrement optique de la forme spatiale de corps et d'elements de corps ayant des parties non visibles optiquement
WO2006090427A2 (fr) 2005-02-25 2006-08-31 Delta R&S S.R.L. Appareil, et procede associe, de detection de la forme anatomique d'un sujet
WO2009097122A1 (fr) 2008-01-28 2009-08-06 Netvirta, Llc Techniques simples pour une modélisation tridimensionnelle

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005077271A1 (fr) * 2004-02-13 2005-08-25 Corpus.E Ag Enregistrement optique de la forme spatiale de corps et d'elements de corps ayant des parties non visibles optiquement
WO2006090427A2 (fr) 2005-02-25 2006-08-31 Delta R&S S.R.L. Appareil, et procede associe, de detection de la forme anatomique d'un sujet
WO2009097122A1 (fr) 2008-01-28 2009-08-06 Netvirta, Llc Techniques simples pour une modélisation tridimensionnelle

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
PIERRE PAYEUR ET AL: "Structured Light Stereoscopic Imaging with Dynamic Pseudo-random Patterns", 6 July 2009, IMAGE ANALYSIS AND RECOGNITION, SPRINGER BERLIN HEIDELBERG, BERLIN, HEIDELBERG, PAGE(S) 687 - 696, ISBN: 978-3-642-02610-2, XP019122432 *
UDAYA WIJENAYAKE ET AL: "An Error Correcting 3D Scanning Technique Using Dual Pseudorandom Arrays", 3D IMAGING, MODELING, PROCESSING, VISUALIZATION AND TRANSMISSION (3DIMPVT), 2012 SECOND INTERNATIONAL CONFERENCE ON, IEEE, 13 October 2012 (2012-10-13), pages 517 - 523, XP032277316, ISBN: 978-1-4673-4470-8, DOI: 10.1109/3DIMPVT.2012.68 *
VOLKER SCHOLZ ET AL: "Garment Motion Capture Using Color-Coded Patterns", COMPUTER GRAPHICS FORUM, vol. 24, no. 3, 7 September 2005 (2005-09-07), pages 439 - 447, XP055146790, ISSN: 0167-7055, DOI: 10.1111/j.1467-8659.2005.00869.x *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112205698A (zh) * 2020-09-11 2021-01-12 集美大学 人体三维信息获取方法及装置
CN112205698B (zh) * 2020-09-11 2022-09-20 集美大学 人体三维信息获取方法及装置
GB2624657A (en) * 2022-11-24 2024-05-29 Smith & Nephew Method of limb scanning

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